Control system, control method, and control program

Abstract

The purpose of the present disclosure is to provide a control system, a control method, and a control program with which it is possible to achieve safe flight of a moving body even in locations where the operator cannot visually observe the moving body. A control system according to the present disclosure comprises a movement information acquisition unit, an environmental information acquisition unit, a recommended action selection unit, and an output unit. The movement information acquisition unit acquires movement information including the progress of the moving body with respect to a flight plan. The environmental information acquisition unit acquires environmental information associated with the flight of the moving body from a monitoring device that monitors the movement path of the moving body. The recommended action selection unit selects a recommended action according to the progress of the moving body on the basis of the movement information and the environmental information. The output unit outputs a signal indicating the action recommended by the recommended action selection unit.

Description

Control system, control method, and control program

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

[0002] The use of drones and other airborne vehicles is increasing. As a result, operators are beginning to fly beyond visual line of sight. When flying beyond visual line of sight, it is necessary to quickly and safely avoid danger.

[0003] Patent Literature 1 describes a driving assistance device that enables a mobile object traveling on a road to avoid danger on the road. The driving assistance device disclosed in Patent Literature 1 calculates a road danger level based on whether the road is drivable by the mobile object, and calculates a potential danger level on the traveling route of the mobile object within a target time range based on the traffic conditions and movement range of the mobile object. The driving assistance device disclosed in Patent Literature 1 selects an action to avoid danger based on the road danger level and the potential danger level.

[0004] Patent No. 6956932

[0005] The driving assistance device disclosed in the above-mentioned Patent Document 1 calculates danger on the road, but for a moving object flying in the air, information that is not a problem on the road is required to calculate the danger, so it is difficult to achieve safe flight with the driving assistance device disclosed in the above-mentioned Patent Document 1.

[0006] In view of the above-mentioned problems, the object of the present disclosure is to provide a control system, a control method, and a control program that can achieve safe flight of a mobile object even in places where the operator cannot visually observe the mobile object.

[0007] A control system according to one aspect of the present disclosure includes a movement information acquisition unit that acquires movement information including a progress status of a moving body relative to a flight plan; an environmental information acquisition unit that acquires environmental information associated with the flight of the moving body from a monitoring device that monitors the movement path of the moving body; a recommended action selection unit that selects a recommended action according to the progress status of the moving body based on the movement information and the environmental information; and an output unit that outputs a signal indicating the recommended action by the recommended action selection unit.

[0008] In a control method according to one aspect of the present disclosure, a computer executes the following processes: acquires movement information including a progress status of a moving body relative to a flight plan; acquires environmental information associated with the flight of the moving body from a monitoring device that monitors the movement path of the moving body; selects a recommended action according to the progress status of the moving body based on the movement information and the environmental information; and outputs a signal indicating the recommended action.

[0009] A control program according to one aspect of the present disclosure causes a computer to perform the following processes: acquire movement information including a progress status of a moving body relative to a flight plan; acquire environmental information related to the flight of the moving body from a monitoring device that monitors the movement path of the moving body; select a recommended action according to the progress status of the moving body based on the movement information and the environmental information; and output a signal indicating the recommended action.

[0010] The present disclosure provides a control system, control method, and control program that can ensure safe flight of a mobile object even in locations where the operator cannot visually observe the mobile object.

[0011] 1 is a block diagram showing a configuration of a control system according to the present disclosure. FIG. 2 is a flowchart illustrating a control method according to the present disclosure. FIG. 3 is a block diagram showing an example of use of a control system according to the present disclosure. FIG. 4 is a schematic diagram showing an example in which a monitoring device monitors the movement path of a moving object. FIG. 5 is a diagram showing an example of image data captured by an imaging unit of a monitoring device. FIG. 6 is a flowchart showing an example of processing by a recommended action selection unit in a control system according to the present disclosure. FIG. 7 is a block diagram showing a control system according to the present disclosure. FIG. 8 is a schematic diagram showing an example in which two monitoring devices monitor the movement path of one moving object. FIG. 9 is a diagram showing an example of image data captured by the imaging units of each monitoring device. FIG. 10 is a schematic diagram showing an example in which a plurality of monitoring devices monitor the movement paths of a plurality of moving objects. FIG. 11 is a block diagram showing an example of a configuration of a management device 201 etc. according to the present disclosure.

