Method and apparatus for providing a warning display

Abstract

To propose a method and an apparatus that easily set up an entry control zone of an unmanned aircraft such as a drone and that provide warning display for the entry control zone.SOLUTION: A method of the present invention generates a flight route of a drone based on at least one of power equipment information and geographical space information acquired from geographical information system software, sets an entry control zone based on the flight route and the geographical space information, and provides warning display for the entry control zone. The entry control zone is a region corresponding to a bottom face of a circular cone when a flight altitude of the drone is a height of the circular cone.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a method and apparatus for providing a warning display for a restricted access area of an unmanned aircraft such as a drone.

Background Art

[0002] In recent years, drones have been applied in various fields such as delivery services, spraying of pesticides and fertilizers, disaster surveys, and reporting.

[0003] In order to fly a drone, it is necessary to create a flight route of the drone in advance. For example, Patent Document 1 proposes a system that enables determination and setting of a flight route of a drone by referring to a map.

[0004] In addition, in order to fly a drone out of sight without arranging an assistant, a restricted access area is set as a range where the drone may fall during flight, and outside the restricted access area, warning is given by a signboard, a color cone (registered trademark), etc. so that people and vehicles do not enter the restricted access area. This is obligatory according to the examination guidelines for permission / approval regarding the flight of unmanned aircraft.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] The restricted access area is set by adding up the position error resulting from the accuracy of the drone, the falling distance considering the flight altitude and speed of the drone and the influence of wind. However, since the ground elevation and flight altitude vary for each flight location of the drone, it is complicated and the workload is enormous to calculate the restricted access area for each flight location.

[0007] Therefore, the present invention aims to propose a method and apparatus for easily setting up restricted access zones for unmanned aerial vehicles such as drones, and for providing warning signs for these restricted access zones. [Means for solving the problem]

[0008] In the method of the present invention, a drone flight route is created based on at least one of power facility information and geospatial information obtained from geographic information system software. Based on the aforementioned flight route and geospatial information, access control areas are established. To provide warning signs for the aforementioned restricted access area, The aforementioned restricted access area is the region corresponding to the base of a cone when the drone's flight altitude is considered the height of the cone.

[0009] The present invention is an apparatus for providing a warning display, the apparatus is A power equipment information storage unit that stores power equipment information, A geospatial information storage unit that stores geospatial information acquired from geographic information system software, A flight route creation unit that creates a drone flight route based on at least one of the aforementioned power equipment information and the aforementioned geospatial information, An access control area setting unit sets an access control area based on the aforementioned flight route and geospatial information, A warning display unit that provides a warning display for the aforementioned restricted access area, It has, The aforementioned restricted access area is the region corresponding to the base of a cone when the drone's flight altitude is considered the height of the cone.

[0010] The aforementioned restricted access area is the region corresponding to the base of a cone with a radius equal to the drone's maximum flight altitude. In a cross-section including the height of the cone, the angle between the height of the cone and the slant height is preferably 45 degrees.

[0011] Based on the power equipment information and the geospatial information, identify the nearest utility pole outside the access control area. The attention - calling display is preferably a signboard installed on the utility pole.

[0012] The flight route is preferably a flight route along a power transmission line connecting transmission towers or a power distribution line connecting utility poles, or an arbitrary flight route from a departure point to an arrival point.

[0013] When the flight route includes a no - fly zone, it is preferable to modify the flight route so as to bypass the no - fly zone.

Advantages of the Invention

[0014] In the present invention, it is possible to propose a method and an apparatus for easily setting an access control area for an unmanned aircraft such as a drone and providing an attention - calling display for the access control area.

Brief Description of the Drawings

[0015] [Figure 1] It is a block diagram showing the configuration of the apparatus of the present invention. [Figure 2] It is a flowchart of the method of the first embodiment of the present invention. [Figure 3] In the first embodiment of the present invention, it is a diagram showing the flight route of a drone and the access control area. [Figure 4] (a)(b) are diagrams for explaining the setting of the access control area. [Figure 5] It is a diagram for explaining the identification of the utility pole outside the access control area. [Figure 6] (a)(b) are examples of signboards installed on utility poles. [Figure 7] (a)(b) are diagrams showing the superposition of the access control area set by the present invention and the access control area by conventional calculation in the access control area. [Figure 8] It is a flowchart of the method of the second embodiment of the present invention. [Figure 9]This is a diagram showing the flight route of a drone in the second embodiment of the present invention.

