Information processing device, information processing method, and computer program

Abstract

To appropriately alter the flight paths of drones and other aircraft currently in flight. [Solution] The information processing device includes: a detection unit that detects an anomaly on a first flight route flown by an aircraft having an imaging unit; an acquisition unit that acquires a second alternative flight route to the first flight route when the detection unit detects an anomaly on the first flight route; a determination unit that determines whether or not there is an anomaly on the second flight route acquired by the acquisition unit based on image data captured by the imaging unit; and a setting unit that sets the second flight route as the aircraft's flight route when the determination unit determines that there is no anomaly on the second flight route.

Description

Technical Field

[0001] The present invention relates to an information processing apparatus, an information processing method, and a computer program.

Background Art

[0002] In recent years, services such as delivery and monitoring have been provided using unmanned aircraft such as drones. For example, Patent Document 1 is known as a technology for managing the flight route of an unmanned aircraft. In the technology described in Patent Document 1, evaluation data of a flight route is generated based on the detection result of an obstacle detected by the unmanned aircraft, and a standard flight route is set when the unmanned aircraft newly flies between the two points based on the plurality of evaluation data generated for each of the plurality of flight routes between the same two points.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the technology described in Patent Document 1 mentioned above, the flight route is updated based on the past evaluation data of the flight route. Therefore, when, for example, a drone in flight changes the flight route, the situation of the flight route at the change destination is not necessarily in conformity with the past evaluation data. Therefore, there was a possibility that an appropriate change to the flight route could not be made for the drone in flight.

[0005] The present invention has been made in consideration of such circumstances, and an object thereof is to appropriately change the flight route for a flying object such as a drone in flight.

Means for Solving the Problems

[0006] One aspect of the present invention includes a detection unit that detects an anomaly on a first flight route in which an aircraft having an imaging unit is flying; an acquisition unit that acquires a second alternative flight route when the detection unit detects an anomaly on the first flight route; a determination unit that determines whether or not there is an anomaly on the second flight route acquired by the acquisition unit based on image data captured by the imaging unit; and a setting unit that sets the second flight route as the flight route of the aircraft when the determination unit determines that there is no anomaly on the second flight route. Before the flight The system includes a storage unit that stores flight plan data or alternative route data including a predetermined alternative route, and the acquisition unit acquires an alternative route, which is a second flight route that is an alternative to the first flight route, from the flight plan data of the aircraft or alternative route data usable for any aircraft stored in the storage unit. death , The second flight route has a main route that goes to the same destination as the first flight route, and one or more connecting routes that connect the first flight route to the main route. It is an information processing device. One aspect of the present invention is an information processing device in which a plurality of connecting routes are provided according to the presence of people in the area connecting the first flight route to the main route. One aspect of the present invention is an information processing device in which the determination unit determines whether or not there is an abnormality in the main route and the connecting route. One aspect of the present invention is an information processing device in which the setting unit sets the flight route of the aircraft so that it moves to the main route via the connecting route which has been determined by the determination unit to be free of abnormalities. One aspect of the present invention is an information processing device in which the destination on the second flight route may not be the same as the destination on the first flight route. One aspect of the present invention is an information processing device in which the acquisition unit acquires a flight plan including the flight route of the aircraft. One aspect of the present invention is an information processing device further comprising the above-described information processing device, wherein the determination unit determines whether or not there is an abnormality on the second flight path, and the control unit controls the aircraft so that the imaging unit can image the second flight path. One aspect of the present invention is an information processing device in which the control unit rotates the aircraft while the aircraft is hovering. One aspect of the present invention is an information processing apparatus described above, further comprising an estimation unit that estimates the time it takes for an abnormal state on the first flight route detected by the detection unit to transition to a normal state based on image data captured by the imaging unit, and a setting unit that determines, according to the time estimated by the estimation unit, whether to have the aircraft hover and wait on the first flight route, or to set a second flight route as the flight route of the aircraft. One aspect of the present invention is an information processing device described above, further comprising an estimation unit that calculates the probability that a person will stay in an area on the first flight route for a predetermined time or longer based on image data captured by the imaging unit, and a setting unit that determines, according to the probability calculated by the estimation unit, whether to have the aircraft hover and wait on the first flight route, or to set the second flight route as the flight route of the aircraft. One aspect of the present invention is an information processing device that further comprises an abnormality determination condition setting unit for setting abnormality determination conditions related to the presence of people in areas along a flight route. One aspect of the present invention is an information processing device in which the detection unit and the determination unit determine the presence or absence of people in each area along the flight route or estimate the population density from image data captured by the imaging unit. One aspect of the present invention is an information processing apparatus further comprising a display control unit that superimposes an object visualizing the second flight route acquired by the acquisition unit onto image data captured by the imaging unit and displays it on the screen. One aspect of the present invention is an information processing device in which the display control unit superimposes an object that visualizes the second flight route set on the flight route of the aircraft by the setting unit onto image data captured by the imaging unit and displays it on the screen. One aspect of the present invention is an information processing device in which the display control unit superimposes an anomaly object, which visualizes the location of an anomaly on the first flight route detected by the detection unit, onto image data captured by the imaging unit and displays it on the screen.

