Navigation control system, navigation control method, and program

Abstract

This navigation control system includes: a detection unit; an identification unit; a determination unit; and a sharing processing unit. The detection unit detects a first moving body that is possibly outside the range of control, on the basis of an image or a signal acquired within a predetermined region. The identification unit identifies whether the first moving body is a control target, on the basis of control information that is shared with another control system. The determination unit, if the first moving body is not identified as a control target, determines whether an avoidance operation of a second moving body, which is a control target, is necessary, on the basis of the position or the movement of the first moving body. The sharing processing unit shares with the other control system the control information that includes information related to whether the avoidance operation is necessary.

Description

Traffic management system, traffic management method and program

[0001] The present disclosure relates to a traffic management system, a traffic management method, and a program.

[0002] In our daily lives, mobile objects utilizing new technologies, such as drones and unmanned air systems (UAS), are becoming more common. As these mobile objects become more common, systems for managing their operation are also being developed.

[0003] For example, an operation management system called UTM (Unmanned air system Traffic Management) has been developed. UTM aims to safely manage the operation of multiple drones under the control of an administrator.

[0004] As a related technique, for example, a system described in Patent Document 1 includes an image interrogator that identifies possible collision threats to an aircraft and provides operations to avoid the recognized threats.

[0005] In addition, the technology described in Patent Document 2 detects other flying objects within a specified range from the flying object, identifies the type of the other flying object, and determines the possibility of a collision between the flying object and other flying objects based on attributes related to the movement of the flying object.

[0006] JP 2009-530159 A International Publication No. 2019 / 093198

[0007] However, there is a possibility that there may be mobile objects that are not under the management of a given administrator (unmanaged mobile objects) in the area where the mobile objects under the administrator's management move. If such unmanaged mobile objects exist, it is desirable for the administrator to appropriately recognize them.

[0008] In view of the above-mentioned problems, the present disclosure aims to provide a traffic management system and the like that can suitably use information about the status of managed moving bodies.

[0009] The traffic management system according to the present disclosure includes a detection unit, an identification unit, a determination unit, and a shared processing unit. The detection unit detects a first moving object that may be outside of its management scope based on images or signals acquired in a predetermined area. The identification unit determines whether the first moving object is a managed object based on management information shared with other management systems. If the first moving object is not identified as a managed object, the determination unit determines whether an avoidance operation is required for a second moving object that is a managed object based on the position or movement of the first moving object. The shared processing unit shares the management information, including information regarding whether an avoidance operation is required, with other management systems.

[0010] In an information processing method according to the present disclosure, a computer executes the following processes. The computer detects a first moving object that may be out of its management scope based on images or signals acquired in a predetermined area. The computer determines whether the first moving object is a managed object based on management information shared with other management systems. If the first moving object is not identified as a managed object, the computer determines whether an avoidance operation is necessary for a second moving object that is a managed object based on the position or movement of the first moving object. The computer shares the management information including information regarding whether an avoidance operation is necessary with the other management systems.

[0011] A program according to the present disclosure causes a computer to execute the following method. The computer detects a first moving object that may be out of its management scope based on images or signals acquired in a predetermined area. The computer determines whether the first moving object is a managed object based on management information shared with other management systems. If the first moving object is not identified as a managed object, the computer determines whether an avoidance operation is necessary for a second moving object that is a managed object based on the position or movement of the first moving object. The computer shares the management information including information regarding whether an avoidance operation is necessary with the other management systems.

[0012] According to the present disclosure, it is possible to provide a traffic management system, an information processing method, and a program that can suitably use information about the status of managed moving bodies.

[0013] FIG. 1 is a block diagram of a traffic management system according to an embodiment. FIG. 2 is a flowchart of a traffic management method according to an embodiment. FIG. 3 is a diagram showing a usage status of a traffic management system according to an embodiment. FIG. 4 is a block diagram of a base station. FIG. 5 is a block diagram of a mobile body. FIG. 6 is a flowchart of a traffic management method according to an embodiment. FIG. 7 is a diagram showing the contents of an identification signal transmitted by a mobile body. FIG. 8 is a diagram showing an example of determining whether a mobile body is a management target. FIG. 9 is a diagram showing a usage status of a traffic management system according to an embodiment. FIG. 10 is a block diagram of a traffic management system according to an embodiment. FIG. 11 is a block diagram of an integrated management system. FIG. 12 is a diagram showing a usage status of a traffic management system according to an embodiment. FIG. 13 is a flowchart of a traffic management method according to an embodiment. FIG. 14 is a block diagram illustrating an example of a hardware configuration of a computer.

[0014] The present invention will be described below through embodiments of the invention, but the invention according to the claims is not limited to the following embodiments. Furthermore, not all of the configurations described in the embodiments are necessarily essential means for solving the problems. For clarity of explanation, the following description and drawings have been omitted and simplified as appropriate. In each drawing, the same elements are assigned the same reference numerals, and duplicate explanations are omitted as necessary.

[0015] <First Embodiment> Hereinafter, this embodiment will be described with reference to the drawings. FIG. 1 is a block diagram of a traffic management system 10 according to the first embodiment. The traffic management system 10 is a system for managing traffic of mobile objects. In this disclosure, a mobile object is an air vehicle that moves at an altitude of several meters to several hundred meters above the ground. For example, the mobile object is an unmanned aerial vehicle known as a drone or UAS. Mobile objects are used for various purposes, such as transporting cargo, observing the ground, security, and photography. The traffic management system 10 manages the operational status of the mobile objects under its management and detects the possibility that the operational status of the mobile object may become unsafe.

