Flight route determining system, and server

Abstract

The objective of the present invention is to determine a preferred flight route for a multi-purpose flying object. A flight route determining system S comprising a battery-driven drone 300 and a server 100 for managing the drone 300 is provided with: a selecting means 111 for selecting a target parking place 400 from among a plurality of parking places 400 corresponding to a plurality of destinations; a first setting means and a second setting means 112, 113 for setting a direct route for causing a drone 300a parked in the target parking place 400 to fly between a first destination and a second destination without passing through any parking places 400, and a detour route for causing the drone 300a to fly between the first destination and the second destination via a parking place 400; a first calculating means 114 for calculating a flyable distance on the basis of a load weight and a remaining battery capacity; and a first determining means 116 for determining, on the basis of the flyable distance, one of the direct route and the detour route as a flight route for the drone 300a.

Description

Flight route determination system and server

[0001] The present invention relates to a flight route determination system for determining a flight route of a multi-purpose flying object, and a server.

[0002] Operations using aerial vehicles such as drones have been carried out or planned for some time. For example, Patent Document 1 discloses technology related to an unmanned aerial vehicle that transports cargo. Specifically, Patent Document 1 describes a technique in which, from among multiple ports where unmanned aerial vehicles are parked, a first port with a large number of parked unmanned aerial vehicles and a second port with a small number of parked unmanned aerial vehicles are selected, and the unmanned aerial vehicles parked at the first port are placed at the second port in a domino effect, thereby transporting cargo. In other words, Patent Document 1 describes a technique in which the unmanned aerial vehicles fly between each port in a domino effect, transporting cargo via relay ports using multiple unmanned aerial vehicles.

[0003] Patent No. 6515939

[0004] However, in conventional unmanned aerial vehicle deployment methods, while it is possible to transport cargo over long distances by flying unmanned aerial vehicles in a chain-like arrangement, there is no need to bother going through a relay port if the flight distance is sufficient, which is wasteful. Furthermore, in conventional unmanned aerial vehicle deployment methods, the system is configured on the premise of performing a single task, namely, transporting cargo, and therefore does not anticipate cases in which a single unmanned aerial vehicle will perform multiple tasks, such as, for example, performing a first task (e.g., inspection, such as photographing solar panels from the air) in a first area and then flying the unmanned aerial vehicle to a second area to perform a second task (e.g., delivering cargo), leaving room for improvement.

[0005] The present invention has been proposed to solve the problems associated with the conventional technologies described above, and aims to provide a flight route determination system and server that is related to the provision of services related to multi-purpose drones, that allows a direct route and a detour route to be selected, that makes it possible to determine a flight route that includes the selected route, and that can determine a flight route taking into account the profits of the operator.

[0006] In view of the above-mentioned problems, one aspect of the present invention provides a flight route determination system including an air vehicle that is powered by a battery and capable of performing a plurality of tasks, and a server that can determine a flight route for the air vehicle, the system including: a selection means that selects a target parking lot from a plurality of parking lots corresponding to a plurality of destinations where the plurality of tasks are respectively scheduled; a first setting means that sets, for the target air vehicle parked at the target parking lot selected by the selection means, a direct route that travels between a first destination corresponding to a first task and a second destination corresponding to a second task without passing through a predetermined parking lot; a second setting means that sets, for the target air vehicle, a detour route that travels between the first destination and the second destination via a predetermined parking lot; a first calculation means that calculates a possible flight distance for the target air vehicle based on a payload weight of the target air vehicle and a remaining charge of the battery; and a first determination means that determines one of the direct route and the detour route as the flight route for the target air vehicle based on the possible flight distance calculated by the first calculation means.

[0007] In another aspect of the present invention, a server is a server that can be powered by a battery and can set a flight route for an air vehicle capable of performing a plurality of tasks, and is equipped with: a selection means that selects a target parking lot from a plurality of parking lots corresponding to a plurality of destinations where the plurality of tasks are respectively scheduled; a first setting means that sets, for the target air vehicle parked at the target parking lot selected by the selection means, a direct route that will allow the target air vehicle to fly between a first destination corresponding to a first task and a second destination corresponding to a second task without passing through a specified parking lot; a second setting means that sets a detour route that will allow the target air vehicle to fly between the first destination and the second destination via a specified parking lot; a first calculation means that calculates the possible flight distance of the target air vehicle based on the payload weight of the target air vehicle and the remaining charge of the battery; and a first determination means that determines one of the direct route and the detour route as the flight route of the target air vehicle based on the possible flight distance calculated by the first calculation means.

[0008] According to the present invention, it is possible to determine an optimal flight route for a flying object such as a multi-purpose drone.

[0009] 1 is a schematic diagram of a flight route determination system according to an embodiment of the present invention; FIG. 2 is a hardware configuration diagram of a server; FIG. 3 is a front view of a drone; FIG. 4 is a schematic configuration diagram of a drone; FIG. 5 is a functional configuration diagram of a server and a flight route determination system; (a) is an example of request information when user 1 requests an inspection, and (b) is an example of request information when user 2 requests logistics; FIG. 6 is a diagram showing an assumed flight route when a first drone parked at a first parking lot is flown to two destinations to perform work at each destination; FIG. 7 is a diagram showing an assumed flight route when a second drone parked at a second parking lot is flown to two destinations to perform work at each destination; FIG. 8 is a flowchart showing a flight route determination method; FIG. 9 is a diagram showing a specific example when a direct route is determined as the flight route; FIG. 10 is a diagram showing a specific example when a detour route is determined as the flight route; 1A is a diagram showing an assumed flight route (route A) when a first drone parked at a first parking lot is flown to two destinations to perform tasks at each of the two destinations, and FIG. 1B is a diagram showing an assumed flight route (route B) when a second drone parked at a second parking lot is flown to two destinations to perform tasks at each of the two destinations. FIG. 1B is a flowchart showing a method for determining a flight route based on business revenue. FIG. 1C is a diagram showing a specific example of when route B-1 is determined as the flight route out of routes A-1 and B-1. FIG. 1D is a diagram showing a specific example of when route B-2 is determined as the flight route out of routes A-1 and B-2. (a) is a diagram showing the expected flight route when a first drone parked at a first parking lot is flown to three destinations to perform work at each of them, (b) is a diagram showing the expected flight route when a third drone parked at a third parking lot is flown to three destinations to perform work at each of them, and (c) is a diagram showing the expected flight route when a second drone parked at a second parking lot is flown to three destinations to perform work at each of them.

[0010] A preferred embodiment of the flight route determination system and server of the present invention will now be described.

[0011] Fig. 1 is a schematic diagram of a flight route determination system S. As shown in Fig. 1, the flight route determination system S is composed of a server 100, a drone 300, and a user terminal 200, and each component is connected to be able to communicate via a network such as a mobile phone network or the Internet.