[0007] One aspect of the present invention is an information processing method performed by an information processing device, comprising: a detection step of detecting an anomaly on a first flight route flown by an aircraft having an imaging unit; an acquisition step of acquiring a second alternative flight route to the first flight route when an anomaly on the first flight route is detected by the detection step; a determination step of determining whether or not there is an anomaly on the second flight route acquired by the acquisition step based on image data captured by the imaging unit; and a setting step of setting the second flight route as the flight route of the aircraft when it is determined by the determination step that there is no anomaly on the second flight route, wherein the information processing device has previously Before the flight The system includes a storage unit that stores flight plan data or alternative route data including a predetermined alternative route, and the acquisition step involves acquiring an alternative route, which is a second flight route that is an alternative to the first flight route, from the flight plan data of the aircraft or alternative route data usable for any aircraft stored in the storage unit. death , The second flight route has a main route that goes to the same destination as the first flight route, and one or more connecting routes that connect the first flight route to the main route. It is an information processing method.

[0008] One aspect of the present invention involves causing a computer to perform the following steps: a detection step to detect an anomaly on a first flight route in which an aircraft having an imaging unit is flying; an acquisition step to acquire a second alternative flight route if an anomaly on the first flight route is detected in the detection step; a determination step to determine whether or not there is an anomaly on the second flight route acquired in the acquisition step based on image data captured by the imaging unit; and a setting step to set the second flight route as the flight route of the aircraft if the determination step determines that there is no anomaly on the second flight route, wherein the computer has previously... Before the flight The system includes a storage unit that stores flight plan data or alternative route data including a predetermined alternative route, and the acquisition step involves acquiring an alternative route, which is a second flight route that is an alternative to the first flight route, from the flight plan data of the aircraft or alternative route data usable for any aircraft stored in the storage unit. death , The second flight route has a main route that goes to the same destination as the first flight route, and one or more connecting routes that connect the first flight route to the main route. It is a computer program. [Effects of the Invention]

[0009] According to the present invention, it is possible to appropriately change the flight path of an aircraft such as a drone that is currently in flight. [Brief explanation of the drawing]

[0010] [Figure 1] This figure shows a schematic example of the configuration of a flight system according to one embodiment. [Figure 2] This figure shows an example configuration of an information processing device according to one embodiment. [Figure 3] This flowchart shows an example of the procedure for an information processing method according to one embodiment. [Figure 4] This diagram illustrates an example of a flight route according to one embodiment. [Figure 5] This figure shows an example of a flight route modification according to one embodiment. [Figure 6]It is a diagram showing an example of a change in a flight route according to an embodiment. [Figure 7] It is a diagram showing an example of a change in a flight route according to an embodiment. [Figure 8] It is a diagram showing an example of a change in a flight route according to an embodiment.

Mode for Carrying Out the Invention

[0011] Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing a schematic configuration example of a flight system 1 according to an embodiment. The flight system 1 includes a drone 10 and an information processing device 30. The drone 10 is an example of an unmanned aerial vehicle.