Embodiments for Carrying Out the Invention

[0016] Hereinafter, embodiments of the present invention will be described while referring to the drawings. However, the present invention is not limited to these embodiments, and various modifications are possible.

[0017] FIG. 1 is a block diagram showing the configuration of the device of the present invention.

[0018] The device 10 for providing an alert display includes a power facility information storage unit 1, a geospatial information storage unit 2, an information acquisition unit 3, a flight route creation unit 4, an access management area setting unit 5, and an alert display providing unit 6.

[0019] The device 10 can be realized by an information processing device such as a personal computer (PC), a server, a tablet terminal, and a smartphone. The device 10 has, as hardware resources, a CPU, a memory, an input / output device, a communication interface, etc., and operates in cooperation with software.

[0020] The applicant, who is an electric power company, holds power facility information regarding towers, transmission lines, utility poles, etc., which are its own possessions. The power facility information storage unit 1 stores this power facility information.

[0021] The power facility information includes the transmission line name, line voltage, facility management location organization, support name, collective facility classification (single, parallel), latitude and longitude of the tower, tower height, altitude of the tower, underarm height of the tower, horizontal angle of the tower, name of the transmission line connected to the tower, support number of the transmission line connected to the tower, utility pole name, latitude and longitude of the utility pole, name of the road where it is installed, etc. In addition, the power facility information can include any other information.

[0022] The geospatial information storage unit 2 stores geospatial information acquired from an arbitrary three-dimensional geographic information system (GIS) software.

[0023] Geospatial information includes location information (latitude, longitude, elevation) for everything on the Earth's surface, such as roads, buildings, trees, and rivers, as well as information about no-fly zones, such as those over densely populated areas.

[0024] Figure 2 is a flowchart of the method according to the first embodiment of the present invention.

[0025] In the first embodiment, we consider a case where a drone is flown along a power line connecting transmission towers in a mountainous area.

[0026] In step S1, the information acquisition unit 3 acquires (imports) power equipment information and stores it in the power equipment information storage unit 1.

[0027] In step S2, the flight route creation unit 4 creates the drone's flight route (flight range) based on the acquired power equipment information.

[0028] In step S3, the information acquisition unit 3 acquires geospatial information from the geographic information system software and stores it in the geospatial information storage unit 2.

[0029] In step S4, the access control area setting unit 5 sets the access control area based on the flight route and geospatial information.

[0030] In step S5, the warning display provider 6 provides a warning display for the restricted access area. For example, the warning display provider 6 identifies the nearest utility pole outside the restricted access area based on power equipment information and geospatial information.

[0031] Subsequently, a representative will visit the site and install a warning sign on the identified utility pole. If the identified utility pole is not suitable for installing a sign, the sign may be installed on an adjacent utility pole or other location outside the restricted access area.

[0032] Figure 3 shows the drone flight route and access control area in the first embodiment of the present invention.

[0033] In the first embodiment, there are transmission towers A1, A2, A3, and A4 and a power transmission line L connecting transmission towers A1, A2, A3, and A4 in a mountainous area, and the drone is flown along this power transmission line L.

[0034] For example, at the location of transmission tower A2, the area around transmission tower A2 is a roughly circular area where entry is restricted.

[0035] Figures 4(a) and 4(b) are diagrams illustrating the setting of restricted access areas.

[0036] The drone's flight range extends from 5m above the top of tower A2 to 30m above it, and within ±60m of tower A2 in the horizontal direction (left-right direction in the diagram).