[0012] In addition to the above configuration, the flight route determination system S also provides parking lots 400 in various locations for parking drones 300. The parking lots 400 are assumed to be, for example, service stations (e.g., 6,000 or more) located nationwide, but are not limited thereto. Any parking lot 400 may be provided as long as there are at least multiple locations where drones 300 can be parked. Service stations are facilities that can provide various services, such as maintenance services such as inspection and repair of vehicles and other machinery. Therefore, maintenance such as charging and replacement of batteries equipped on drones 300 that have landed on the parking lots 400 can be manually performed by personnel. The parking lots 400 may also be provided with an automatic charging device (e.g., a wireless charging device) that automatically charges the batteries equipped on the drones 300 after they have landed. Each parking lot 400 is assumed to have at least one drone 300 parked therein and be open enough for at least one drone 300 to land.

[0013] FIG. 2 is a hardware configuration diagram of the server 100. As shown in FIG. 2, the server 100 is composed of a CPU 101, RAM 102, ROM 103, HDD / SSD 104, input device 105, display device 106, and communication IF 107. These components are connected by a system bus, and data is exchanged via the system bus. The CPU (Central Processing Unit) 101, also known as a central processing unit, is the central processing unit of the computer, controlling each device and calculating and processing data. The RAM (Random Access Memory) 102 is a type of memory device that allows data to be erased and rewritten. The ROM (Read Only Memory) 103 is a type of memory device that uses semiconductors or the like. Data can be written only once during manufacturing and can only be read when used. The HDD (Hard Disk Drive) / SSD (Solid State Drive) 104 is an auxiliary storage device that uses the properties of magnetic materials to record and read information. The input device 105 is used by the user to give operating instructions to the computer or to input characters, etc., and specifically includes a keyboard, a mouse, etc. The display device 106 is a display unit configured, for example, by a liquid crystal display, etc. The communication IF (Interface) 107 is a device for communicating with other devices in accordance with a predetermined communication standard, and includes, for example, a NIC (Network Interface Card).

[0014] The user terminal 200 has a hardware configuration similar to that shown in Fig. 2. The user terminal 200 can request various tasks to be performed by the drone 300 in response to user operations. For example, the user can request the delivery of a desired product to a specified destination, or the taking of photographs for the inspection of a specific area, facility, or location (e.g., a large-scale solar panel (mega solar), a farm, etc.) (see Fig. 6).

[0015] The drone 300 is an example of an aerial vehicle of the present invention and performs various tasks based on user requests. The drone 300 in this embodiment is a multi-purpose drone (multirole drone) capable of performing multiple tasks. Examples of "multiple tasks" include logistics (delivery), inspection (photographing the target area, etc.), pest control (scare-off pests, etc.), monitoring elderly people, vacant houses, and vacation homes (photographing from the air, etc.), and agricultural work (sowing seeds from the air, watering plants, etc.). In this embodiment, an example will be described in which the drone 300 performs an inspection as a first task and logistics as a second task. While this embodiment uses an unmanned drone 300, the present invention is not limited to this. For example, unmanned or manned aerial vehicles, air vehicles, air mobility, flying cars, etc. may also be used.

[0016] Fig. 3 is a front view of the drone 300. Fig. 4 is a schematic configuration diagram of the drone 300. As shown in Figs. 3 and 4 , the drone 300 includes a motor 301, a rotor 302, a communication unit 303, a positioning unit 304, a power supply unit 305, an imaging unit 306, a baggage holding unit 307, and a control unit 310.

[0017] The motor 301 is a component that rotates a rotating shaft using power supplied from a power supply unit 305. A rotor 302 is connected to this rotating shaft, and driving the motor 301 rotates the rotor 302. The rotor 302 is a rotating blade (propeller), and by rotating, it provides lift and propulsion to the drone 300. The drone 300 of this embodiment is equipped with four motors 301 and four rotors 302 that can be driven independently by each motor 301. Each motor 301 (each rotor 302) can be controlled to vary its rotation speed. This allows the drone 300 to fly in a predetermined direction. For example, the drone 300 can be raised by relatively increasing the rotation speed of the four motors 301 (rotors 302), and the drone 300 can be lowered by relatively decreasing the rotation speed of the four motors 301 (rotors 302). Furthermore, by rotating the motor 301 (rotor 302) in a predetermined direction relatively quickly, the drone 300 can be made to fly in the opposite direction to the predetermined direction.

[0018] The communication unit 303 communicates with the server 100. The communication unit 303 can transmit and receive various data to and from the server 100 via a network, such as a mobile phone network such as LTE or a fixed communication network such as the Internet. The positioning unit 304 is a positioning means, such as a global navigation satellite system (GNSS) including GPS, and measures the current position information (latitude and longitude) of the drone 300. The positioning unit 304 can measure altitude as vertical position information. The power supply unit 305 supplies power to components such as the motor 301. Specifically, the power supply unit 305 is configured with a detachable battery, and power is supplied from this battery. The imaging unit 306 is a camera capable of capturing video or still images. The imaging unit 306 is used to capture images of the inspection target (e.g., a large solar panel, a farm, etc.) from above when an inspection request is received. The photographed data captured by the photographing unit 306 is transmitted to the server 100, and can then be transmitted from the server 100 to a specified destination (for example, the requesting user terminal 200). The drone 300 is equipped with a baggage holding unit 307 (see FIG. 3). When a logistics (delivery) request is received, the baggage holding unit 307 loads the goods to be delivered.

[0019] The control unit 310 controls each unit by causing the CPU to execute a program stored in the ROM. For example, when the control unit 310 receives a work request, the control unit 310 drives the motor 301 to control the rotation of each rotor 302 based on the destination location information included in the request information and the location information measured by the positioning unit 304. This allows the drone 300 to fly from its current location to the destination. As shown in FIG. 4 , the control unit 310 functions as a battery remaining capacity acquisition unit 311 to acquire the remaining capacity of the battery provided in the drone 300. For example, when a battery with a capacity of 10,000 mAh is fully charged, the remaining battery capacity is 10,000 mAh. In response to access from the server 100, the control unit 310 can transmit information indicating the remaining battery capacity acquired by the battery remaining capacity acquisition unit 311 to the server 100.

[0020] FIG. 5 is a functional configuration diagram of the flight route determination system S. The user terminal 200 is an information terminal such as a personal computer, and is used when a user requests a business operator to perform work using a drone 300. Specifically, request information is sent to the server 100 in response to a predetermined operation on the user terminal 200. FIG. 6 shows examples of the request information. FIG. 6(a) is an example of request information when user 1 requests inspection (photography of the target area), and FIG. 6(b) is an example of request information when user 2 requests logistics (delivery of a package).