[0012] The present disclosure will be described below through embodiments, but the disclosure according to the claims is not limited to the following embodiments. Furthermore, not all of the configurations described in the embodiments are necessarily essential as 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 designated by the same reference numerals, and repeated explanations are omitted as necessary.

[0013] <First Embodiment> <Control System> A control system according to the present disclosure will be described below with reference to the drawings. Fig. 1 is a block diagram showing the configuration of a control system according to the present disclosure. A control system 10 according to the present disclosure includes a movement information acquisition unit 11, an environmental information acquisition unit 12, a recommended action selection unit 13, and an output unit 14. The following description is based on the assumption that an operator remotely controls a mobile object from a location where the mobile object cannot be seen, using, for example, a mobile terminal or a radio controller.

[0014] The movement information acquisition unit 11 acquires movement information including the progress status of the moving object relative to the flight plan. The moving object is a moving object that moves through the air, such as a drone (autonomous flying object) or a flying car. The moving object estimates its own position using, for example, SLAM (Simultaneous Localization and Mapping). In SLAM, the aircraft position is calculated based on an environmental map, which is point cloud data of the surrounding environment obtained by a distance measurement sensor such as LIDAR. The moving object flies along the movement route in the flight plan while estimating its own position.

[0015] The progress of a moving body relative to its flight plan is a percentage of how far it has traveled relative to the travel route in the flight plan. For example, if the travel route in the flight plan of a moving body is 10 kilometers, and the moving body is located 5 kilometers from the flight start point, the progress of the moving body relative to its flight plan is 50%. Furthermore, the flight plan may include, for example, multiple flight waypoints between the flight start position and the flight target point, and the progress of the moving body relative to its flight plan may indicate which flight waypoint the moving body is currently flying through.

[0016] The environmental information acquisition unit 12 acquires environmental information associated with the flight of the mobile object from a monitoring device that monitors the movement path of the mobile object. The environmental information associated with the flight includes environmental information that may interfere with the flight of the mobile object and environmental information that may not interfere with the flight.

[0017] The environmental information that may or may not interfere with the flight of the moving object is information about obstacles or weather. Obstacles include, for example, structures such as high-rise buildings, nature such as thickets, birds, other moving objects, airplanes, helicopters, etc. Weather information includes tornadoes, wind, rain, snow, etc.

[0018] Environmental information that may interfere with the flight of a mobile object will be described using an example in which a 100-meter-tall skyscraper is located in the flight plan of a mobile object. If the mobile object is scheduled to fly at an altitude of 90 meters, the mobile object will collide with the skyscraper. On the other hand, if the mobile object is scheduled to fly at an altitude of 120 meters, the mobile object will not collide with the skyscraper. As such, since the mobile object may collide with a 100-meter-tall skyscraper, the 100-meter-tall skyscraper corresponds to environmental information that may interfere with the flight of the mobile object.

[0019] Next, environmental information that does not pose a risk of flight interference will be described using an example in which a moving object flies in a windless environment. In this case, since there is no wind, the moving object flies along the movement route of the flight plan, for example, while maintaining a flight speed. In other words, an environmental condition such as windlessness corresponds to environmental information that does not pose a risk of flight interference.

[0020] The recommended action selection unit 13 selects a recommended action according to the progress status of the moving object based on the movement information and the environmental information. The recommended action is an appropriate flight action of the moving object according to the movement information and the environmental information. An example of a basic recommended action is an action of temporarily landing the moving object at a location where the moving object can land safely. However, without being limited thereto, the recommended action may be changing or maintaining the flight speed of the moving object, changing or maintaining the flight altitude of the moving object, temporarily flying the moving object in the opposite direction to the movement path of the flight plan, or flying the moving object along a path different from the movement path of the flight plan.