[0012] The drone 10 includes a camera 101 (imaging unit). The camera 101 can photograph the air and the ground around the drone 10. The camera 101 captures an image capable of detecting at least a person from an image (still image or moving image) captured by the camera 101. The camera 101 may be a visible light camera or an infrared camera. <\

[0013] The drone 10 and the information processing device 30 communicate via a wireless connection. The information processing device 30 transmits a control signal for controlling the drone 10 to the drone 10. The drone 10 controls itself based on the control signal received from the information processing device 30. The drone 10 transmits data such as its own flight data and image data captured by the camera 101 to the information processing device 30. The image data captured by the camera 101 may be moving image data or still image data.

[0014] FIG. 2 is a diagram showing a configuration example of the information processing device 30 according to the present embodiment. The information processing device 30 includes a communication unit 301, a detection unit 302, an acquisition unit 303, a determination unit 304, a setting unit 305, a control unit 306, an estimation unit 307, an abnormal determination condition setting unit 308, a display control unit 309, and a storage unit 400.

[0015] Each function of the information processing device 30 is realized by the information processing device 30 being equipped with computer hardware such as a CPU (Central Processing Unit) and memory, and by the CPU executing a computer program stored in memory.

[0016] The information processing device 30 may be configured using a general-purpose computer device, or it may be configured as a dedicated hardware device. For example, the information processing device 30 may be configured using a server computer connected to a communication network such as the Internet. Furthermore, each function of the information processing device 30 may be realized by cloud computing. In addition, the information processing device 30 may be realized by a single computer, or its functions may be realized by distributing them among multiple computers. Furthermore, the information processing device 30 may be configured to launch a website using, for example, a WWW system.

[0017] For example, the information processing device 30 may be configured using a mobile terminal device such as a smartphone or a tablet computer (tablet PC). For example, the information processing device 30 may be configured as a GCS (Ground Control Station).

[0018] The communication unit 301 communicates with devices outside the information processing device 30. For example, the communication unit 301 communicates with the drone 10 via a wireless link.

[0019] The detection unit 302 detects an anomaly on the first flight path in which the drone 10 is flying. The acquisition unit 303 acquires a second flight path as an alternative to the first flight path if the detection unit 302 detects an anomaly on the first flight path. The determination unit 304 determines whether or not there is an anomaly on the second flight path acquired by the acquisition unit 303, based on the image data captured by the camera 101. The setting unit 305 sets the second flight path as the flight path for the drone 10 if the determination unit 304 determines that there is no anomaly on the second flight path.

[0020] The control unit 306 controls the drone 10. For example, when the determination unit 304 determines whether or not there is an abnormality on the second flight path, the control unit 306 controls the drone 10 so that the camera 101 can image the second flight path.

[0021] The estimation unit 307 estimates the time it takes for the abnormal state on the first flight path detected by the detection unit 302 to transition to a normal state, based on the image data captured by the camera 101.

[0022] The abnormality determination condition setting unit 308 sets abnormality determination conditions related to the presence of people in areas along the flight route. For example, Level 3.5 is an abnormality determination condition in which flight over third parties is prohibited. For example, Level 4 is an abnormality determination condition in which flight over areas with a population density above a predetermined value is prohibited.

[0023] The abnormality determination conditions set by the abnormality determination condition setting unit 308 are used for detecting abnormalities on the first flight route by the detection unit 302 and for detecting abnormalities on the second flight route by the determination unit 304. For example, the detection unit 302 determines that there is an abnormality on the first flight route if the abnormality determination conditions set by the abnormality determination condition setting unit 308 are met on the first flight route. For example, the determination unit 304 determines that there is an abnormality on the second flight route if the abnormality determination conditions set by the abnormality determination condition setting unit 308 are met on the second flight route.

[0024] The display control unit 309 displays an object visualizing the second flight route acquired by the acquisition unit 303 on the image data captured by the camera 101. The display control unit 309 may also display an object visualizing the second flight route set for the drone 10 by the setting unit 305 on the image data captured by the camera 101. The display control unit 309 may also display an object visualizing the location of an anomaly on the first flight route detected by the detection unit 302 (anomaly object) on the image data captured by the camera 101.

[0025] The display device that the display control unit 309 will display on its screen may be one provided by the information processing device 30, or it may be an external display device. For example, if the information processing device 30 is configured as a GCS, the display control unit 309 will display on the GCS's display device.

[0026] The memory unit 400 stores various types of data. For example, the memory unit 400 stores flight plan data 401 that shows the flight plan of the drone 10. The flight plan of the drone 10 has a main flight route from the departure point to the destination where the drone 10 is scheduled to fly. Furthermore, the flight plan of the drone 10 may also have other flight routes (alternative routes) that the drone 10 can use instead of its main flight route.