[0021] The server 100 is an information processing device that mainly manages the drones 300, such as flight management. When the drones 300 are to perform multiple tasks at multiple destinations, the server 100 of this embodiment determines a flight route that enables efficient and safe flight using a single drone 300, based on request information received from the user terminal 200. Specifically, it is assumed that the drone 300 will take off (depart) from a first parking lot 400a, then fly to the first destination to perform a first task, then fly to a second destination to perform a second task, and finally fly to a second parking lot 400b to land, and the server 100 determines the flight route for this case.

[0022] 5, the server 100 includes components necessary for determining a flight route, such as a selection means 111, a first setting means 112, a second setting means 113, a first calculation means 114, a second calculation means 115, a first determination means 116, a second determination means 117, and a storage means 120. These functions are realized by the CPU 101 executing a program stored in the ROM 103 to control each section.

[0023] The storage means 120 stores various types of information. For example, the storage means 120 stores the location information of each parking area 400 in advance. The storage means 120 can also store request information received from the user terminal 200. The storage means 120 also stores information regarding the profits (amounts related to sales and expenses) that the business operator may obtain when work is performed by the drone 300. For example, information related to sales includes the user's basic usage fee for one request (350 yen for inspection, 500 yen for logistics, etc.), the fee if the user requests priority arrival (if the user wants the requested work to be carried out quickly) (priority arrival fee: 300 yen), and the maintenance outsourcing fee if maintenance is carried out (outsourced) at the parking lot 400 (battery charging / replacement: 350 yen (equivalent to electricity and labor costs per time)).Information related to expenses includes costs that the operator must bear (hereinafter referred to as travel costs), such as labor costs for flight management (200 yen) and electricity costs for charging and replacing the battery of the drone 300 (30 yen).

[0024] The selection means 111 selects a target parking lot 400 from among multiple parking lots 400 corresponding to multiple destinations where multiple tasks are scheduled. Specifically, the selection means 111 can select the parking lot 400 closest to the destination as the target parking lot 400. More specifically, the selection means 111 selects the parking lot 400 closest (nearest) to the destination identified from the request information. For example, when multiple tasks, including an "inspection" (first task) and "logistics" (second task), are to be performed based on the request information (e.g., when the desired work dates are the same), the selection means 111 selects either the parking lot 400 (first parking lot 400a) closest to the "inspection address" (first destination) included in the request information for "inspection" or the parking lot 400 (second parking lot 400b) closest to the "delivery address" (second destination) included in the request information for "logistics."

[0025] The selection of the parking lot 400 can be performed by any method. For example, if "priority arrival" is selected in the request information, it is necessary to arrive at the work location (destination) early and perform the "requested work" preferentially, so the parking lot 400 closest to the work location (destination) is selected as the target parking lot 400. Also, the parking lot 400 closest to the work location (destination) of the party that received the request information first can be selected as the target parking lot 400. As a result, the drone 300 parked at the selected parking lot 400 (target parking lot 400) is selected as the drone 300 to be flown.

[0026] When there are two destinations, the selection means 111 selects the target parking lot 400 from the first parking lot 400a closest to the first destination and the second parking lot 400b closest to the second destination (from the two parking lots 400). Therefore, the drone 300 to be used is selected from the first drone 300a parked at the first parking lot 400a and the second drone 300b parked at the second parking lot 400b. When there are three or more destinations, the selection means 111 selects the target parking lot 400 from three or more parking lots 400 including the first parking lot 400a closest to the first destination and the second parking lot 400b closest to the second destination. Therefore, the drone 300 to be used is selected from three or more drones 300, including the first drone 300a parked at the first parking lot 400a and the second drone 300b parked at the second parking lot 400b. Note that the selection means 111 can also select the first parking lot 400a and the second parking lot 400b as the target parking lot 400 from among the multiple parking lots 400. Below, as specific examples, flight route determination for "using the first drone 300a" ​​and flight route determination for "using the second drone 300b" will be described.

[0027] (When the First Drone 300a is Used) A case where the first drone 300a is used will be described. Specifically, a case where the first parking lot 400a where the first drone 300a is parked is selected as the target parking lot 400 by the selection means 111 will be described. In this case, the first drone 300a will arrive at the first destination first. The first setting means 112 sets a direct route for the target drone 300 parked in the target parking lot 400 selected by the selection means 111 to fly between the first destination (the inspection address in FIG. 6( a)) and the second destination (the delivery address in FIG. 6( b)) without passing through the specified parking lot 400. In other words, when the first parking lot 400a is selected by the selection means 111, the first setting means 112 sets a route from the first destination to the second destination (directly) for the first drone 300a parked in the first parking lot 400a as the direct route.

[0028] FIG. 7 is a diagram showing a flight route assumed when a first drone 300a parked at a first parking lot 400a flies to two destinations to perform tasks at each destination. As shown by (1) → (2) → (3) in FIG. 7 , in this case, the first parking lot 400a → "first destination → second destination" (direct route) → second parking lot 400b is set as the total flight route (hereinafter referred to as the "direct route") of the first drone 300a. In this way, by selecting the parking lot 400 closest to the destination, the flight distance from the departure parking lot to the destination and the flight distance from the destination to the return parking lot can be shortened. In addition, by flying directly between destinations, the flight distance for that section can be shortened. Furthermore, by using a parking lot different from the departure parking lot as the return parking lot, the total flight distance can often be shortened compared to when the departure parking lot and the return parking lot are the same, allowing the drone to return to the parking lot 400 more quickly. This allows for early preparation for the next task.

[0029] The second setting means 113 sets a detour route for the target drone 300, flying between the first destination and the second destination via a predetermined parking lot 400. Specifically, the second setting means 113 sets, for the first drone 300a, a route from the first destination to the second destination via the predetermined parking lot 400 as the detour route. In other words, the detour route is set as a route in which the first drone 300a parked at the first parking lot 400a lands at the "predetermined parking lot 400" on the way from the first destination (delivery address) to the second destination (inspection address), and after maintenance including battery charging or replacement is performed at this parking lot 400, the first drone 300a is flown to the second destination.

[0030] The "predetermined parking lot 400" is a "transit parking lot" and can be set by any method. For example, a first condition can be set as "the flight distance from the first destination to the predetermined parking lot 400 is shorter than the flight distance from the first destination to the second destination," and the parking lot 400 that satisfies the first condition can be set as the "predetermined parking lot 400." Furthermore, a second condition can be set as "being closest to the second destination," and the parking lot 400 that satisfies the second condition can be set as the "predetermined parking lot 400." In this embodiment, the parking lot 400 that satisfies both the first and second conditions is set as the "predetermined parking lot 400." In other words, the "second parking lot 400b" is set as the "predetermined parking lot 400." As a result, as shown in (1) → (2-1) → (2-2) → (3) in Figure 7, the first parking lot 400a → "first destination → second parking lot 400b → second destination" (detour route) → second parking lot 400b is set as the total flight route of the first drone 300a (hereinafter referred to as the "detour route"). By setting the second parking lot 400b as the intermediate parking lot, it is possible to set the detour route with the shortest distance.