[0021] For example, if a moving object is flying according to a movement route in a movement plan but a gust of wind is blowing, the recommended action selection unit 13 selects a recommended action such as landing on the ground. As another example, if a moving object is flying according to a movement route in a movement plan and in an environment where there is no wind, the recommended action selection unit 13 selects a recommended action such as continuing flight while maintaining the current flight altitude and flight speed.

[0022] The output unit 14 outputs a signal indicating the action recommended by the recommended action selection unit 13. More specifically, the output unit 14 generates and outputs a signal indicating the action recommended by the recommended action selection unit 13. The signal is output to, for example, a terminal monitor, which can be checked by an operator operating the mobile object in a location where the mobile object cannot be seen. This allows the operator to manage how the mobile object is flying in accordance with the local environment while understanding the progress of the mobile object's flight plan, even in a location where the operator cannot see the mobile object. Therefore, safe flight of the mobile object can be achieved even in a location where the operator cannot see the mobile object. <Recording Method> Next, a control method according to the present disclosure will be described. FIG. 2 is a flowchart illustrating an example of a control method according to the present disclosure.

[0023] First, the movement information acquisition unit 11 acquires movement information including the progress status of the moving object relative to the flight plan (step ST1). Next, the environmental information acquisition unit 12 acquires environmental information associated with the flight of the moving object from a monitoring device that monitors the moving path of the moving object (step ST2). More specifically, the environmental information acquired is environmental information that may interfere with the flight of the moving object or environmental information that may not interfere with the flight.

[0024] Next, the recommended action selection unit 13 selects a recommended action according to the progress of the moving object based on the movement information and the environmental information (step ST3). Then, the output unit 14 outputs a signal indicating the recommended action (step ST4). This allows the operator to check the moving object flying beyond visual line of sight.

[0025] In this way, the control system 10 according to the present disclosure selects a recommended action according to the progress of the mobile object based on the movement information and environmental information from the monitoring device. This configuration allows the operator to understand the progress of the mobile object relative to its flight plan and manage how the mobile object is flying in accordance with the local environment, even in locations where the operator cannot visually observe the mobile object. Therefore, the control system 10 according to the present disclosure can ensure the safe flight of the mobile object even in locations where the operator cannot visually observe the mobile object.

[0026] <Embodiment 2> <Control System> A control system according to the present disclosure will be described below with reference to the drawings. Fig. 3 is a block diagram showing an example of use of the control system according to the present disclosure. Fig. 3 shows a mobile object 101, a management device 201, and a monitoring device 301. The mobile object 101, the management device 201, and the monitoring device 301 are connected to each other so as to be capable of wireless communication. Although not shown in Fig. 3, the output destination of the signal from the output unit 14, for example, a terminal monitor, may be connected to each of the mobile object 101, the management device 201, and the monitoring device 301 so as to be capable of wireless communication.

[0027] The mobile object 101 includes a drive unit 111, a communication unit 112, an imaging unit 113, a mobile object control unit 114, and a self-position estimation unit 115. The management device 201 includes a communication unit 211, a recommended action storage unit 212, a movement information acquisition unit 11, an environmental information acquisition unit 12, a recommended action selection unit 13, and an output unit 14. As shown in Fig. 3 , the management device 201 includes a control system 10. The monitoring device 301 includes a communication unit 311, an imaging unit 312, and an environmental sensor 313.

[0028] <Mobile object> First, the configuration of the mobile object 101 will be described. The drive unit 111 includes a motor for rotating a propeller, which is the means of movement of the mobile object 101. The imaging unit 113 is a camera for capturing images of nearby or distant objects. The mobile object control unit 114 includes a calculation device such as a CPU or MCU, and controls each component of the mobile object 101. That is, the mobile object control unit 114 exchanges information with the management device 201 and the monitoring device 301 via the communication unit 112, and issues instructions to each component of the mobile object 101 in response. The self-position estimation unit 115 estimates its own position using SLAM or the like.