[0037] The values ​​of 5m, 30m, and ±60m are just examples, but it is preferable to keep the flight range 5m away from tower A2 in order to avoid the risk of the drone flying too close to tower A2 and making contact with it. Also, since there are certain restrictions on drones other than the applicant flying within 30m of tower A2, which is owned by the applicant (it is necessary to apply for flight permission from the Civil Aviation Bureau and obtain individual approval), it is preferable to set the upper limit of the flight range to 30m from tower A2 in order to ensure that only the applicant's drones can fly safely. Similarly, in the horizontal direction, since the maximum length of the arms of tower A2 is 30m, it is preferable to define the drone's flight range as an area within ±60m from the center of tower A2.

[0038] In this embodiment, the restricted access area is the region corresponding to the base of a cone with a radius equal to the drone's maximum flight altitude (maximum altitude above ground) at the center of tower A2. In this case, in the cross-section including the height of the cone, the angle between the height of the cone and the generatrix is ​​45 degrees.

[0039] However, this embodiment is merely an example, and in the present invention, the restricted access area may be any region corresponding to the base of a cone when the drone's flight altitude is the height of the cone, and the angle between the height of the cone and the generatrix is ​​not limited to 45 degrees.

[0040] The "region corresponding to the base of the cone" refers to the region that coincides with the base of the cone when tower A2 is located on flat ground, as shown in Figure 4(a).

[0041] However, as shown in Figure 4(b), if tower A2 is located on a sloping ground, the "region corresponding to the base of the cone" refers to the region enclosed by lines connecting the points where the generatrix of the cone intersects with the ground surface (X1, X2 in the figure) around its entire circumference.

[0042] Thus, in this invention, by using the flight altitude of the drone and the ground elevation at the point where the cone's generatrix intersects with the ground surface, access control areas can be defined with simple calculations.

[0043] Just as access control zones were set up around tower A2, access control zones are set up at predetermined intervals (for example, 5m intervals) along the power transmission line L, which is the flight route, and when these access control zones are superimposed, the result is as shown in Figure 5.

[0044] Figure 5 is a diagram illustrating the identification of utility poles outside the restricted access area.

[0045] If the ground elevation around the circle is lower than the ground elevation around the center, the circle will be larger. Conversely, if the ground elevation around the circle is higher than the ground elevation around the center, the circle will be smaller. Also, a distorted circle, rather than a perfect circle, indicates that the area around the circle is not flat land.

[0046] As shown in Figure 5, a road exists that crosses the restricted access area, and utility poles B1, B2, ..., B17 are located on the road. As described above, the power equipment information storage unit 1 stores information about utility poles B1, B2, ..., B17, and based on this information and geospatial information, it identifies utility poles B8 and B15 that are outside the restricted access area and closest to it, and installs signs on utility poles B8 and B15.

[0047] Furthermore, the absence of utility poles means that there are likely no streetlights and the road is not one used by a large number of people, so there is no need to use signs to warn a wide range of road users. Therefore, this invention is based on the premise that there is no need to warn people where there are no utility poles. Roads without utility poles are often narrow mountain paths or paths between fields, and are highly likely to be used only by specific local residents, so more effective means of communication, such as publicizing the road through local governments or neighborhood associations, are used.

[0048] In Figure 5, only utility poles B1, B2, ..., B17 exist within the displayed area. However, if other utility poles exist, we will consider whether or not to install signs on those poles as well.

[0049] Figures 6(a) and 6(b) show examples of signs installed on utility poles.

[0050] As shown in Figure 6(a), utility pole advertisements can also be used for signage.

[0051] Furthermore, as shown in Figure 6(b), as a form of community-contributing advertising, a warning sign may be placed on the advertising surface to provide space for public awareness.

[0052] The sign in the example illustration indicates that the applicant's drone will be inspecting power lines. However, if someone other than the applicant is flying the drone, they should display a sign appropriate to its intended use.

[0053] Signs are not limited to power company utility poles; they can also be placed on telephone company utility poles, bulletin boards, guardrails, house fences or walls, or trees. Alternatively, instead of signs, warnings can be given through road markings (paint applied to the road surface).

[0054] Figures 7(a) and 7(b) show the access control area defined by the present invention superimposed with the access control area calculated using conventional methods.