[0016] More specifically, when a mobile object under management is at risk of colliding with another mobile object not under management (another mobile object), the traffic management system 10 detects that the mobile object needs to be avoided. The traffic management system 10 is a computer, server, or dedicated terminal having communication and processing functions. The traffic management system 10 mainly comprises a detection unit 11, an identification unit 12, a determination unit 13, and a shared processing unit 14.

[0017] The detection unit 11 has a function of detecting a first moving object in a predetermined area. The predetermined area is an area in which moving objects managed by the traffic management system 10 move. In other words, moving objects in the present disclosure move in a predetermined area. The first moving object is a moving object that may be outside the control of the traffic management system 10. For example, the detection unit 11 acquires image data of an image captured by a predetermined camera and detects a first moving object that may be outside the control from this image data. Alternatively, the detection unit 11 acquires a predetermined wireless signal transmitted by the first moving object and detects a first moving object that may be outside the control from this signal.

[0018] The identification unit 12 identifies whether the first moving object detected by the detection unit 11 is a management target. At this time, the identification unit 12 performs the above identification using management information. The management information is information shared with other management systems and includes information on the operation of moving objects managed by each management system. In other words, the Traffic Management System 10 shares management information with multiple different management systems, thereby sharing information on moving objects managed separately with each other. This allows the Traffic Management System 10 to plan the operation of moving objects managed by itself so that they do not interfere with other moving objects. Alternatively, the Traffic Management System 10 can perform smooth traffic management of moving objects by understanding the behavior of moving objects managed by others. Note that other management systems are systems operated by administrators different from the administrator of the Traffic Management System 10. The other management systems have functions equivalent to those of the Traffic Management System 10.

[0019] When the first moving body is not identified as a managed object, the determination unit 13 determines whether or not an avoidance operation is necessary for the second moving body, which is a managed object. Here, the second moving body is a moving body managed by the traffic management system 10. The traffic management system 10 captures the movement of the second moving body. Then, the determination unit 13 measures the movement of the first moving body and calculates the possibility of contact or collision between the first and second moving bodies. Then, the determination unit 13 determines whether or not an avoidance operation is necessary for the second moving body. In other words, for example, when the possibility of contact or collision between the first moving body and the second moving body is equal to or greater than a predetermined threshold, the determination unit 13 determines that an operation to move the second moving body away from the first moving body is necessary.

[0020] The sharing processing unit 14 shares the management information with other management systems. The management information includes information regarding whether or not avoidance action is necessary. For example, the sharing processing unit 14 may notify other management systems connected in a communicative manner that a first moving object that is not under management has been detected. Alternatively, the sharing processing unit 14 may notify other management systems that an avoidance action is necessary for a second moving object due to the approach of the first moving object. Alternatively, if the traffic management system 10 is connected in a communicative manner to a storage device accessible by other management systems, the sharing processing unit 14 may store the management information in the storage device.

[0021] Next, the processing executed by the traffic management system 10 will be described with reference to Fig. 2. Fig. 2 is a flowchart of the traffic management method according to the first embodiment. The flowchart shown in Fig. 2 is started, for example, when the detection unit 11 acquires a certain signal.

[0022] First, the detection unit 11 detects a first moving object that may be out of control based on an image or a signal acquired in a predetermined area (step S11). When the detection unit 11 detects the first moving object, it supplies a signal indicating that the first moving object has been detected to the identification unit 12.

[0023] Next, the identifying unit 12 identifies whether the first moving object is a management target based on the management information shared with other management systems (step S12). The identifying unit 12 supplies a signal indicating whether the first moving object is a management target to the determining unit 13.

[0024] Next, when the first moving object is not identified as a managed object, the determination unit 13 determines whether or not an avoidance operation is necessary for the second moving object, which is a managed object, based on the position or movement of the first moving object (step S13). The determination unit 13 uses the result of this determination to generate information on whether or not an avoidance operation is necessary, and supplies this information to the sharing processing unit 14.

[0025] Next, the sharing processor 14 shares the management information, including information on whether or not avoidance action is necessary, with other management systems (step S14). When the sharing processor 14 executes the process of sharing the management information with other management systems, the traffic management system 10 ends the series of processes.

[0026] The above describes the information processing method executed by the traffic management system 10. Through this processing, the traffic management system 10 grasps the status of the mobile object that is under management, and shares this status with other management systems.

[0027] The traffic management system 10 may also include a processor and a storage device (not shown). The storage device of the traffic management system 10 includes a storage device including a nonvolatile memory such as a flash memory or an SSD. In this case, the storage device of the traffic management system 10 stores a computer program (hereinafter simply referred to as a program) for executing the image processing method described above. The processor also loads the computer program from the storage device into a buffer memory such as a DRAM (Dynamic Random Access Memory) and executes the program.

[0028] Each component of the traffic management system 10 may be realized by dedicated hardware. Furthermore, some or all of the components may be realized by general-purpose or dedicated circuits, processors, etc., or a combination of these. These may be configured by a single chip, or by multiple chips connected via a bus. Some or all of the components of each device may be realized by a combination of the above-mentioned circuits, etc., and a program. Furthermore, a CPU (Central Processing Unit), GPU (Graphics Processing Unit), FPGA (Field-Programmable Gate Array), etc. may be used as the processor. The description of the configurations described herein may also be applied to other devices or systems described below in this disclosure.

[0029] As described above, according to the present embodiment, it is possible to provide an operation control system, an information processing method, and a program that can suitably use information about the status of mobile objects that are the subject of management.