[0029] <Management Device> Next, the configuration of the management device 201 will be described. The movement information acquisition unit 11, the environmental information acquisition unit 12, and the output unit 14 are the same as those in FIG. 1, and therefore description thereof will be omitted. Details of the recommended action selection unit 13 will be described later. The management device 201 exchanges information with the mobile object 101 and the monitoring device 301 via the communication unit 211. Although not shown in FIG. 3, the management device 201 includes a display unit, and the display unit of the management device 201 may be used as an output destination for the signal from the output unit 14. The recommended action storage unit 212 includes a non-volatile memory such as a flash memory or an SSD, and stores recommended actions associated with movement information and environmental information as shown in Table 1. Table 1 is an example of recommended actions associated with movement information and environmental information.

[0030]

[0031] As shown in Table 1, the recommended action storage unit 212 stores recommended actions determined from movement information and environmental information. For example, if the movement information is "progressing according to the flight plan" and the environmental information is "calm winds along the movement route of the flight plan," a recommended action such as "maintain flight altitude and flight speed" is determined. Also, if the movement information is "progressing according to the flight plan" and the environmental information is "a tornado has occurred along the movement route of the flight plan," a recommended action such as "temporarily land on the ground" is determined.

[0032] The ground shown in Table 1 refers to a location where a moving object can land safely, and is set up appropriately as a location that has been confirmed to be safe, such as outdoors or on a rooftop of a facility or in the city.

[0033] As shown in Table 1, the movement information may further include the operating state of the drive unit 111 of the moving object 101. In Table 1, the rotation speed of the motor is used as an example of the operating state of the drive unit 111, but this is not limited to this and may also be the rotation state of the propeller. Furthermore, as shown in Table 1, the movement information may also include the temperature state of the aircraft (moving object 101) and the stability of the radio wave environment of the moving object 101.

[0034] In this way, the movement information acquisition unit 11 may acquire the operating state of the moving object in flight in addition to the progress status of the moving object in places where the operator cannot visually observe the moving object. By adopting such a configuration, even in places where the operator cannot visually observe the moving object, the operator can grasp the operating state of the moving object in flight and manage how the moving object is flying in accordance with the local environment.

[0035] <Monitoring Device> Next, the configuration of the monitoring device 301 will be described. As shown in FIG. 3 , the monitoring device 301 exchanges information with the mobile object 101 and the management device 201 via the communication unit 311. The imaging unit 312 captures environmental information accompanying the flight of the mobile object along its travel path. The imaging unit 312 is, for example, a camera. The image data captured by the imaging unit 312 includes weather or obstacles that may or may not interfere with the flight of the mobile object. The environmental sensor 313 acquires weather information along the travel path of the mobile object. The environmental sensor 313 is, for example, a weather sensor, an illuminance sensor, a wind vane, an anemometer, a thermometer, or a hygrometer.

[0036] Next, the environmental information acquired by the monitoring device 301 using the imaging unit 312 or the environmental sensor 313 will be described in more detail with reference to Figures 4 and 5. Figure 4 is a schematic diagram showing an example of the monitoring device monitoring the movement path of a mobile object. Figure 5 is a diagram showing an example of image data captured by the imaging unit of the monitoring device. In Figure 4, the operator is operating the mobile object 101 from a location where the mobile object cannot be seen. The operator remotely controls the mobile object 101 using, for example, a mobile terminal or a radio controller. Note that although the environmental sensor 313 is not shown in Figure 4, a weather sensor 314 and an anemometer 315 are shown as the environmental sensor 313.

[0037] As shown in FIG. 4 , the moving body 101 is flying along a travel path L1 in the flight plan. A high-rise building T1 is located on the travel path L1. In the example shown in FIG. 4 , it is assumed that the wind is strong and it is raining. The imaging unit 312 in the monitoring device 301 captures environmental information related to the flight of the moving body 101 along the travel path L1 in the flight plan. As shown in FIG. 5 , the image data captured by the imaging unit 312 includes obstacles or weather that may interfere with the flight of the moving body. More specifically, as shown in FIG. 5 , the image data captured by the imaging unit 312 includes a high-rise building T11 and raindrops. The environmental information acquisition unit 12 in the management device 201 can acquire environmental information such as the high-rise building T11 and raindrops via the communication units 311 and 211.