[0031] The first calculation means 114 calculates the possible flight distance of the target drone 300 based on the payload weight of the target drone 300 and the remaining battery charge of the target drone 300. This is because the possible flight distance of a battery-powered drone 300 is correlated with the remaining battery charge, and the battery consumption rate is correlated with the total weight of the aircraft, including the payload weight. Specifically, when executing the first calculation means 114, the server 100 accesses the storage means 120 to extract the "payload weight" included in the request information (see FIG. 6(b)), and accesses the target drone 300 to receive the "remaining battery charge" acquired by the remaining battery charge acquisition unit 311 of the drone 300. The first calculation means 114 calculates the possible flight distance based on the various information acquired in this manner.

[0032] A specific method for calculating the flight distance will be described. Here, it is assumed that the drone 300 weighs 3 kg, is equipped with a battery with a capacity of 10,000 mAh, and has an average flight speed of 500 m / min. It is also assumed that the flight time of the drone 300 when fully charged and without a payload is 15 minutes.

[0033] First, for this drone 300, the battery consumption per unit time when no payload is carried is calculated using the following formula (1): Battery consumption per unit time = 10,000 mAh ÷ 15 minutes = 666 mAh / min (1) Assume that the payload weight is 1 kg and the remaining battery charge is 7,500 mAh. In this case, the total weight of the drone 300 is 4 kg (= aircraft weight 3 kg + payload weight 1 kg), so the battery consumption per unit time (total weight 4 kg) can be calculated using the following formula (2): Battery consumption per unit time (total weight 4 kg) = 666 mAh / min × 4 kg / 3 kg = 888 mAh / min (2) From this, the remaining flight time can be calculated using the following formula (3): Remaining flight time = 7,500 mAh ÷ 888 mAh / min = 8.4 minutes (3) Therefore, the remaining flight distance can be calculated using the following formula (4). Flight distance = 500m / min x 8.4 minutes = 4200m...(4)

[0034] The first determination means 116 determines one of a direct route and a detour route as the flight route of the target drone 300 based on the possible flight distance calculated by the first calculation means 114. In essence, the first determination means 116 determines one of a direct route and a detour route as the flight route of the target drone 300.

[0035] When executing the first determination means 116, the server 100 calculates the "required flight distance for a direct route" and the "required flight distance for a detour route." As shown in FIG. 7 , the "direct route" is composed of a first section (1) from the first parking lot 400a to the first destination, a second section (2) from the first destination to the second destination, and a third section (3) from the second destination to the second parking lot 400b. Therefore, the "required flight distance for a direct route" can be calculated by adding up the required flight distances for the first to third sections. The flight distance for each section can be calculated using a known calculation method for determining the "distance between two points" based on the location information of the start point and the location information of the end point. Since the location information of each parking lot 400 and the location information of the destination (address in the request information) can be obtained from the memory means 120, the flight distance of the first section can be calculated based on the location information of the first parking lot 400a and the location information of the first destination, the flight distance of the second section can be calculated based on the location information of the first destination and the location information of the second destination, and the flight distance of the third section can be calculated based on the location information of the second destination and the location information of the second parking lot 400b.

[0036] As shown in FIG. 7 , if the intermediate parking lot is the second parking lot 400b, the "detour route" is composed of a first section (1) from the first parking lot 400a to the first destination, a second section (2-1) from the first destination to the intermediate parking lot (second parking lot 400b), a third section (2-2) from the intermediate parking lot (second parking lot 400b) to the second destination, and a fourth section (3) from the second destination to the second parking lot 400b. Of these, the "required flight distance for the detour route" can be calculated by adding up the flight distances for the first and second sections. This is because, with a detour route, batteries are charged and replaced at the intermediate parking lot, and therefore flight from the departure parking lot to the intermediate parking lot satisfies the necessary conditions. The flight distance for the first section can be calculated based on the location information of the first parking lot 400a and the location information of the first destination, and the flight distance for the second section can be calculated based on the location information of the first destination and the location information of the intermediate parking lot (second parking lot 400b).

[0037] Based on the calculated possible flight distance, the required flight distance for the direct route, and the required flight distance for the detour route, and based on the comparison processes of (5) and (6) below, one of the direct route (direct route) and the detour route (detour route) is selected, and the selected route is determined as the flight route of drone 300. If possible flight distance > required flight distance for the direct route: select the direct route... (5) If required flight distance for the detour route < possible flight distance ≦ required flight distance for the direct route: select the detour route... (6) For example, if the required flight distance for the direct route is 4000 m and the required flight distance for the detour route is 2500 m, then if the possible flight distance is 4200 m, the direct route is selected, and if the possible flight distance is 2800 m, the detour route is selected, and the selected route is determined as the flight route of first drone 300a. In this way, the first determination means 116 has the function of determining a flight route by selecting either a direct route (direct route) or a detour route (detour route) (hereinafter also referred to as the "direct / detour route selection function").

[0038] (When the second drone 300b is used) A case where the second drone 300b is used will be described. That is, a case where the second parking lot 400b where the second drone 300b is parked is selected as the target parking lot 400 by the selection means 111 will be described. In this case, the second drone 300b will arrive at the second destination first. When the second parking lot 400b is selected by the selection means 111, the first setting means 112 sets a route from the second destination to the first destination (direct) for the second drone 300b parked at the second parking lot 400b as a direct route, and the second setting means 113 sets a route from the second destination to the first destination via the specified parking lot 400 as a detour route for the second drone 300b. The "first parking lot 400a" that satisfies both the first and second conditions is selected as the "specified parking lot 400".

[0039] Figure 8 is a diagram showing flight routes assumed when the second drone 300b parked at the second parking lot 400b is flown to two destinations to perform tasks at each. As shown by (1) → (2) → (3) in Figure 8, the direct route is the second parking lot 400b → "second destination → first destination" (direct route) → first parking lot 400a. As shown by (1) → (2-1) → (2-2) → (3) in Figure 8, the detour route is the second parking lot 400b → "second destination → relay parking lot (first parking lot 400a) → first destination" (detour route) → first parking lot 400a.

[0040] The first calculation means 114 calculates the flight distance of the second drone 300b based on the payload weight of the second drone 300b and the remaining battery power of the second drone 300b. That is, similar to the above-mentioned "When the first drone 300a is used," the first calculation means 114 calculates the flight distance of the second drone 300b based on the payload weight of the second drone 300b and the remaining battery power of the second drone 300b.

[0041] The first determination means 116 determines one of the direct route and the detour route as the flight route for the second drone 300b based on the possible flight distance calculated by the first calculation means 114. (1) → (2) → (3) shown in Figure 8 is a direct route, and the total distance of each section from (1) to (3) is the required flight distance for the direct route. (1) → (2-1) → (2-2) → (3) shown in the same figure is a detour route, and the total distance of each section from (1) to (2-1) (total distance of the first to second sections) is the required flight distance for the detour route.