[0030] Next, a second embodiment will be described. Fig. 3 is a diagram showing the usage status of a traffic management system according to the second embodiment. Fig. 3 shows a traffic management system 21, another management system 22, a base station 210, a base station 220, a first mobile object 310, and a second mobile object 320.

[0031] The traffic management system 21 manages the operation of mobile objects to be managed in a predetermined first area A10. The traffic management system 21 is communicatively connected to a base station 210 and acquires signals related to the mobile objects from the base station 210. The traffic management system 21 is also communicatively connected to another management system 32 via a network N1.

[0032] The traffic management system 21 and the other management systems 22 share information about the mobile objects they manage. That is, the traffic management system 21 provides the other management systems 22 with information such as the identification numbers and operation plans of the mobile objects whose operation is directly managed by the traffic management system 21. Similarly, the other management systems 22 provide the traffic management system 21 with information such as the identification numbers and operation plans of the mobile objects whose operation is directly managed by the other management systems 22. With this configuration, the traffic management system 21 can handle operation information about the mobile objects managed by the other management systems 22 as a management target.

[0033] Furthermore, the traffic management system 21 and the other management systems 22 share management information with each other. That is, when the traffic management system 21 and the other management systems 22 detect a moving object that is not under their management, they can share information about the moving object.

[0034] The base station 210 receives an identification signal transmitted by a mobile unit moving in the first area A10. When the base station 210 receives the identification signal from the mobile unit, it supplies the received identification signal to the traffic management system 21. The base station 210 may further supply additional information regarding the received identification signal, such as received radio wave strength, to the traffic management system 21. Note that, in this disclosure, one base station 210 is shown in the first area A10, but the number of base stations is not limited to one. Two or more base stations 210 may exist in the first area A10.

[0035] The other management system 22 manages the operation of mobile objects to be managed in a predetermined second area A20. The other management system 22 is communicably connected to a base station 220 that receives identification signals transmitted by mobile objects in the second area A20.

[0036] In the above-described configuration, a part of the first area A10 under the jurisdiction of the traffic management system 21 overlaps with a part of the second area A20 under the jurisdiction of the other management system 22. In Fig. 3, a first mobile object 310 moves in this overlapping area. Similarly, a second mobile object 320 moves in the overlapping area between the first area A10 and the second area A20 in Fig. 3.

[0037] In the above situation, the Traffic Management System 21 determines whether each of the first moving object 310 and the second moving object 320 is a management object. Then, for example, if the first moving object 310 is not a management object and the second moving object 320 is a management object, the Traffic Management System 21 determines whether the second moving object 320 needs to avoid the first moving object 310. The Traffic Management System 21 then provides management information including the result of this determination to the other management system 22. Meanwhile, if the other management system 22 also has the same function as the Traffic Management System 21, it also provides information regarding whether the second moving object 320 needs to avoid the first moving object 310 to the Traffic Management System 21.

[0038] As a result, the traffic management system 21 and the other management systems 22 share management information with each other. With this configuration, the traffic management system 21 can quickly recognize the safety of the mobile objects under its management in a specified area. Therefore, the traffic management system 21 can use the management information to instruct the mobile objects under its management to perform avoidance operations.

[0039] In the above-described configuration, the traffic management system 21 may be located outside the first area A10. However, for example, if the traffic management system 21 and the base station 210 are located in an environment where they can communicate within a local high-speed communication network, rapid information processing becomes possible. Therefore, it is preferable that the traffic management system 21 and the base station 210 are located within a predetermined communication network. In this case, the traffic management system 21 may have a function as, for example, MEC (Multi-access Edge Computing).

[0040] Next, the configuration of the traffic management system 21 will be described with reference to Fig. 4. Fig. 4 is a block diagram of the traffic management system according to the second embodiment. The traffic management system 21 further includes a management information update unit 15, a communication unit 100, a storage unit 110, a control unit 120, and an interface unit 130 in addition to the detection unit 11, the identification unit 12, the determination unit 13, and the sharing processing unit 14 described in the first embodiment.

[0041] The detection unit 11 according to this embodiment acquires the identification information of the first mobile object 310 provided from the base station 210, and provides this identification information to the identification unit 12. The identification unit 12 compares this identification information with the management information stored in the storage unit 110. As a result, the identification unit 12 determines whether the first mobile object 310 is a management target. This allows the traffic management system 10 to appropriately recognize mobile objects outside of its management target.

[0042] The determination unit 13 according to this embodiment calculates the possibility of contact between the first moving body 310 and the second moving body 320 from the position information included in the identification information. The possibility of contact between the first moving body 310 and the second moving body 320 may be calculated, for example, based on the distance between the first moving body 310 and the second moving body 320. Furthermore, if the direction and speed of movement of each moving body can be measured in addition to the position of each moving body, the possibility of contact between the first moving body 310 and the second moving body 320 may be calculated using a movement vector.

[0043] In this case, the determination unit 13 determines that avoidance action is necessary if the calculated value is higher than a predetermined threshold. Furthermore, the sharing processing unit 14 shares information including the need for avoidance action as management information with other management systems. This allows the traffic management system 10 to appropriately share information about moving objects outside its management.

[0044] The detection unit 11 according to this embodiment may acquire image data of the first moving object 310 and use the image data to determine whether the first moving object 310 is a managed object. In this case, for example, the traffic management system 21 may acquire an FPV image (i.e., a first-person image, FPV stands for First Person View) captured by a camera of the second moving object 320, which is a managed object.