[0038] Also, although not shown in Figure 4, if the image data captured by the imaging unit 312 includes a tree and the tree is leaning, the monitoring device 301 may determine that the wind is strong, and the environmental information acquisition unit 12 may acquire weather information such as that the wind is strong.

[0039] As shown in Fig. 4, the monitoring device 301 is equipped with a weather sensor 314 and an anemometer 315 as environmental sensors 313. The monitoring device 301 acquires information, such as rain along the travel route L1 in the flight plan, using the weather sensor 314. The monitoring device 301 also acquires wind speed along the travel route L1 in the flight plan using the anemometer 315. This allows the monitoring device 301 to acquire weather information, such as strong winds and rain along the travel route. The environmental information acquisition unit 12 in the management device 201 can acquire weather information, such as strong winds and rain, via the communication unit 311 and the communication unit 211.

[0040] In this way, even if the operator is flying the mobile body 101 beyond visual line of sight and cannot visually observe the mobile body 101, the monitoring device 301 monitors the mobile body 101 on behalf of the operator and acquires environmental information on the movement path of the mobile body 101. Therefore, in the control system according to the present disclosure, the operator can grasp information on the surrounding environment on the flight path of the mobile body even in a place where the operator cannot visually observe the mobile body.

[0041] <Recommended Action Selection> Next, the recommended action selection unit 13 will be described in detail. The recommended action selection unit 13 selects a recommended action according to the progress status of the moving object based on the movement information and environmental information. More specifically, it selects a corresponding recommended action based on the movement information and environmental information from Table 1 stored in the recommended action storage unit 212.

[0042] However, the recommended action selection unit 13 is not limited to a configuration that selects a corresponding recommended action based on movement information and environmental information as shown in Table 1. The recommended action selection unit 13 may be configured to determine whether the flight state of the moving object is dangerous or not based on the movement information and environmental information, and select a recommended action according to the determination result.

[0043] More specifically, when the recommended action selection unit 13 determines that the flight of the moving object is dangerous, it selects a recommended action according to the progress of the moving object from a plurality of preset danger avoidance actions. When the recommended action selection unit 13 determines that the flight of the moving object is not dangerous, it selects a recommended action to maintain the flight state of the moving object.

[0044] When the recommended action selection unit 13 determines whether the flight state of the moving object is dangerous and selects a recommended action based on the determination result, the recommended action storage unit 212 stores, for example, the information shown in Tables 2 and 3 below. Table 2 is an example of a determination table that determines whether there is danger associated with movement information and environmental information. Table 3 is an example of a plurality of preset danger avoidance actions.

[0045]

[0046]

[0047] As shown in Table 2, the recommended action selection unit 13 can determine whether the flight state of the moving object is dangerous or not based on the movement information and the environmental information. For example, if the movement information is "high motor rotation speed" and the environmental information is "no wind along the movement route of the flight plan," the recommended action selection unit 13 can determine that the flight state of the moving object is "dangerous." Furthermore, the recommended action selection unit 13 selects at least one of the multiple danger avoidance actions defined in Table 3 according to the progress status of the flight plan.

[0048] Table 3 shows an example of a plurality of preset danger avoidance actions, which are recommended actions to be selected when the recommended action selection unit 13 determines that the flight state of the moving object is dangerous based on the movement information and the environmental information. Similarly, the recommended action storage unit 212 may store a list of recommended actions to maintain the flight state of the moving object, which are to be selected when the recommended action selection unit 13 determines that the flight state of the moving object is not dangerous based on the movement information and the environmental information.