[0042] Based on the calculated possible flight distance, the required flight distance for the direct route, and the required flight distance for the detour route, and based on the comparison processes (5) and (6) above, one of the direct route (direct route) and the detour route (detour route) is selected, and the selected route is determined as the flight route for the second drone 300b.

[0043] The server 100 transmits information indicating the determined flight route to the target drone 300. As a result, the target drone 300 can fly along the determined flight route by flying based on the received information. Specifically, a drone 300 that receives information indicating a direct route can fly directly from the first destination to the second destination. On the other hand, a drone 300 that receives information indicating a detour route flies from the first destination to the second destination via a relay parking area. In either case, the drone can fly as quickly as possible without running out of power, allowing the multi-purpose drone to perform a series of multiple tasks safely and smoothly.

[0044] (Flight Route Determination Method) A flight route determination method (determination procedure) will now be described. FIG. 9 is a flowchart illustrating the flight route determination method. As shown in FIG. 9, in the flight route determination method, first, the server 100 receives request information (S1). Specifically, the server 100 receives request information, which is information input by a user operating the user terminal 200 and transmitted from the user terminal 200. As shown in FIG. 6, the request information includes the requested work, the desired date, the address corresponding to the destination, information indicating whether or not there is priority work, and the like. If the requested work is inspection, the request information may include the URL of a specific map site designed to identify the photography area. Furthermore, if the requested work is logistics, the weight of the delivery item may be included in the request information. Note that if the requested work is logistics, the delivery item may also be a product sold (e.g., online) at a service station where the parking lot 400 is located. In this case, if the weight of each product is stored in advance in the memory means 120 of the server 100, the weight of the product (delivery item) purchased by the user via the user terminal 200 can be calculated as the load weight, and the calculation result can be used to calculate the possible flight distance in the first calculation means 114.

[0045] Next, the server 100 selects a target parking lot 400 (S2). Specifically, the selection means 111 selects the target parking lot 400 from among a plurality of parking lots 400 corresponding to a plurality of destinations where a plurality of tasks are respectively scheduled. For example, the selection means 111 selects the parking lot 400 closest to the address (destination) included in the request information. If there are two destinations, one parking lot 400 is selected from the parking lot 400 closest to the first destination and the parking lot 400 closest to the second destination. If there are three destinations, one parking lot 400 may be selected from the parking lot 400 closest to the first destination, the parking lot 400 closest to the second destination, and the parking lot 400 closest to the third destination.

[0046] Next, the server 100 sets a direct route and a detour route (S3). The first setting means 112 sets a direct route for the target drone 300, which flies between a first destination corresponding to the first task and a second destination corresponding to the second task without passing through the specified parking area 400. The second setting means 113 sets a detour route for the target drone 300, which flies between the first destination and the second destination via the specified parking area 400.

[0047] Next, the server 100 calculates the possible flight distance based on the payload weight and the remaining battery power (S4). Specifically, the first calculation means 114 calculates the possible flight distance based on the payload weight included in the request information and the remaining battery power acquired from the target drone 300.

[0048] Next, the server 100 determines a direct route or a detour route as the flight route based on the possible flight distance (S5). Specifically, the first determination means 116 determines one of the direct route and the detour route as the flight route for the target drone 300 based on the possible flight distance calculated by the first calculation means 114. In other words, the direct / detour route selection function selects one of the direct route and the detour route as the flight route.

[0049] 10 and 11 , the cases of determining a direct route and a detour route will be described. An example will be described in which the server 100 receives inspection request information from the user terminal 200 of user 1 and logistics request information from the user terminal 200 of user 2, and the first parking lot is selected as the target parking lot. In this example, the first drone 300a parked at the first parking lot 400a has a body weight of 3 kg, a battery capacity of 10,000 mAh, a flight time of 15 minutes when fully charged without a payload, and an average flight speed of 500 m / min. In addition, the payload weight in the logistics request is assumed to be 1 kg. The required flight distance for the direct route is assumed to be 4,000 m, and the required flight distance for the detour route is assumed to be 2,500 m.

[0050] The following describes the case where the remaining battery capacity is 7500 mAh (Example 1) and 5000 mAh (Example 2).

[0051] Example 1 will be described with reference to FIG. 10 . In this case, as described above, the payload weight is 1 kg (No. 1), the remaining battery power is 7,500 mAh (No. 2), and the average flight speed is 500 m / min (No. 3). Here, the battery consumption per unit time when no payload is carried is calculated as "666 mAh / min" (= 10,000 mAh ÷ 15 min), and therefore the battery consumption per unit time when carrying a 1 kg payload (total weight 4 kg) is calculated as "888 mAh / min" (= 666 mAh / min × 4 kg / 3 kg). From this, the flight time of the first drone 300a is calculated as "8.4 minutes" (= 7,500 mAh ÷ 888 mAh / min) (No. 4). Therefore, the possible flight distance of the first drone 300a is calculated to be "4,200 m" (= 500 m / min x 8.4 minutes) (No. 5). Here, the required flight distance (direct route) is 4,000 m (No. 6). Therefore, the relationship of possible flight distance > required flight distance (direct route) holds, so the server 100 determines the flight route of the first drone 300a to be the "direct route."

[0052] Example 2 will be described with reference to FIG. 11 . In this case, as described above, the payload weight is 1 kg (No. 1), the remaining battery power is 5,000 mAh (No. 2), and the average flight speed is 500 m / min (No. 3). Here, the battery consumption per unit time when no payload is carried is calculated as "666 mAh / min" (= 10,000 mAh ÷ 15 min), and therefore the battery consumption per unit time when carrying a 1 kg payload (total weight 4 kg) is calculated as "888 mAh / min" (= 666 mAh / min × 4 kg / 3 kg). From this, the flight time of the first drone 300a is calculated as "5.6 minutes" (= 5,000 mAh ÷ 888 mAh / min) (No. 4). Therefore, the possible flight distance of the first drone 300a is calculated to be "2800 m" (= 500 m / min x 5.6 min) (No. 5). Here, the required flight distance (direct route) is 4000 m (No. 6), and the required flight distance (detour route) is 2500 m (No. 7). Therefore, the relationship required flight distance (detour route) > possible flight distance > required flight distance (direct route) holds, so the server 100 determines the flight route of the first drone 300a to be the "detour route."

[0053] In this way, in services using multi-purpose drones, by selectively providing a direct route or a detour route, it is possible to determine a flight route that will allow the drone to fly without running out of power, regardless of which route is selected.