[0045] In this case, the identification unit 12 estimates at least one of the position and type of the first moving object 310 from the image data of the FPV image and compares the estimation result with the management information. This allows the identification unit 12 to determine whether the first moving object 310 is a managed object. More specifically, the identification unit 12 determines whether the first moving object 310 is a managed object by estimating whether the first moving object 310 in the image data is included within a predetermined range of the planned route of the managed moving object included in the management information. This allows the traffic management system 10 to appropriately recognize the moving object using the image data instead of the identification information of the moving object. In other words, the traffic management system 10 can appropriately recognize the moving object even if the moving object is not under its management and does not transmit identification information.

[0046] Furthermore, when using FPV images, the determination unit 13 calculates the possibility of contact between the first moving body 310 and the second moving body 320 based on the estimated position of the first moving body 310. If the calculated value is higher than a predetermined threshold, the determination unit 13 determines that avoidance operation is necessary. In this case, the sharing processing unit 14 also shares information including the necessity of avoidance operation with other management systems. This allows the traffic management system 10 to appropriately notify the administrator that avoidance operation of the moving body is necessary.

[0047] As described above, when the second moving object 320 is under the management of another management system, the sharing processing unit 14 shares with the other management systems information on whether or not avoidance action is necessary as management information shared by multiple management systems. This allows the traffic management system 10 to utilize the information shared with each other to prevent a decrease in the safety of moving objects under its management.

[0048] The management information update unit 15 is responsible for updating the management information when it becomes necessary to update the management information. For example, the management information update unit 15 reflects the management information that has been newly shared by the sharing processing unit 14 in the management information 111 stored in the storage unit 110.

[0049] The communication unit 100 includes an interface for communicating with each of the other management systems 22 and the base station 210 to which the traffic management system 21 is communicatively connected. The traffic management system 21 communicates with the other management systems 22 and the base station 210 via the communication unit 100.

[0050] The storage unit 110 includes a nonvolatile memory such as a flash memory or an SSD (Solid State Drive), etc. The storage unit 110 stores management information 111 that is shared by other management systems and is managed in an updatable manner.

[0051] The control unit 120 includes a calculation device such as a CPU, and controls each component of the traffic management system 21. The control unit 120 may include other components of the traffic management system 21. For example, the control unit 120 may include all or part of the detection unit 11, the identification unit 12, the determination unit 13, the sharing processing unit 14, and the management information update unit 15.

[0052] The interface unit 130 includes an information input / output device that enables a user of the traffic management system 21 to use the traffic management system 21. That is, the interface unit 130 may include a display for presenting predetermined information to the user. The interface unit 130 may also include an information input device such as a keyboard or touch panel for receiving operations from the user.

[0053] Next, the configuration of the base station will be described with reference to Fig. 5. Fig. 5 is a block diagram of the base station 210. Although Fig. 5 shows the configuration of the base station 210, the base station 220 also has a similar configuration. The base station 210 mainly includes a signal transmission / reception unit 211, a signal processing unit 212, a base station control unit 213, and a storage unit 214.

[0054] The signal transmitting / receiving unit 211 includes an antenna for receiving a signal transmitted from the first mobile unit 310 or the second mobile unit 320. When the base station 210 and the traffic management system 21 perform wireless communication, the base station 210 communicates via the signal transmitting / receiving unit 211. Upon receiving an identification signal from the first mobile unit 310 or the second mobile unit 320, the signal transmitting / receiving unit 211 supplies the received identification signal to the signal processing unit 212.

[0055] The signal processing unit 212 performs encoding and decoding of signals to be transmitted and received. The signal processing unit 212 also generates a base station signal in cooperation with the base station control unit 213. The base station control unit 213 includes a calculation device that controls each component of the base station 210. The base station control unit 213 generates a base station signal from the identification signal in cooperation with the signal processing unit 212, and supplies the generated base station signal to the traffic management system 21.

[0056] The storage unit 214 includes a nonvolatile memory such as a flash memory and stores a program for executing the processes of the present disclosure. The storage unit 214 may also function as a ring buffer that stores identification signals from a predetermined time period back.

[0057] Next, the configuration of the mobile object will be described with reference to Fig. 6. Fig. 6 is a block diagram of the second mobile object 320. The second mobile object 320 mainly includes a position information acquisition unit 301, a communication unit 302, a camera 303, a mobile object control unit 304, a drive unit 305, and a storage unit 306.

[0058] The location information acquisition unit 301 acquires location information of the second moving body 320 using, for example, a location information acquisition system that uses GNSS (Global Navigation Satellite System) or Wi-Fi radio waves. The communication unit 302 has a function for directly communicating wirelessly with the base station 210. That is, the communication unit 302 may include, for example, an antenna, a modulation circuit, a demodulation circuit, etc. The camera 303 includes an objective lens, an image sensor, etc., and generates image data of an FPV image capturing the scenery around the second moving body 320.

[0059] The mobile object control unit 304 includes a calculation device such as a CPU or MCU, and controls each component of the second mobile object 320. That is, for example, the mobile object control unit 304 exchanges information with the base station 210 via the communication unit 302, and issues instructions to each component of the second mobile object 320 in response to this information. The drive unit 305 includes a motor for rotating a propeller, which is the means of movement of the second mobile object 320. The storage unit 306 includes a non-volatile memory such as a flash memory or an SSD, and stores identification information of the second mobile object 320, etc.

[0060] Next, the process executed by the traffic management system 10 according to the present embodiment will be described with reference to Fig. 7. Fig. 7 is a flowchart of a traffic management method according to the second embodiment. The process shown in Fig. 7 may be started, for example, when the traffic management system 21 is started.