[0049] The movement information, environmental information, and recommended actions shown in Tables 1 and 2 are examples and are not limited to these. Also, the danger avoidance actions shown in Table 3 are examples and are not limited to these. For example, the recommended actions include switching from automatic control to manual control, and the recommended action selection unit 13 may determine whether the flight state of the moving object is dangerous or not, and select switching from automatic control to manual control based on the determination result. Also, the recommended action selection unit 13 may select switching from manual control to automatic control.

[0050] The output unit 14 outputs a signal indicating the recommended action by the recommended action selection unit 13. The output unit 14 outputs the signal to the mobile unit control unit 114, for example, via the communication unit 211 of the management device 201 and the communication unit 112 of the mobile unit 101. This allows the mobile unit 101 to fly while performing the recommended action. The output unit 14 also outputs the signal to, for example, a monitor of a terminal that can be viewed by an operator operating the mobile unit in a location where the mobile unit cannot be visually observed. This allows the operator to manage how the mobile unit is flying in accordance with the local environment while understanding the progress of the mobile unit's flight plan, even in a location where the operator cannot visually observe the mobile unit. Therefore, safe flight of the mobile unit can be achieved even in a location where the operator cannot visually observe the mobile unit.

[0051] Next, the process of selecting a recommended action will be described with reference to Fig. 6. Fig. 6 is a flowchart illustrating the process of the recommended action selector in the control system according to the present disclosure.

[0052] First, the recommended action selection unit 13 determines whether the flight state of the moving object is dangerous based on the movement information and the environmental information (step ST31). For example, the recommended action selection unit 13 determines whether the flight state of the moving object is dangerous based on Table 2.

[0053] If it is determined that the flight state of the moving object is dangerous (YES in step ST31), the recommended action selection unit 13 selects a recommended action according to the progress of the moving object from a plurality of pre-set danger avoidance actions (step ST32). For example, the recommended action selection unit 13 selects at least one action from a plurality of danger avoidance actions defined in Table 3.

[0054] On the other hand, if it is determined that the flight state of the moving object is not dangerous (step ST31 NO), the recommended action selector 13 selects a recommended action to maintain the flight state of the moving object.

[0055] In this way, the recommended action selection unit 13 determines whether the flight status of the mobile object is dangerous and selects a recommended action based on the determination result. With this configuration, even if the operator is flying the mobile object beyond visual line of sight, the operator can select an action according to the progress status of the mobile object and the environment associated with the flight. Therefore, the operator can achieve safe flight of the mobile object even in places where the mobile object is out of visual line of sight.

[0056] <Analysis of Flight State> Here, if the recommended action selection unit 13 determines that the flight of the moving object is dangerous, the cause of the dangerous flight state of the moving object may be analyzed. This will be described in more detail with reference to FIG. 7. FIG. 7 is a block diagram of a control system according to the present disclosure. The control system 20 according to the present disclosure includes a movement information acquisition unit 11, an environmental information acquisition unit 12, a recommended action selection unit 13, an output unit 14, an analysis unit 15, and a determination unit 16.

[0057] The movement information acquisition unit 11, the environment information acquisition unit 12, and the output unit 14 are the same as those in Fig. 1, and therefore their explanations will be omitted. Here, the recommended action selection unit 13, the analysis unit 15, and the determination unit 16 will be explained.

[0058] The analysis unit 15 analyzes the cause of the dangerous flight state of the mobile object. More specifically, the analysis unit 15 analyzes the cause of the dangerous flight state determined by the recommended action selection unit 13. For example, if the mobile object is flying off the travel route in the flight plan, it is possible that the mobile object's compass is malfunctioning or that the mobile object has been taken over by a cyber attack. The analysis unit 15 identifies which of these is the cause.

[0059] The analysis unit 15 also uses, for example, a zero-trust security model. The zero-trust security model does not unconditionally trust information based on location or position, but instead performs authentication and authorization each time access is attempted to confirm reliability. In other words, the analysis unit 15 can determine where the information was generated and how it was transmitted, and therefore can analyze whether it is the result of a cyber-attack. A cyber-attack is, for example, an act of hacking and extracting or tampering with information related to a mobile object, or an act of taking control of the operation of a mobile object.