[0054] (Determining Flight Routes Based on Business Revenue) As another configuration for determining flight routes, multiple target parking lots 400 are selected, multiple flight routes expected when using each of the drones 300 parked at the multiple parking lots 400 are set, and the flight route with the highest business revenue (business profit) can be determined from among them. For example, if there are two destinations, routes that two drones 300 can fly are set. In this case, the selection means 111 selects the first parking lot 400a and the second parking lot 400b as target parking lots from among the multiple parking lots 400. As a result, the first drone 300a parked at the first parking lot 400a and the second drone 300b parked at the second parking lot 400b are selected as target drones 300. In other words, in this case, the flight route will include a first route in which the first drone 300a parked at the first parking lot 400a flies from the first parking lot 400a to the first destination, and then flies from the first destination to the second destination, and a second route in which the second flying object parked at the second parking lot 400b flies from the second parking lot 400b to the second destination, and then flies from the second destination to the first destination.

[0055] FIG. 12(a) is a diagram showing two flight routes (hereinafter collectively referred to as Route A) assumed when the first drone 300a parked at the first parking lot 400a flies to two destinations to perform work at each of them. As shown in the figure, Route A includes Route A-1, which is a direct route, and Route A-2, which is a detour route. FIG. 12(b) is a diagram showing two flight routes (hereinafter collectively referred to as Route B) assumed when the second drone 300b parked at the second parking lot 400b flies to two destinations to perform work at each of them. As shown in the figure, Route B includes Route B-1, which is a direct route, and Route B-2, which is a detour route.

[0056] The first determination means 116 selects one of route A-1 and route A-2 for route A, and one of route B-1 and route B-2 for route B. As a result, route A and route B are selected. The second calculation means 115 calculates the profit of the operator when the first drone 300a flies route A (first route), and the profit of the operator when the second drone 300b flies route B (second route).

[0057] The second determination means 117 determines a flight route for the target drone from two routes (route A and route B) based on the business revenue of the operator calculated by the second calculation means 115. Specifically, because maintenance of the drone 300 can be performed via the parking lot, the second calculation means 115 calculates the business revenue based on the expenses, including maintenance, borne by the operator related to the flight route determination system S, and the second determination means 117 determines the flight route for the drone 300 based on the business revenue. Note that the method for calculating the business revenue and the method for determining the flight route will be explained below in the section "Method for determining a flight route based on business revenue."

[0058] (Flight Route Determination Method Based on Business Revenue) FIG. 13 is a flowchart showing a flight route determination method based on business revenue. In this flight route determination method, when there are two destinations, a flight route is determined from two routes that are expected when two drones 300 are used. As shown in FIG. 13 , in this flight route determination method, similar to the flight route determination method described above (see FIG. 9 ), the server 100 receives request information (S11). Specifically, inspection request information shown in FIG. 6( a) and logistics request information shown in FIG. 6( b) are received, and these are to be carried out in series by a single drone 300.

[0059] Next, the server 100 selects the first parking lot 400a and the second parking lot 400b as target parking lots 400 (S12). That is, the server 100 selects both the first parking lot 400a closest to the first destination and the second parking lot 400b closest to the second destination. As a result, the first drone 300a parked at the first parking lot 400a and the second drone 300b parked at the second parking lot 400b are selected as target drones 300.

[0060] 9 to set route A and route B for the first drone 300a and the second drone 300b (S13). Specifically, the server 100 uses the direct / detour route selection function to select one of route A-1 (direct route) and route A-2 (detour route) for the first drone 300a and sets the selected route as route A, and uses the direct / detour route selection function to select one of route B-1 (direct route) and route B-2 (detour route) for the second drone 300b and sets the selected route as route B.

[0061] Next, the server 100 calculates the business profits (S14). Specifically, the second calculation means 115 calculates the business profits when the first drone 300a flies route A (first route) and the business profits when the second drone 300b flies route B (second route). The second calculation means 115 also calculates the business profits based on the costs borne by the business, such as the cost of maintenance for the drone 300 that passes through the parking area.

[0062] Then, the second determination means 117 determines the flight route based on the profit of the business operator calculated by the second calculation means 115. Specifically, the second determination means 117 determines either route A (first route) or route B (second route) as the flight route based on the profit of the business operator.

[0063] The methods for calculating business revenue and determining routes will be explained in detail. "Revenue" is calculated based on the following formula (7): Revenue = Sales - Expenses (7) "Revenue" refers to the amount of revenue earned by the business by providing services, and includes, for example, user fees and user options. "User fees" refers to the amount paid by one user per drone use (work request). "User options" are services that users can select, such as a preferred priority arrival fee and maintenance outsourcing fees. "Expenses" refer to travel costs, and include, for example, labor costs for flight management and electricity costs for charging and replacing drone batteries. The respective revenue amounts and expenses are pre-stored in the storage means 120.

[0064] FIG. 14 is a diagram showing a specific example in which route B-1 is selected from route A-1 and route B-1. That is, FIG. 14 shows the sales and expenses when route A1 (a direct route) is selected as route A using the direct / detour selection function, and route B-1 (a direct route) is selected as route B. In this case, as shown in FIG. 14, for route A-1 and route B-1 (user 1 and user 2), a user basic usage fee (inspection): 350 yen and a user basic usage fee (logistics): 500 yen are both charged, and these are recorded as "sales" (No. 1 and No. 2). Furthermore, since user 1 requests the priority arrival fee (see FIG. 6(a)), a priority arrival desired fee: 300 yen is charged, and this is recorded as "sales" (No. 3).

[0065] Travel costs include labor costs (flight management) of 200 yen and electricity costs of 30 yen, which are recorded as "expenses" for both Route A-1 and Route B-1. Therefore, for Route A-1, total sales are 1,150 yen (= 350 yen + 500 yen + 300 yen), total expenses are 230 yen (= 200 yen + 30 yen), and therefore revenue is calculated to be 920 yen (= 1,150 yen - 230 yen). On the other hand, for Route B-1, total sales are 850 yen (= 350 yen + 500 yen), total expenses are 230 yen (= 200 yen + 30 yen), and therefore revenue is calculated to be 620 yen (= 850 yen - 230 yen). As a result, since the revenue for Route A-1 is higher than the revenue for Route B-1, Route A-1 is selected as the flight route. In this case, route A-1 is the flight route when the first drone 300a is flown, so information on the determined flight route can be transmitted to the first drone 300a, allowing the first drone 300a to carry out a series of requested tasks while flying route A-1 based on the received flight route information.

[0066] FIG. 15 shows a specific example in which route B-2 is selected from route A-1 and route B-2. That is, FIG. 15 shows the sales and expenses when route A1 (a direct route) is selected as route A using the direct / detour selection function, and route B-2 (a detour route) is selected as route B. In this case, as shown in FIG. 15, for route A-1 and route B-1 (user 1 and user 2), a user basic usage fee (inspection): 350 yen and a user basic usage fee (logistics): 500 yen are both charged, and these are recorded as "sales" (No. 1 and No. 2). Furthermore, since user 1 requests a priority arrival fee (see FIG. 6(a)), a priority arrival desired fee: 300 yen is charged, and this is recorded as "sales" (No. 3). Furthermore, since route B-2 is a detour route, a maintenance commission fee (battery charging / replacement): 350 yen is charged, and this is recorded as "sales." This is because batteries are charged or replaced at parking areas along the detour route.