[0061] First, the detection unit 11 determines whether or not a first moving object 310 that may be out of control has been detected based on an image or signal acquired in the first area A10 (step S21). If it is determined that the first moving object 310 has not been detected (step S21: NO), the detection unit 11 repeats step S21. If it is determined that the first moving object 310 has been detected (step S21: YES), the detection unit 11 proceeds to step S22. At this time, the detection unit 11 supplies a signal indicating that the first moving object 310 has been detected to the identification unit 12.

[0062] In step S22, the management information is referenced to identify whether the first mobile object 310 is a management target (step S12). If the first mobile object 310 is identified as a management target (step S12: YES), the traffic management system 21 returns to step S21. On the other hand, if the first mobile object 310 is not identified as a management target (step S12: NO), that is, if the identification unit 12 determines that the first mobile object 310 is not a management target, the traffic management system 21 proceeds to step S23. At this time, the identification unit 12 supplies a signal indicating that the first mobile object is not a management target to the determination unit 13.

[0063] In step S23, the determination unit 13 determines whether or not an avoidance operation is required for the second moving object 320, which is the management target, based on the position or movement of the first moving object (step S23). If it is determined that an avoidance operation is required for the second moving object (step S23: NO), the traffic management system 21 returns to step S21. On the other hand, if it is determined that an avoidance operation is required for the second moving object 320 (step S23: YES), the traffic management system 21 proceeds to step S24. At this time, the determination unit 13 generates information regarding the avoidance operation and supplies it to the shared processing unit 14.

[0064] In step S24, the sharing processor 14 shares the management information, including information on whether or not avoidance action is necessary, with other management systems (step S24). After the sharing processor 14 executes the process of sharing the management information with other management systems, the traffic management system 10 proceeds to step S25.

[0065] In step S25, the traffic management system 21 determines whether or not to end the series of processes (step S25). The series of processes may be ended, for example, when the manager of the traffic management system 21 performs an operation to end the processes. If it is determined not to end the series of processes (step S25: NO), the traffic management system 21 returns to step S21. On the other hand, if it is determined to end the series of processes (step S25: YES), the traffic management system 21 ends the series of processes.

[0066] Next, the identification signal transmitted by a mobile body will be described. FIG. 8 is a diagram showing the contents of the identification signal transmitted by the first mobile body 310 or the second mobile body 320. The identification signal is a signal transmitted by a mobile body, for example, once every several hundred milliseconds. The identification signal includes, for example, information indicating that the mobile body is moving with permission. The identification signal also includes authentication data for authenticating the mobile body. The identification signal includes the time when the identification signal was transmitted and the location data of the mobile body at the time when the identification signal was transmitted.

[0067] The identification signal mainly comprises a header, authentication data, time data, location data, and a footer. The header and footer conform to a predetermined communication protocol for a base station to recognize the identification signal. The authentication data includes data indicating that the mobile unit transmitting this identification signal is an authenticated mobile unit. The authentication data may include, for example, an authentication number issued by a predetermined authorization body such as a local government, or a unique identifier linked to the traffic management system 21. The time data is a timestamp that is updated each time an identification signal is transmitted. The location data includes, for example, data related to latitude, longitude, and altitude. The location data may also include data indicating the speed of travel.

[0068] For example, the first mobile unit 310 transmits a header followed by authentication data "ID1234", time data "T11", location data "X1, Y1, Z1", and a footer. When the base station 210 receives this signal, it provides it to the traffic management system 21. At this time, the base station 210 may also provide the traffic management system 21 with the signal strength of the received signal.

[0069] Next, a method by which the traffic management system 21 determines whether a moving object is a management target will be described with reference to Fig. 9. Fig. 9 is a diagram showing an example of determining whether a moving object is a management target. In Fig. 9, a planned position P300 of the moving object is indicated by a dotted line. An allowable range A300 for the planned position P300 is also indicated by a two-dot chain line around the planned position P300. The allowable range A300 is a range within which it is determined that a moving object that was planned to be at the planned position P300 may exist.

[0070] For example, when the traffic management system 21 detects the first mobile object 310, it measures that the first mobile object 310 is located within the tolerance range A300. In this case, the traffic management system 21 determines that the first mobile object 310 is a mobile object to be managed. On the other hand, it measures that the first mobile object 310 is located outside the tolerance range A300. In this case, the traffic management system 21 determines that the first mobile object 310 is a mobile object not to be managed.

[0071] For example, the first moving object 310A in Fig. 9 is within the allowable range A300. In this case, the traffic management system 21 recognizes the first moving object 310 as a moving object moving in accordance with the flight plan. On the other hand, the first moving object 310B in Fig. 9 is outside the allowable range A300. In this case, the traffic management system 21 recognizes the first moving object 310 as a moving object outside of its control.

[0072] The identifying unit 12 according to this embodiment determines whether the position data acquired from the first mobile object 310 is within a predetermined range of the planned route of the mobile object to be managed, which is included in the management information. The identifying unit 12 then identifies whether the first mobile object 310 is a mobile object to be managed. With the above-described configuration, the traffic management system 10 can effectively recognize mobile objects outside of its management.

[0073] In addition to the above-mentioned configuration, the identification unit 12 may make a judgment by comparing at least one of the movement of the first moving body 310, specifications such as model name, or appearance, with a pre-planned operation plan.

[0074] As described above, according to the present embodiment, it is possible to provide an operation control system, an information processing method, and a program that can suitably use information about the status of mobile objects that are the subject of management.