[0027] For example, the memory unit 400 stores alternative route data 402. The alternative route data 402 is data indicating other flight routes (alternative routes) that can be used instead of a given flight route. The alternative route data 402 is not limited to a specific drone 10, but can be used for any drone 10.

[0028] Next, the information processing method according to this embodiment will be described with reference to Figure 3. Figure 3 is a flowchart showing an example of the procedure of the information processing method according to this embodiment.

[0029] (Step S1) The information processing device 30 receives image data captured by the camera 101 from the drone 10 that is currently flying.

[0030] (Step S2) The detection unit 302 of the information processing device 30 detects an anomaly on the first flight route in which the drone 10 is flying. For example, the detection unit 302 may detect an anomaly on the first flight route in which the drone 10 is flying from image data from the camera 101 received from the drone 10. For example, the detection unit 302 may detect an anomaly on the first flight route in which the drone 10 is flying from ground monitoring data. Examples of ground monitoring data include video from a surveillance camera installed on the ground and information input from a ground monitor.

[0031] For example, if the abnormality detection condition is set to "Level 3.5 (Flight over a third party is not permitted)," the detection unit 302 recognizes people in the ground image data captured by the camera 101 and determines that there is an abnormality on the first flight route if people are present on the first flight route. On the other hand, if there are no people on the first flight route, it determines that there is no abnormality on the first flight route.

[0032] For example, if "Level 4 (flight over areas with a population density above a predetermined value is not permitted)" is set as an abnormality detection condition, the detection unit 302 estimates the population density of the area along the first flight route from the ground image data captured by the camera 101. If the estimated population density is above the predetermined value, it determines that there is an abnormality on the first flight route. On the other hand, if the estimated population density is below the predetermined value, it determines that there is no abnormality on the first flight route.

[0033] In step S2, if an anomaly is detected on the first flight path (hereinafter referred to as the current path) that the drone 10 is currently flying, the process proceeds to step S3; otherwise, it returns to step S1.

[0034] (Step S3) The control unit 306 of the information processing device 30 instructs the drone 10 to hover. In accordance with this instruction, the drone 10 hovers on the current route. As a result, the drone 10 does not enter the airspace above the area where an anomaly has been detected on the current route.

[0035] (Step S4) The information processing device 30 decides whether to have the drone 10 hover and wait on the current route, or to set a second alternative flight route (alternative route) as the flight route for the drone 10 (transition to the alternative route). Examples 1 and 2 of this alternative route transition decision method are described below.

[0036] (Example 1 of a method for deciding on an alternative route) The estimation unit 307 of the information processing device 30 estimates the time it takes for the abnormal state on the current route detected by the detection unit 302 to transition to a normal state (normal recovery time) based on the image data from the camera 101 received from the drone 10. For example, if the abnormal state on the current route corresponds to "Level 3.5 (flight over third parties is not permitted)," the estimation unit 307 predicts the movement of people captured in the ground image data taken by the camera 101, and estimates the time it takes for Level 3.5 to be resolved (i.e., normal recovery time) based on this predicted movement of people. The setting unit 305 decides whether to have the drone 10 hover and wait on the current route, or to set a second alternative flight route (alternative route) as the flight route for the drone 10 (transition to the alternative route), according to the normal recovery time estimated by the estimation unit 307. For example, if the normal recovery time is less than a predetermined threshold, the drone is made to wait on the current route, while if the normal recovery time is equal to or greater than the predetermined threshold, the drone is transitioned to the alternative route. If the drone is to transition to the alternative route, the process proceeds to step S5; otherwise, the process returns to step S1.

[0037] (Example 2 of the method for deciding on an alternative route) The estimation unit 307 of the information processing device 30 calculates the probability (stay probability) that a person will stay in an area along the current route for a predetermined amount of time or longer, based on the image data from the camera 101 received from the drone 10. For example, the estimation unit 307 predicts the movement of a person captured in the ground image data taken by the camera 101 and calculates the stay probability from this predicted movement of the person. The setting unit 305 decides whether to have the drone 10 hover and wait on the current route, or to set a second alternative flight route (alternative route) as the flight route for the drone 10 (transition to the alternative route), according to the probability of stay calculated by the estimation unit 307. For example, if the probability of stay is less than a predetermined threshold, the drone is made to wait on the current route, while if the probability of stay is above the predetermined threshold, the drone is made to transition to the alternative route. If the drone is to transition to the alternative route, the process proceeds to step S5; otherwise, the process returns to step S1.