[0067] Travel costs include labor costs (flight management) of 200 yen and electricity costs of 30 yen, which are recorded as "expenses" for both Route A-1 and Route B-2. Therefore, for Route A-1, total sales are 1,150 yen (= 350 yen + 500 yen + 300 yen), total expenses are 230 yen (= 200 yen + 30 yen), and therefore revenue is calculated to be 920 yen (= 1,150 yen - 230 yen). On the other hand, for Route B-2, total sales are 1,200 yen (= 350 yen + 500 yen + 350 yen), total expenses are 230 yen (= 200 yen + 30 yen), and therefore revenue is calculated to be 970 yen (= 1,200 yen - 230 yen). As a result, since the revenue for Route B-2 is higher than the revenue for Route A-1, Route B-2 is selected as the flight route. In this case, route B-2 is the flight route when the second drone 300b is flown, so information on the determined flight route can be transmitted to the second drone 300b, allowing the second drone 300b to carry out a series of requested tasks while flying route B-2 based on the received flight route information.

[0068] (When there are three or more destinations) In the above-mentioned "Determining a flight route based on business revenue" and "Method for determining a flight route based on business revenue," configurations and methods for a case where there are two destinations were described. However, the present invention can also be applied to a case where there are three or more destinations. As an example, a case where there are three destinations will be described. FIG. 16 is a diagram showing flight routes assumed when three drones 300 are used, each parked at three parking lots 400 corresponding to the three destinations. In this case, the selection means 111 selects the first parking lot 400a, the second parking lot 400b, and the third parking lot 400c as the target parking lot 400 from among the three parking lots 400. FIG. 16(a) is a diagram showing routes that can be flown by the first drone 300a, FIG. 16(b) is a diagram showing routes that can be flown by the third drone 300c, and FIG. 16(c) is a diagram showing routes that can be flown by the second drone 300b.

[0069] 16(a), the flight route includes a first route in which a first drone 300a parked at a first parking lot 400a flies from the first parking lot 400a to a first destination, then flies from the first destination to a second destination via a direct route or a detour route, then flies from the second destination to a third destination via a direct route or a detour route, and then flies from the third destination to a third parking lot 400c. Also, the flight route includes a third route in which a third drone 300c parked at a third parking lot 400c flies from the third parking lot 400c to a third destination, then flies from the third destination to the second destination via a direct route or a detour route, then flies from the second destination to the first destination via a direct route or a detour route, and then flies from the first destination to the first parking lot 400a. The flight route also includes a second route, as shown in Figure 16 (c), in which the second drone 300b parked at the second parking lot 400b flies from the second parking lot 400b to the second destination, then flies from the second destination to the first destination via a direct route or a detour route, then flies from the first destination to the third destination via a direct route or a detour route, and then flies from the third destination to the third parking lot 400c, or flies from the second parking lot 400b to the second destination, then flies from the second destination to the third destination via a direct route or a detour route, then flies from the third destination to the first destination via a direct route or a detour route, and then flies from the first destination to the first parking lot 400a.

[0070] The second calculation means 115 calculates the business profits corresponding to the multiple routes. Specifically, the second calculation means 115 calculates the business operator's profit when the first drone 300a is flown along the first route, the business operator's profit when the second drone 300b is flown along the second route, and the business operator's profit when the third drone 300c is flown along the third route. The second determination means 117 determines the flight route of the target drone 300 from among the multiple routes based on the business operator's profit calculated by the second calculation means 115. In other words, the most profitable route can be determined as the flight route from among the profits calculated for each of the first to third routes.

[0071] In this way, in services using multi-purpose drones, in addition to the ability to select direct or detour routes, flight routes are determined based on business revenue.

[0072] As described above, the flight route determination system S of this embodiment includes a battery-powered drone 300 (air vehicle) capable of performing a plurality of tasks, and a server 100 capable of determining a flight route for the drone 300, a selection means 111 for selecting a target parking lot from a plurality of parking lots corresponding to a plurality of destinations where a plurality of tasks are respectively scheduled, and a control means for causing the target drone 300 parked in the target parking lot 400 selected by the selection means 111 to fly between a first destination corresponding to a first task and a second destination corresponding to a second task without passing through the predetermined parking lot 400. a first setting means 112 that sets a direct route for the target drone 300 to fly between the first destination and the second destination via a specified parking area 400; a second setting means 113 that sets a detour route for the target drone 300 to fly between the first destination and the second destination via a specified parking area 400; a first calculation means 114 that calculates the possible flight distance of the target drone 300 based on the payload weight and remaining battery charge of the target drone 300; and a first determination means 116 that determines one of the direct route and the detour route as the flight route of the target drone 300 based on the possible flight distance calculated by the first calculation means 114. When the first parking lot 400a is selected by the selection means 111, the first setting means 112 sets the route from the first destination to the second destination for the first drone 300a parked at the first parking lot 400a as a direct route, and when the second parking lot 400b is selected by the selection means 111, the first setting means 112 sets the route from the second destination to the first destination for the second drone 300b parked at the second parking lot 400b as a direct route.The second setting means 113 sets the route from the first destination to the second destination via the specified parking lot 400 as a detour route for the first drone 300a, and sets the route from the second destination to the first destination via the specified parking lot 400 as a detour route for the second drone 300b.

[0073] In this way, by selectively providing a direct route or a detour route in a service involving a multi-purpose drone, it is possible to determine a flight route that will allow the flying object to fly without running out of power, regardless of which route is selected. Conventionally, when flying over medium to long distances, there has been concern that the drone may run out of power along the way, resulting in an accident such as a crash of the drone 300. However, according to the present invention, the drone does not run out of power regardless of the flight distance, and in particular, when flying over a direct route, the drone can fly quickly to its destination. This allows the multi-purpose drone 300 to be used safely and efficiently.

[0074] In addition, in this embodiment, the selection means 111 can select a first parking lot 400a and a second parking lot 400b as target parking lots 400 from among the multiple parking lots 400, and the flight route includes a first route in which a first drone 300a parked at the first parking lot 400a flies from the first parking lot 400a to a first destination, and then flies from the first destination to a second destination, and a second route in which a second drone 300b parked at the second parking lot 400b flies from the second parking lot 400b to a second destination, and then The system is equipped with second calculation means 115 that calculates the operator's profits corresponding to multiple routes including a first route that flies the first drone 300a along the first route and a second route that flies from the second destination to the first destination, and second determination means 117 that determines the flight route of the target drone 300 from among the multiple routes based on the operator's profits calculated by the second calculation means 115. The second calculation means 115 calculates the business profits based on the costs borne by the operator related to the flight route determination system, including maintenance (e.g., battery charging / replacement) for the drone 300 passing through the parking area 400.