[0075] <Third embodiment> Next, a third embodiment will be described. Fig. 10 is a diagram showing the usage status of a traffic management system according to the third embodiment. The third embodiment differs from the above-described embodiments in that there is an integrated management system that integrates and manages management information shared by the traffic management systems.

[0076] 10 includes an integrated management system 400. Also, Fig. 10 has an operational traffic control system 31 instead of the operational traffic control system 21. Similarly, Fig. 10 has an operational traffic control system 32 instead of the other management system 22.

[0077] The overall management system 400 is connected to the traffic management system 31 and the other management systems 32 via the network N1 so that they can communicate with each other. For example, the overall management system 400 receives management information from the traffic management system 31 and updates the management information that has already been stored using the received information. The overall management system 400 then supplies the updated management information to the other management systems 32. Similarly, the overall management system 400 also receives management information from the other management systems 32 and updates the management information that has already been stored using the received information. In this case, the overall management system 400 supplies the updated management information to the traffic management system 31.

[0078] 11 is a block diagram of a traffic management system 31 according to the third embodiment. The traffic management system 31 differs from the traffic management system 21 according to the second embodiment in that it further includes a management information acquisition unit 16.

[0079] The management information acquisition unit 16 acquires management information from the integrated management system 400, which stores management information in an updatable manner. The sharing processing unit 14 according to this embodiment outputs management information relating to whether or not avoidance operation is necessary to the integrated management system 400. This allows the traffic management system 10 to share management information with multiple traffic management systems via the integrated management system 400.

[0080] 12 is a block diagram of the overall management system 400. The overall management system 400 is, for example, a computer or server provided on a predetermined communication network. The overall management system 400 mainly comprises a communication unit 410, an overall control unit 420, and a storage device 430.

[0081] The communication unit 410 is a communication interface for communicating with multiple traffic management systems, such as the traffic management system 31 and other management systems 32, via the network N1. The overall control unit 420 includes a circuit for executing a program for realizing the functions of the overall management system 400. The storage device 430 includes a nonvolatile memory, such as a flash memory or an SSD, and stores at least management information 431.

[0082] As described above, according to the present embodiment, it is possible to provide an operation control system, an information processing method, and a program that can suitably use information about the status of mobile objects that are the subject of management.

[0083] <Fourth Embodiment> Next, a fourth embodiment will be described. Fig. 13 is a diagram showing the usage status of a traffic management system according to the fourth embodiment. The traffic management system 31 shown in Fig. 13 differs from the traffic management system 31 according to the third embodiment in that it further includes a base station 230 that manages a third area A30. The base station 230 is a base station for managing the operation of mobile objects present in the third area A30, and is set to receive identification signals transmitted by mobile objects present in the third area A30. In the example shown here, part of the third area A30 overlaps part of the first area A10. However, the third area A30 does not overlap the second area A20.

[0084] 13 shows that the first mobile object 310 and the second mobile object 320 are present in the third area A30. By receiving an identification signal from the base station 230, the traffic management system 31 performs the same functions as those of the above-described embodiment in the third area A30. That is, the traffic management system 31 detects the first mobile object 310 present in the third area A30 and determines whether the first mobile object 310 is a target of management. The traffic management system 31 also determines whether the second mobile object 320, which is a target of management, needs to take evasive action.

[0085] However, the traffic management system 31 according to this embodiment does not share with the other management systems 32 the fact that it has detected the first mobile object 310, which is not a management target, in the third area A30. This is because there are no mobile objects under the jurisdiction of the other management systems 32 in the third area A30. In other words, the traffic management system 31 according to this embodiment has an area where it shares management information with the other management systems 32 and an area where it does not share management information with the other management systems 32.

[0086] 14 is a block diagram of a traffic management system 31 according to the fourth embodiment. The traffic management system 31 according to the present embodiment differs from the third embodiment in the form of the management information 111 stored in the storage unit 110.

[0087] The sharing processing unit 14 according to this embodiment shares information regarding whether or not an avoidance operation is necessary with another management system 32 when the second moving object 320 is under the management of the other management system 32. In other words, when the second moving object 320 is not under the management of the other management system 32, the sharing processing unit 14 does not share this management information with the other management system 32. With this configuration, the traffic management system 31 appropriately shares necessary management information with the other management system 32 as needed.

[0088] The management information 111 according to this embodiment includes unique management information 112 and common management information 113. The unique management information 112 is management information that is not shared with other management systems 32. In the example of Fig. 13 , the traffic control system 31 manages information related to an event that occurred in the third area A30 as the unique management information 112.

[0089] On the other hand, the common management information 113 is management information to be shared with other management systems 32. The common management information 113 according to this embodiment is, for example, information on an event that occurred in the second area A20. The traffic management system 31 supplies the common management information 113 to the integrated management system 400.

[0090] Fig. 15 is a flowchart of the traffic management method according to the fourth embodiment. The flowchart shown in Fig. 15 differs from the flowchart shown in Fig. 7 in that step S31 is included between step S23 and step S24.

[0091] In step S23, the determination unit 13 determines whether or not an avoidance operation is required for the second moving object 320, which is the management target, based on the position or movement of the first moving object (step S23). If it is determined that an avoidance operation is required for the second moving object (step S23: NO), the traffic management system 21 returns to step S21. On the other hand, if it is determined that an avoidance operation is required for the second moving object 320 (step S23: YES), the traffic management system 21 proceeds to step S31. At this time, the determination unit 13 generates information regarding the avoidance operation and supplies it to the sharing processing unit 14.