[0055] As shown in Figure 7(a), when a drone falls during flight, the longest horizontal distance occurs when the drone is flying at point P, which is the highest altitude and horizontal edge of the flight range. Considering the effects of wind and the aircraft itself, calculations were performed for a case where the drone flies at an altitude of 200m at point P, and it was found that the longest horizontal distance is at point P1, which is 180m from the center of tower A2 (the horizontal distance from point P is 120m).

[0056] The wind effect refers to the effects of wind blowing parallel to the drone's direction of travel and wind blowing perpendicular to the direction of travel. The calculation considers the former, which has a larger fall area.

[0057] The influence of the aircraft refers to the effect of air resistance, which varies depending on the type of drone. Since aircraft with less air resistance have a larger fall radius, the calculations consider the aircraft with the minimum air resistance.

[0058] As shown in Figure 7(a), the access control area set by the method of the present invention includes the access control area calculated using conventional methods (at ground level, the point X where the cone's slant height intersects the ground surface is outside P1). Therefore, it can be seen that the access control area can be set by simple calculations using the method of the present invention.

[0059] However, as shown in Figure 7(b), if there is a cliff near tower A2, the point X where the cone's spur line intersects the ground surface lies inside P1. In such cases, if the access control area set by the method of the present invention is narrower than the access control area calculated, it is preferable to return an error and set the access control area by calculation only for the relevant portion. This makes it possible to reliably set access control areas not only in flat areas but also in hilly areas.

[0060] In the example shown in Figure 7(b), the intersection point Q between the line for defining the access control area according to the present invention (the generatrix of the cone) and the line for the calculated fall range is 150m from the center of tower A2, so this value can be used as the threshold. The threshold can be set as appropriate using the height of the tower (flight altitude from the ground) as a parameter.

[0061] This section describes an example of a method for determining restricted access areas using conventional calculations.

[0062] Regarding the drone's speed, there are two patterns for determining the distance it will fall during flight: Case 1 and Case 2 below. Based on the fall range of each case, access control areas will be established.

[0063] Case 1 is when a drone is flying at a speed of 10 m / s at point P, which is the highest altitude and horizontal end of its flight range, and a wind of 8 m / s blows parallel to the direction of travel, causing the drone to fall.

[0064] The horizontal distance traveled, x, is given by the time elapsed since the wind started blowing, t = x(t)=(mv_0)k(1-e^(-k / mt)) This can be calculated using the following formula. Here, the air resistance coefficient k is given by D=kv^2, and the drag coefficient C_d is given by C_d=D / (1 / 2ρv^2S), so k=1.875.

[0065] Also, the distance traveled in the direction of falling, y, is y(t)=m / k{m / kg(1-e^(-k / mt))-gt}+y_0 This can be calculated using the formula. Here, if we find x at time t when y=0 (when it falls to the ground), we get x≈62. Adding the distance traveled (36m) and position error (5m) during the time from the occurrence of the anomaly to the activation of the emergency stop function (2 seconds) to this result, the restricted access area at point P is an area with a radius of 103m centered on point P.

[0066] Case 2 is when the drone is flying at a speed of 10 m / s at point P, which is the highest altitude and horizontal end of its flight range, and a wind of 8 m / s blows perpendicular to the direction of travel, causing the drone to fall.

[0067] Similar to Case 1, calculating the distance traveled x yielded x ≈ 35. Considering a positional error of 5m, the restricted access area at point P is defined as a radius of 40m centered on point P.

[0068] Thus, it is clear that conventional calculations are complicated, and calculating access control areas for each flight location would require an enormous amount of work.

[0069] A second embodiment of the present invention will be described below with reference to Figures 8 and 9.

[0070] Figure 8 is a flowchart of the method according to the second embodiment of the present invention, and Figure 9 is a diagram showing the flight route of the drone according to the second embodiment of the present invention.

[0071] In the second embodiment, we consider the case where the drone is flown from departure point C1 to arrival point C2.

[0072] In step S1, the information acquisition unit 3 acquires power equipment information and stores it in the power equipment information storage unit 1.

[0073] In step S2, the information acquisition unit 3 acquires geospatial information from the geographic information system software and stores it in the geospatial information storage unit 2.