[0060] The determination unit 16 determines whether or not the cause analyzed by the analysis unit 15 is due to a cyber-attack. More specifically, when the determination unit 16 determines that the cause analyzed by the analysis unit 15 is due to a cyber-attack, the determination unit 16 is configured as follows.

[0061] First, an alert is issued to nearby ground residents that the mobile body will make an emergency landing or that there is a possibility that the mobile body may fall. In this case, at least one of the mobile body 101 and the management device 201 shown in FIG. 3 is equipped with a notification unit. Then, if the determination unit 16 determines that the analyzed cause is a cyber attack, the notification unit issues an alert to nearby ground residents that the mobile body will make an emergency landing or that there is a possibility that the mobile body may fall. In this way, the control system 10 can ensure the safety of nearby ground residents.

[0062] The recommended action selection unit 13 then selects a recommended action to land the mobile object under cyber-attack on the ground, which allows the control system 20 to land the mobile object under cyber-attack on the ground, thereby preventing a collision with another mobile object.

[0063] Furthermore, if a mobile object is hijacked, after confirming the safety of the ground, the counter-drone system is used to force the mobile object to land. This allows the mobile object under cyber attack to land on the ground, thereby preventing collisions with other mobile objects. Furthermore, the recommended action selection unit 13 may select a recommended action to land other mobile objects flying nearby. This allows the control system 10 to land the other mobile objects as well, thereby preventing the hijacked mobile object from colliding with other mobile objects in mid-air.

[0064] On the other hand, if the determination unit 16 determines that the attack is not due to a cyber attack, the recommended action selection unit 13 selects a recommended action, similar to step ST32 in FIG.

[0065] In this way, the control system 20 according to the present disclosure can analyze the cause of a dangerous flight state of a mobile object and select an appropriate flight operation for the mobile object according to the analysis results. Therefore, the control system 20 can realize safe flight of the mobile object even in places where the operator cannot visually observe the mobile object.

[0066] Third Embodiment A control system according to the present disclosure will be described below with reference to the drawings. The functional blocks of the control system according to the present disclosure are similar to those of the control system 10 shown in Figures 1 and 3, and include a movement information acquisition unit 11, an environmental information acquisition unit 12, a recommended action selection unit 13, and an output unit 14 as shown in Figure 1.

[0067] In this example, we assume that there is one mobile object operated by an operator from a location where the operator cannot see the object, and that there are multiple monitoring devices monitoring the path of the mobile object. The multiple monitoring devices monitor different areas of the path of the mobile object. The multiple monitoring devices are wirelessly connected to each other, allowing them to exchange the information they are monitoring.

[0068] A more specific explanation will be given with reference to Figures 8 and 9. Figure 8 is a schematic diagram showing an example in which two monitoring devices are monitoring the movement path of one moving object. Figure 9 is a diagram showing an example of image data captured by the imaging units of each monitoring device. In Figure 8, the operator is operating the moving object 101 from a location where the moving object 101 cannot be seen. The moving object 101 flies on a movement path L2, which is a flight plan. In the example shown in Figure 8, the movement path L2 of the flight plan is composed of movement paths L21 and L22. The movement path L23 is a movement path different from the movement path L2 of the flight plan.

[0069] 8, the monitoring device 301a includes a camera 312a, a weather sensor 314a, and an anemometer 315a. Similarly, the monitoring device 301b includes a camera 312b, a weather sensor 314b, and an anemometer 315b. The monitoring device 301a monitors the movement path L21 of the moving object 101. The monitoring device 301b monitors the movement path L22 of the moving object 101.

[0070] 8, it is assumed that the weather is sunny around the travel route L21 monitored by the monitoring device 301a, but it is raining around the travel route L22 monitored by the monitoring device 301b. It is also assumed that a high-rise building T11 is located on the travel route L22. It is also assumed that the weather is sunny around the travel route L23.