[0092] In step S31, the sharing processing unit 14 determines whether the second mobile object 320 is a management target of another management system (step S31). If it is determined that the second mobile object 320 is a management target of another management system (step S31: YES), the traffic management system 31 proceeds to step S24. On the other hand, if it is not determined that the second mobile object 320 is a management target of another management system (step S31: NO), the traffic management system 31 returns to step S21.

[0093] The above describes the processing executed by the traffic management system 31. Note that the processing executed by the sharing processing unit 14 according to this embodiment is not limited to the above. For example, the sharing processing unit 14 may read the identification information of the second moving object 320, and share the management information if the identification information is subject to management by another management system 32. Alternatively, the sharing processing unit 14 may share the management information with a management system related to the location where the moving object is detected, regardless of which management system the moving object is subject to management. Alternatively, the sharing processing unit 14 may determine whether to share the management information depending on whether the time period in which the moving object is detected at the location where the moving object is detected is subject to management by the management system.

[0094] As described above, according to the embodiments, it is possible to provide an operation control system, an information processing method, and a program that can suitably use information about the status of mobile objects to be managed.

[0095] <Example of Hardware Configuration> Hereinafter, a case will be described in which each functional configuration of the update information generation device and static information management device according to the present disclosure is realized by a combination of hardware and software.

[0096] FIG. 16 is a block diagram illustrating an example hardware configuration of a computer. The update information generation device and static information management device of the present disclosure can realize the above-described functions by a computer 500 including the hardware configuration shown in the figure. The computer 500 may be a portable computer such as a smartphone or tablet terminal, or a stationary computer such as a PC. The computer 500 may be a dedicated computer designed to realize each device, or may be a general-purpose computer. The computer 500 can realize desired functions by installing a specified application.

[0097] The computer 500 has a bus 502, a processor 504, a memory 506, a storage device 508, an input / output interface 510, and a network interface 512. The bus 502 is a data transmission path for the processor 504, the memory 506, the storage device 508, the input / output interface 510, and the network interface 512 to transmit and receive data to and from each other. However, the method of connecting the processor 504 and other components to each other is not limited to a bus connection.

[0098] The processor 504 is a processor such as a CPU, a GPU, an FPGA, etc. The memory 506 is a main storage device realized using a RAM (Random Access Memory) or the like.

[0099] The storage device 508 is an auxiliary storage device realized using a hard disk, an SSD, a memory card, a ROM (Read Only Memory), etc. The storage device 508 stores programs for realizing desired functions. The processor 504 reads the programs into the memory 506 and executes them to realize the respective functional components of each device.

[0100] The input / output interface 510 is an interface for connecting the computer 500 with input / output devices. For example, the input / output interface 510 is connected to an input device such as a keyboard and an output device such as a display device.

[0101] The network interface 512 is an interface for connecting the computer 500 to a network.

[0102] Although the present invention has been described above with reference to the embodiments, the present invention is not limited to the above. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the invention.

[0103] Some or all of the above embodiments may be described as, but are not limited to, the following supplementary notes. (Supplementary Note 1) A traffic management system comprising: a detection unit that detects a first moving object that may be outside of management control based on images or signals acquired in a predetermined area; an identification unit that determines whether the first moving object is a managed object based on management information shared with other management systems; a determination unit that determines whether an avoidance operation is necessary for a second moving object that is a managed object based on the position or movement of the first moving object when the first moving object is not identified as a managed object; and a sharing processing unit that shares management information including information on whether the avoidance operation is necessary with the other management systems. (Supplementary Note 2) The traffic management system described in Supplementary Note 1, wherein the detection unit acquires identification information of the first moving object, and the identification unit determines whether the first moving object is a managed object by comparing the identification information with the management information. (Supplementary Note 3) The traffic management system described in Supplementary Note 2, wherein the identification unit determines whether the first moving object is a managed object by determining whether position data acquired from the first moving object is included within a predetermined range of a planned route for the managed moving object, which is included in the management information. (Supplementary Note 4) The traffic management system of Supplementary Note 2, wherein the determination unit calculates a possibility of contact between the first moving body and the second moving body from position information included in the identification information, and determines that the avoidance operation is necessary if the calculated value is higher than a predetermined threshold, and the sharing processing unit shares information including the need for the avoidance operation with the other management systems. (Supplementary Note 5) The traffic management system of Supplementary Note 1, wherein the detection unit acquires image data of the first moving body, and the identification unit estimates at least one of a position and a type of the first moving body from the image data and identifies whether or not the first moving body is a subject of management by comparing the estimation result with the management information. (Supplementary Note 6) The traffic management system of Supplementary Note 5, wherein the identification unit determines whether or not the first moving body is a subject of management by estimating whether or not the first moving body in the image data is included within a predetermined range of a planned route for the managed moving body included in the management information.(Supplementary Note 7) The traffic management system according to Supplementary Note 5, wherein the determination unit calculates a possibility of contact between the first moving body and the second moving body from the estimated position of the first moving body, and determines that the avoidance operation is necessary when the calculated value is higher than a predetermined threshold, and the sharing processing unit shares information including the necessity of the avoidance operation with the other management system. (Supplementary Note 8) The traffic management system according to any one of Supplements 1 to 7, wherein the sharing processing unit shares information regarding whether the avoidance operation is necessary or not with the other management system when the second moving body is under the management of the other management system. (Supplementary Note 9) The traffic management system according to any one of Supplements 1 to 7, further comprising a storage device that stores the management information that is shared by the other management systems and managed in an updatable manner. (Supplementary Note 10) The traffic management system according to any one of Supplements 1 to 7, further comprising a management information acquisition unit that acquires the management information from an integrated management system that stores the management information in an updatable manner, and the sharing processing unit outputs the information regarding whether the avoidance operation is necessary or not to the integrated management system. (Supplementary Note 11) A traffic management method in which a computer detects a first moving object that may not be under its control based on images or signals acquired in a predetermined area, identifies whether the first moving object is a managed object based on management information shared with other management systems, and, if the first moving object is not identified as a managed object, determines whether an avoidance operation is necessary for a second moving object that is a managed object based on the position or movement of the first moving object, and shares management information including information on whether an avoidance operation is necessary for the second moving object with the other management systems. (Supplementary Note 12) A program that causes a computer to execute a traffic management method in which a computer detects a first moving object that may not be under its control based on images or signals acquired in a predetermined area, identifies whether the first moving object is a managed object based on management information shared with other management systems, and, if the first moving object is not identified as a managed object, determines whether an avoidance operation is necessary for a second moving object that is a managed object based on the position or movement of the first moving object, and shares management information including information on whether an avoidance operation is necessary for the second moving object with the other management systems.