[0074] In step S3, the flight route creation unit 4 creates the shortest route (dashed line in Figure 9) for the drone from departure point C1 to arrival point C2 based on the acquired geospatial information.

[0075] In step S4, the flight route creation unit 4 modifies the drone's flight route based on the acquired geospatial information.

[0076] As shown in Figure 9, the shortest flight route from departure point C1 to arrival point C2 includes a no-fly zone K over a densely populated area. Therefore, the drone's flight route is modified to bypass this no-fly zone K (the dashed line is changed to a solid line).

[0077] Steps S5 and S6 are the same as in steps S4 and S5 of the first embodiment described above.

[0078] In addition to the flight route along the power lines connecting the transmission towers in the first embodiment and the arbitrary flight route from the departure point to the arrival point in the second embodiment, the flight route can also be a flight route along the power distribution lines connecting the utility poles. [Explanation of Symbols]

[0079] 1 Power equipment information storage unit 2 Geospatial information storage unit 3 Information acquisition department 4. Flight Route Creation Section 5. Section for setting access control zones 6 Alert display provision department 10 equipment

Claims

1. A method for providing warning signs for restricted access areas where a drone may fall during flight, The first step involves an information processing device creating a drone flight route based on at least one of power equipment information and geospatial information obtained from geographic information system software. The information processing device sets an access control area based on the flight route and the geospatial information in a second step, The third step involves the information processing device identifying utility poles outside the restricted access area based on the power equipment information and the geospatial information, Includes, The aforementioned restricted access area is the region corresponding to the base of a cone when the drone's flight altitude is defined as the height of the cone, and the region is identified by the angle between the height of the cone and the generatrix in a cross-section including the height of the cone. method.

2. The aforementioned restricted access area is the region corresponding to the base of a cone with a radius equal to the drone's maximum flight altitude. In a cross-section including the height of the cone, the angle between the height of the cone and the slant height is 45 degrees. The method according to claim 1.

3. The third step includes the step of the information processing device identifying the nearest utility pole outside the access control area based on the power equipment information and the geospatial information, The aforementioned warning sign is a sign installed on the utility pole. The method according to claim 1 or 2.

4. The aforementioned flight route is either a flight route along power transmission lines connecting transmission towers or power distribution lines connecting utility poles, or any flight route from the departure point to the arrival point. The method according to claim 1 or 2.

5. The first step includes, if the flight route includes a no-fly zone, modifying the flight route to bypass the no-fly zone. The method according to claim 1 or 2.

6. A device for providing warning signs for restricted access areas where a drone may fall during flight, wherein the device is A power equipment information storage unit that stores power equipment information, A geospatial information storage unit that stores geospatial information acquired from geographic information system software, A flight route creation unit that creates a drone flight route based on at least one of the aforementioned power equipment information and the aforementioned geospatial information, An access control area setting unit sets an access control area based on the aforementioned flight route and geospatial information, A warning display unit that identifies utility poles outside the restricted access area based on the aforementioned power equipment information and geospatial information, It has, The aforementioned restricted access area is the region corresponding to the base of a cone when the drone's flight altitude is defined as the height of the cone, and the region is identified by the angle between the height of the cone and the generatrix in a cross-section including the height of the cone. Device.

7. The aforementioned restricted access area is the region corresponding to the base of a cone with a radius equal to the drone's maximum flight altitude. In a cross-section including the height of the cone, the angle between the height of the cone and the slant height is 45 degrees. The apparatus according to claim 6.

8. The warning display unit identifies the nearest utility pole outside the restricted access area based on the power equipment information and the geospatial information, The aforementioned warning sign is a sign installed on the utility pole. The apparatus according to claim 6 or 7.

9. The aforementioned flight route is either a flight route along power transmission lines connecting transmission towers or power distribution lines connecting utility poles, or any flight route from the departure point to the arrival point. The apparatus according to claim 6 or 7.

10. The flight route creation unit modifies the flight route to bypass the no-fly zone if the flight route includes a no-fly zone. The apparatus according to claim 6 or 7.

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