[0038] (Step S5) The acquisition unit 303 of the information processing device 30 acquires a second flight route (alternative route) that is an alternative to the current route. The alternative route to the current route may be acquired from the flight plan data 401 of the drone 10 or from the alternative route data 402. For example, if the flight plan data 401 of the drone 10 has an alternative route to the main flight route which is the current route, the acquisition unit 303 acquires the alternative route from the flight plan data 401 of the drone 10. On the other hand, if the flight plan data 401 of the drone 10 does not have an alternative route to the main flight route which is the current route, the acquisition unit 303 acquires the alternative route to the current route from the alternative route data 402.

[0039] (Step S6) The information processing device 30 receives image data captured by the camera 101 from the currently hovering drone 10. At this time, the control unit 306 controls the drone 10 so that the camera 101 can capture images of the alternative route when the determination unit 304 determines whether or not there is an abnormality on the alternative route. For example, the control unit 306 controls the drone 10 so that the camera 101 can capture images of the air and ground of the alternative route. Specifically, the flight direction of the drone 10 may be changed, or the orientation of the camera 101 may be changed if the camera 101 is rotatable. The control unit 306 may also rotate the body of the drone 10 while it is hovering.

[0040] (Step S7) The determination unit 304 of the information processing device 30 determines whether or not there is an abnormality on the alternative route based on the image data from the camera 101 received from the drone 10.

[0041] For example, if the abnormality detection condition is set to "Level 3.5 (Flight over a third party is not permitted)," the detection unit 304 performs image recognition on people captured by the camera 101 and determines that there is an abnormality on the alternative route if people are present on the alternative route, while determining that there is no abnormality on the alternative route if no people are present on the alternative route.

[0042] For example, if "Level 4 (flight over areas with a population density above a predetermined value is not permitted)" is set as an abnormality detection condition, the determination unit 304 estimates the population density of the area along the alternative route from the ground image data captured by the camera 101. If the estimated population density is above the predetermined value, it determines that there is an abnormality on the alternative route. On the other hand, if the estimated population density is below the predetermined value, it determines that there is no abnormality on the alternative route.

[0043] In step S7, if an anomaly is detected on the alternative route, the process proceeds to step S9; otherwise, it proceeds to step S8.

[0044] (Step S8) If the determination unit 304 determines that there are no abnormalities on the alternative route, the setting unit 305 of the information processing device 30 sets the alternative route as the flight route for the drone 10. With this setting, a control signal indicating the alternative route is transmitted from the information processing device 30 to the drone 10. The drone 10 controls itself to fly along the alternative route indicated by the control signal received from the information processing device 30. As a result, the drone 10 can change its flight route from the current route where an abnormality was detected to the alternative route where no abnormalities have been confirmed, and continue flying to the destination.

[0045] (Step S9) The acquisition unit 303 of the information processing device 30 changes the alternative route. After this, the process returns to step S6.

[0046] Next, the flight route according to this embodiment will be described. Figure 4 is a diagram illustrating an example of a flight route according to this embodiment. Figure 4 shows the main flight route and alternative route of a flight plan for a drone 10. In the example of Figure 4, the main flight route consists of route R1 from the departure point S to branching point B and route R2 from branching point B to destination E.

[0047] In the example shown in Figure 4, the alternative route includes Route R3 (main route) from branching point B to destination E, and three connecting routes C1, C2, and C3 that connect Route R2 to Route R3 (main route). The determination unit 304 determines whether there are any abnormalities on the alternative route, specifically for Route R3 (main route) and the connecting routes C1, C2, and C3. The setting unit 305 sets the flight route of the drone 10 so that it moves to Route R3 (main route) via the connecting routes that the determination unit 304 has determined to be free of abnormalities.