[0104] Some or all of the elements (e.g., configurations and functions) described in Supplementary Notes 2 to 10 that are dependent on Supplementary Note 1 may also be dependent on Supplementary Notes 11 and 12 in the same dependency relationship as Supplementary Notes 2 to 10. Some or all of the elements described in any Supplementary Note may be applied to various hardware, software, recording means for recording software, systems, and methods.

[0105] This application claims priority based on Japanese Patent Application No. 2023-042219, filed March 16, 2023, the disclosure of which is incorporated herein in its entirety.

[0106] The present disclosure can be used in a management device or management system that manages the operation of mobile objects such as drones, for example.

[0107] 10 Traffic management system 11 Detection unit 12 Identification unit 13 Determination unit 14 Shared processing unit 15 Management information update unit 16 Management information acquisition unit 21 Traffic management system 22 Other management systems 31 Traffic management system 32 Other management systems 100 Communication unit 110 Memory unit 111 Management information 112 Unique management information 113 Common management information 120 Control unit 130 Interface unit 210 Base station 211 Signal transmission / reception unit 212 Signal processing unit 213 Base station control unit 214 Memory unit 220 Base station 230 Base station 301 Position information acquisition unit 302 Communication unit 303 Camera 304 Mobile object control unit 305 Drive unit 306 Memory unit 310 First mobile object 320 Second mobile object 321 Mobile object 322 Mobile object 400 General management system 410: Communication unit 420: General control unit 430: Storage device 431: Management information 500: Computer 502: Bus 504: Processor 506: Memory 508: Storage device 510: Input / output interface 512: Network interface N1: Network A10: First area A20: Second area A30: Third area

Claims

1. a detection means for detecting a first moving object that may be out of control based on an image or a signal acquired in a predetermined area; a determination means for determining whether the first moving object is a management target based on management information shared with other management systems; a determination means for determining, when the first moving object is not identified as the management target, whether or not an avoidance operation is required for the second moving object, which is the management target, based on a position or movement of the first moving object; a sharing processing means for sharing management information including information on whether or not the avoidance operation is necessary with the other management systems. Flight management system.

2. The detection means acquires identification information of the first moving object, the specifying means specifies whether the first moving object is a target of management by comparing the identification information with the management information. The traffic management system according to claim 1.

3. the identification means identifies whether the first mobile object is a management target by determining whether the position data acquired from the first mobile object is included within a predetermined range of a planned route for the management target mobile object included in the management information. The traffic management system according to claim 2.

4. the determination means calculates a possibility of contact between the first moving body and the second moving body from position information included in the identification information, and determines that the avoidance operation is necessary when the calculated value is higher than a predetermined threshold value; The sharing processing means shares information including the need for the avoidance operation with the other management systems. The traffic management system according to claim 2.

5. The detection means acquires image data obtained by photographing the first moving object, the identification means estimates at least one of the position and the type of the first moving object from the image data, and identifies whether the first moving object is a target of management by comparing the estimation result with the management information; The traffic management system according to claim 1.

6. the identification means identifies whether the first moving object in the image data is a managed object by estimating whether the first moving object in the image data is included within a predetermined range of a planned route for the managed moving object included in the management information; The traffic management system according to claim 5.

7. the determination means calculates a possibility of contact between the first moving body and the second moving body from the estimated position of the first moving body, and determines that the avoidance operation is necessary when the calculated value is higher than a predetermined threshold value; The sharing processing means shares information including the need for the avoidance operation with the other management systems. The traffic management system according to claim 5.

8. the sharing processing means, when the second moving object is a management target of the other management system, shares information regarding whether or not the avoidance operation is necessary with the other management system. The traffic management system according to any one of claims 1 to 7.

9. The computer Detecting a first moving object that may be out of control based on an image or a signal acquired in a predetermined area; Identifying whether the first moving object is a management target based on management information shared with other management systems; When the first moving object is not identified as the management target, determining whether or not an avoidance operation is necessary for the second moving object that is the management target based on a position or movement of the first moving object; sharing management information including information regarding whether or not an avoidance operation of the second moving body is necessary with the other management system; Operational management methods.

10. Detecting a first moving object that may be out of control based on an image or a signal acquired in a predetermined area; Identifying whether the first moving object is a management target based on management information shared with other management systems; When the first moving object is not identified as the management target, determining whether or not an avoidance operation is necessary for the second moving object that is the management target based on a position or movement of the first moving object; sharing management information including information regarding whether or not an avoidance operation of the second moving body is necessary with the other management system; A program that causes a computer to execute a flight management method.

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