[0075] In this way, in addition to the direct / detour selection function, the flight route is determined based on business revenue, which allows multi-purpose drones to be used safely and efficiently while increasing the revenue of businesses that provide services related to these multi-purpose drones.

[0076] While the preferred embodiments of the present invention have been described above, it goes without saying that the present invention is not limited to the above-described embodiments and various modifications are possible within the scope of the present invention. For example, the maintenance may include maintenance other than battery charging and replacement (e.g., filling with lubricating oil, cleaning, balancing the rotor 302, etc.), and the fees for these may be included in the maintenance commission fee (sales).

[0077] Although the present invention is targeted at multi-purpose drones 300, it can also be applied to single-purpose drones 300. Even in this case, if the tasks are the same, the drone 300 can perform multiple tasks in a series. If there are multiple destinations, the number of users and request information may be single. In other words, the present invention can be applied even when there are multiple task requests from one user.

[0078] Although the first and second conditions have been exemplified as conditions for the "predetermined parking lot 400" (intermediate parking lot), the present invention is not limited to these. For example, a condition can be added that "the calculated flight distance when the battery is fully charged (at the intermediary parking lot) is greater than the distance from the predetermined parking lot (intermediate parking lot) 400 to the second destination and then to the second parking lot 400b." This is because if this condition is not met, the aircraft will run out of power and will not be able to fly to the second parking lot 400b. Wind direction and wind speed in various locations can be acquired via a Web-API or sensors installed at each parking lot 400, and the flight distance can be calculated based on the acquired wind direction and wind speed. For example, a model can be created that can output the flight distance in response to input wind direction and wind speed by machine learning the correlation between wind direction, wind speed, and flight distance.

[0079] The required flight distance can also include the vertical (up and down) flight distance (e.g., flight distance during takeoff and landing, vertical movement distance to avoid obstacles, etc.) and the flight distance required for work at the destination (e.g., flight distance from start to finish of image capture when inspecting solar panels). In addition to the battery-powered drone 300, other energy-driven flying objects such as fuel oil, hybrid flying objects powered by both batteries and fuel oil, or hybrid types powered by batteries and using fuel oil only for power generation can also be applied. In this case, the drone 300's possible flight distance can be calculated based on the corresponding remaining energy level and payload weight. The above-described configurations can also be combined in various ways. For example, the direct / detour route selection function can determine the flight route taking business profits into account.

[0080] S: flight route determination system, 100: server, 101: CPU, 102: RAM, 103: ROM, 104: HDD / SSD, 105: input device, 106: display device, 107: communication IF, 111: selection means, 112: first setting means, 113: second setting means, 114: first calculation means, 115: second calculation means, 116: first determination means, 117: second determination means, 200: user terminal, 300: drone, 301: motor, 302: rotor, 303: communication unit, 304: positioning unit, 305: power supply unit, 306: photography unit, 310: control unit, 311: battery remaining capacity acquisition unit, 400: parking space

Claims

1. In a flight route determination system comprising a flying object that can be driven by a battery and can perform a plurality of operations, and a server that can determine the flight route of the flying object, selection means for selecting a target parking airport from a plurality of parking airports corresponding to a plurality of destinations where the plurality of operations are respectively scheduled; first setting means for setting a direct route for a target flying object parked at the target parking airport to fly between a first destination corresponding to a first operation and a second destination corresponding to a second operation without passing through a predetermined parking airport; second setting means for setting a detour route for the target flying object to fly between the first destination and the second destination via a predetermined parking airport; first calculation means for calculating a flightable distance of the target flying object based on the weight of the load carried by the target flying object and the remaining amount of the battery; first determination means for determining, based on the flightable distance calculated by the first calculation means, one of the direct route and the detour route as the flight route of the target flying object, characterized by a flight route determination system.

2. The first setting means When the first parking airport is selected by the selection means, for the first flying object parked at the first parking airport, sets the route from the first destination to the second destination as the direct route, and when the second parking airport is selected by the selection means, for the second flying object parked at the second parking airport, sets the route from the second destination to the first destination as the direct route, The second setting means For the first flying object, sets the route from the first destination to the second destination via a predetermined parking airport as the detour route, and for the second flying object, sets the route from the second destination to the first destination via a predetermined parking airport as the detour route characterized by the flight route determination system according to claim 1.

3. The selection means can select a first parking airport and a second parking airport as the target parking airport from among the plurality of parking airports, The flight route includes a first route in which a first flying object stationed at the first parking airport flies from the first parking airport to the first destination and then from the first destination to the second destination, and a second route in which a second flying object stationed at the second parking airport flies from the second parking airport to the second destination and then from the second destination to the first destination. Second calculating means for calculating the revenue of the business corresponding to a plurality of routes including the revenue of the operator when the first route is flown by the first flying object and the revenue of the operator when the second route is flown by the second flying object. Second determining means for determining the flight route of the target flying object from among the plurality of routes based on the revenue of the business calculated by the second calculating means. The flight route determination system according to claim 1 or 2, characterized in that.

4. At the parking airport, maintenance of the flying object passing through the parking airport is possible. The second calculating means is Calculating the revenue of the business based on the expenses borne by the operator related to the flight route determination system including the maintenance. The flight route determination system according to claim 3, characterized in that.

5. The selection means is It is possible to select the parking airport closest to the destination as the target parking airport. The flight route determination system according to claim 1 or 2, characterized in that.

6. In a server capable of setting a flight route of a flying object that can be driven by a battery and can perform a plurality of operations, Selection means for selecting a target parking airport from among a plurality of parking airports corresponding to a plurality of destinations where the plurality of operations are respectively scheduled. First setting means for setting a direct route for the target flying object stationed at the target parking airport to fly between a first destination corresponding to a first operation and a second destination corresponding to a second operation without passing through a predetermined parking airport. Second setting means for setting a detour route for the target flying object to fly between the first destination and the second destination via a predetermined parking airport. First calculating means for calculating the flightable distance of the target flying object based on the load weight of the target flying object and the remaining amount of the battery. First determining means for determining one of the direct route and the detour route as the flight route of the target flying object based on the flightable distance calculated by the first calculating means. A server characterized by the above.

7. Second calculation means for calculating the revenue of a business corresponding to a plurality of routes including the revenue of the operator when the first route is flown by the first flying object and the revenue of the operator when the second route is flown by the second flying object; Second determination means for determining the flight route of the target flying object from among the plurality of routes based on the revenue of the business calculated by the second calculation means; The plurality of routes may include a detour route via the parking airport; The second calculation means calculates the revenue of the business based on the costs borne by the operator, including the maintenance costs when the target flying object passes through the parking airport in order to fly the detour route A server according to claim 6, characterized by the above.