[0048] Note that destination E may change during the flight of drone 10. That is, if an anomaly is detected in the first flight route and the drone changes to the second flight route, the destination on the second flight route may not be the same as the destination on the first flight route. Specifically, an example of a situation where the destination on the first flight route and the destination on the second flight route are not the same is when, for example, the destination is a large hospital, and the drone determines whether to land in the hospital's parking lot or on the roof, and sets the destination to whichever is free of anomalies (obstacles). In such cases, the convenience of operation can be improved by changing destination E during flight (based on information captured by drone 10). As a specific example, even if the original destination was the parking lot, if there are more people in the parking lot than expected (an anomaly has occurred), the drone 10's flight route may be changed to land on the hospital's roof. The changed destination is indicated as destination E' in the diagram. The same description will be applied to Figures 5 to 8 thereafter.

[0049] Furthermore, there may be one or multiple connecting routes. For example, depending on the presence of people in the area connecting the main flight route R1 to the alternative route R3 (main route), multiple connecting routes C1, C2, and C3 may be provided. For example, more connecting routes may be provided in areas with higher population density. This makes it easier to avoid the "Level 3.5 (flight over third parties is not permitted)" anomaly detection condition in areas with high population density.

[0050] Next, with reference to Figures 5-8, examples of flight route changes according to this embodiment will be described. Figures 5-8 are diagrams showing examples of flight route changes according to this embodiment. Figures 5-8 show examples of flight route changes using the main flight route and alternative route in Figure 4.

[0051] (Example 1 of changing the flight route) Figure 5 shows example 1 of flight route modification. As shown in Figure 5, in flight route modification example 1, while the drone 10 was flying along route R1 from departure point S to branching point B on the main flight route R101, an anomaly was detected at point P1 on route R2 from branching point B to destination E. Therefore, route R3 (main route) from branching point B to destination E was selected as the alternative route. In this case, no anomaly was detected on route R3, so route R3 was adopted as the alternative route R201. As a result, the drone 10's flight route is changed from the main flight route R101 to the alternative route R201. The alternative route R201 in flight route modification example 1 consists only of route R3 (main route), without connecting routes C1, C2, and C3.

[0052] (Example 2 of changing the flight route) Figure 6 shows example 2 of flight route modification. As shown in Figure 6, in example 2 of flight route modification, while drone 10 was flying along route R2 from branching point B to destination E on the main flight route R101 (see Figure 5), an anomaly was detected at point P2 on route R2. Therefore, as an alternative route, route R3 (main route) from branching point B to destination E was selected, and among the three connecting routes C1, C2, and C3 that connect route R2 to route R3, connecting route C2 was selected as the route accessible between drone 10 and point P2. In this case, since no anomalies were detected on connecting route C2 or route R3, connecting routes C2 and R3 were adopted as alternative route R101a. As a result, drone 10's flight route is changed from the main flight route R101 to alternative route R101a.

[0053] (Example 3 of changing the flight route) Figure 7 shows example 3 of flight route modification. As shown in Figure 7, in flight route modification example 3, similar to flight route modification example 2 in Figure 6 described above, while the drone 10 was flying along route R2 from branching point B to destination E on the main flight route R101 (see Figure 5), an anomaly was detected at point P3 on route R2. Therefore, route R3 (main route) from branching point B to destination E was selected as an alternative route. However, regarding the connecting route from route R2 to route R3, there was no connecting route that the drone 10 could enter between point P3, so connecting route C1, which is behind the drone 10 on route R2, was selected. Thus, route R3 (main route) and connecting route C1 were selected as alternative routes. Here, since no anomalies were detected on connecting route C1 and route R3, connecting route C1 and route R3 were adopted as alternative route R101b. As a result, the drone 10's flight route was changed from the main flight route R101 to alternative route R101b. On the alternative route R101b, drone 10 turns back on route R2 to fly the connecting route C1.

[0054] (Example 4 of changing the flight route) Figure 8 shows example 4 of the flight route modification. As shown in Figure 8, in flight route modification example 4, similar to flight route modification example 2 in Figure 6 described above, while the drone 10 was flying along route R2 from branching point B to destination E on the main flight route R101 (see Figure 5), an anomaly was detected at point P2 on route R2. Therefore, route R3 (main route) from branching point B to destination E was selected as the alternative route. However, regarding the connecting route from route R2 to route R3, an anomaly was detected on connecting route C2, which can be accessed between the drone 10 and point P2, so connecting route C1, which is behind the drone 10 on route R2, was selected. Therefore, route R3 (main route) and connecting route C1 were selected as alternative routes. Since no anomalies were detected on connecting route C1 and route R3, connecting route C1 and route R3 were adopted as alternative route R101b. As a result, the drone 10 changes its flight path from the primary flight path R101 to the alternative route R101b. On the alternative route R101b, the drone 10 turns back along route R2 in order to fly the connecting route C1.

[0055] The above is an explanation of examples of flight route changes.

[0056] According to the embodiment described above, the effect is obtained that the flight route of the drone 10, which is currently in flight, can be appropriately changed.

[0057] In the embodiments described above, a drone was given as an example of an unmanned aerial vehicle, but the method may also be applied to unmanned aerial vehicles other than drones. Furthermore, although an unmanned aerial vehicle was given as an example of an aerial vehicle, the method may also be applied to manned aerial vehicles.

[0058] Furthermore, this will enable an overall improvement in service quality in flight systems using unmanned aerial vehicles such as drones, thereby contributing to Goal 9 of the United Nations-led Sustainable Development Goals (SDGs): "Build resilient infrastructure, promote sustainable industrialization and foster innovation."

[0059] Although embodiments of the present invention have been described in detail above with reference to the drawings, the specific configuration is not limited to these embodiments, and design modifications and the like are also included within the scope of the gist of the present invention.

[0060] Alternatively, computer programs for realizing the functions of each of the above-mentioned devices may be recorded on a computer-readable recording medium, and the programs recorded on this recording medium may be loaded into a computer system and executed. Note that the term "computer system" here may include hardware such as an operating system and peripheral devices. Furthermore, "computer system" shall also include the homepage provisioning environment (or display environment) if a WWW system is being used. Furthermore, "computer-readable recording media" refers to writable non-volatile memory such as flexible disks, magneto-optical disks, ROMs, and flash memory, portable media such as DVDs (Digital Versatile Discs), and storage devices such as hard disks built into computer systems.

[0061] Furthermore, "computer-readable recording media" also includes volatile memory (such as DRAM (Dynamic Random Access Memory)) within computer systems that act as servers or clients when programs are transmitted via networks such as the Internet or communication lines such as telephone lines, which retain programs for a certain period of time. Furthermore, the above program may be transmitted from a computer system that stores the program in a memory device or the like to another computer system via a transmission medium or by transmission waves within the transmission medium. Here, the "transmission medium" used to transmit the program refers to a medium that has the function of transmitting information, such as a network (communication network) like the Internet or a communication line (communication line) like a telephone line. Furthermore, the above program may be intended to implement some of the functions described above. It may also be a so-called differential file (differential program) that can implement the aforementioned functions in combination with programs already recorded in the computer system. [Explanation of symbols]

[0062] 1...Flight system, 10...Drone, 30...Information processing device, 101...Camera, 301...Communication unit, 302...Detection unit, 303...Acquisition unit, 304...Determination unit, 305...Setting unit, 306...Control unit, 307...Estimation unit, 308...Anomaly determination condition setting unit, 309...Display control unit, 400...Storage unit

Claims

1. A detection unit that detects anomalies on a first flight path in which an aircraft having an imaging unit is flying, When the detection unit detects an abnormality on the first flight route, the acquisition unit acquires a second flight route as an alternative to the first flight route. A determination unit determines whether or not there is an abnormality on the second flight path acquired by the acquisition unit, based on the image data captured by the imaging unit. If the determination unit determines that there is no abnormality on the second flight path, the setting unit sets the second flight path as the flight path of the aircraft, It comprises a storage unit that stores flight plan data or alternative route data, including alternative routes predetermined before the flight, The acquisition unit acquires an alternative route, which is a second flight route that is an alternative to the first flight route, from the flight plan data of the aircraft stored in the storage unit or alternative route data usable for any aircraft. The second flight route has a main route that goes to the same destination as the first flight route, and one or more connecting routes that connect the first flight route to the main route. Information processing device.

2. The multiple connecting routes are provided according to the presence of people in the area connecting the first flight route to the main route. The information processing apparatus according to claim 1.

3. The determination unit determines whether or not there is an abnormality in the main route and the connecting route. The information processing apparatus according to claim 1 or 2.

4. The setting unit sets the flight route of the aircraft so that it moves to the main route via the connecting route which the determination unit has determined to be free of abnormalities. The information processing apparatus according to claim 3.

5. The destination on the second flight route may not be the same as the destination on the first flight route. The information processing apparatus according to claim 1 or 2.

6. The acquisition unit acquires a flight plan including the flight route of the aircraft. The information processing apparatus according to claim 1 or 2.

7. When the determination unit determines whether or not there is an abnormality on the second flight path, the control unit controls the aircraft so that the imaging unit can image the second flight path. The information processing apparatus according to claim 1, further comprising:

8. The control unit rotates the aircraft while it is hovering. The information processing apparatus according to claim 7.

9. The system further includes an estimation unit that estimates the time it takes for the abnormal state on the first flight route detected by the detection unit to transition to a normal state, based on the image data captured by the imaging unit. The setting unit determines, according to the time estimated by the estimation unit, whether to have the aircraft hover and wait on the first flight route, or to set the second flight route as the flight route for the aircraft. The information processing apparatus according to claim 1.

10. The system further includes an estimation unit that calculates the probability that a person will stay in the area along the first flight route for a predetermined time or longer, based on the image data captured by the imaging unit. The setting unit determines, according to the probability calculated by the estimation unit, whether to have the aircraft hover and wait on the first flight route, or to set the second flight route as the flight route for the aircraft. The information processing apparatus according to claim 1.

11. An anomaly detection condition setting unit that sets anomaly detection conditions regarding the presence of people in areas along the flight path. The information processing apparatus according to claim 1, further comprising:

12. The detection unit and the determination unit determine the presence or absence of people in each area along the flight route or estimate the population density from the image data captured by the imaging unit. The information processing apparatus according to claim 11.

13. A display control unit that displays on the screen an object visualizing the second flight route acquired by the acquisition unit, superimposed on image data captured by the imaging unit. The information processing apparatus according to claim 1, further comprising:

14. The display control unit superimposes an object that visualizes the second flight route set by the setting unit onto the image data captured by the imaging unit and displays it on the screen. The information processing apparatus according to claim 13.

15. The display control unit superimposes the abnormal object, which visualizes the location of the abnormality on the first flight route detected by the detection unit, onto the image data captured by the imaging unit and displays it on the screen. The information processing apparatus according to any one of claims 13 or 14.

16. An information processing method performed by an information processing device, A detection step for detecting an anomaly on a first flight path in which an aircraft having an imaging unit is flying, If an abnormality is detected on the first flight route by the detection step, the acquisition step involves acquiring a second flight route as an alternative to the first flight route. A determination step that determines whether or not there is an abnormality on the second flight route acquired in the acquisition step, based on the image data captured by the imaging unit, If the determination step determines that there are no abnormalities on the second flight route, the setting step includes setting the second flight route as the flight route of the aircraft, The information processing device includes a storage unit that stores flight plan data or alternative route data, which includes an alternative route predetermined before the flight. The acquisition step involves acquiring an alternative route, which is a second flight route that is an alternative to the first flight route, from the flight plan data of the aircraft stored in the memory unit or alternative route data usable for any aircraft. The second flight route has a main route that goes to the same destination as the first flight route, and one or more connecting routes that connect the first flight route to the main route. Information processing methods.

17. On the computer, A detection step for detecting an anomaly on a first flight path in which an aircraft having an imaging unit is flying, If an abnormality is detected on the first flight route by the detection step, the acquisition step involves acquiring a second flight route as an alternative to the first flight route. A determination step that determines whether or not there is an abnormality on the second flight route acquired in the acquisition step, based on the image data captured by the imaging unit, If the determination step determines that there are no abnormalities on the second flight route, the setting step is to set the second flight route as the flight route of the aircraft, Make it run, The computer includes a storage unit that stores flight plan data or alternative route data, which includes alternative routes predetermined before the flight. The acquisition step involves acquiring an alternative route, which is a second flight route that is an alternative to the first flight route, from the flight plan data of the aircraft stored in the memory unit or alternative route data usable for any aircraft. The second flight route has a main route that goes to the same destination as the first flight route, and one or more connecting routes that connect the first flight route to the main route. Computer program.

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