[0071] The camera 312a captures images of the surroundings of the movement path L21. The camera 312b captures images of the surroundings of the movement path L22. FIG. 9 shows image data obtained by each of the cameras 312a and 312b. The image data S1 is an image obtained by capturing an image by the camera 312a. The image data S2 is an image obtained by capturing an image by the camera 312b. At the time when the monitoring devices 301a and 301b capture images, the moving body 101 is flying on the movement path L21.

[0072] 9, the image data S1 does not include any obstacles or weather that may or may not interfere with the flight of the moving object. On the other hand, the image data S2 includes a high-rise building T11 and raindrops. In other words, the image data S2 includes any obstacles or weather that may interfere with the flight of the moving object.

[0073] In this case, the monitoring device 301b transmits the environmental information it has acquired, in other words, the environmental information about the high-rise building T11 and the raindrops, to the monitoring device 301a, so that the environmental information acquisition unit 12 (not shown in FIGS. 8 and 9 ) acquires the environmental information that the monitoring device 301a received from the monitoring device 301b.

[0074] Then, the recommended action selection unit 13 (not shown in FIGS. 8 and 9 ) selects a recommended action based on the movement information of the moving object 101 and the environmental information received by the monitoring device 301a from the monitoring device 302b. On the movement route L21, the weather is fine and there is no problem with the flight of the moving object 101, but on the movement route L22, there is a possibility that the flight of the moving object 101 will be hindered due to rain. Furthermore, on the movement route L22, a high-rise building T11 is located, and therefore the moving object 101 will collide with it during flight.

[0075] Therefore, the recommended operation selection unit 13 (not shown in FIGS. 8 and 9 ) selects a flight operation to detour by flying another movement route L23 instead of flying the movement route L22, which is a flight plan, after the movement route L21. This allows the moving body 101 to avoid danger in advance when there is a danger at a position ahead of the current flying position on the movement route or when the environment changes.

[0076] 8 and 9, there are two monitoring devices, 301a and 301b, but this is not limiting and the monitoring device may be configured with at least two or more monitoring devices. Note that monitoring device 301a may also be referred to as the first monitoring device, and monitoring device 301b may also be referred to as the second monitoring device.

[0077] As described above, the control system according to the present disclosure includes multiple monitoring devices that monitor different areas along the path of the moving object. Environmental information is exchanged between the multiple monitoring devices. This allows the recommended action selection unit 13 (not shown in FIGS. 8 and 9 ) to select a recommended action for the moving object to avoid danger in advance when there is a danger further along the path than the current flight position or when the environment changes. Therefore, the control system according to the present disclosure can achieve safer flight of the moving object.

[0078] Fourth Embodiment A control system according to the present disclosure will be described below with reference to the drawings. The functional blocks of the control system according to the present disclosure are similar to those of the control system 10 shown in Figures 1 and 3, and include a movement information acquisition unit 11, an environmental information acquisition unit 12, a recommended action selection unit 13, and an output unit 14 as shown in Figure 1.

[0079] Here, it is assumed that there are multiple mobile objects operated by operators from locations where the mobile objects cannot be seen, and that there are also multiple monitoring devices monitoring the movement routes of the mobile objects. The multiple monitoring devices monitor different movement routes or different areas on the movement routes. The multiple monitoring devices are composed of at least two or more monitoring devices.

[0080] A more specific explanation will be given with reference to Figure 10. Figure 10 is a schematic diagram showing an example in which multiple monitoring devices monitor the movement routes of multiple moving objects. In Figure 10, an operator operates six moving objects 1111 to 1116 from a location where the moving objects 1111 to 1116 cannot be seen by sight. As shown in Figure 10, each of the moving objects 1111 to 1116 flies along movement routes L1111 to L1116 in the flight plan.

[0081] As shown in Fig. 10, the monitoring devices 3011-3018 monitor different movement routes or different areas on the movement routes. Each of the monitoring devices 3011-3018 monitors the movement routes L1111-L1116 of the moving bodies 1111-1116, whose movement routes in the flight plan are included in the area that the monitoring device 3011-3018 monitors. Note that Fig. 10 illustrates the monitoring area R3015 of the monitoring device 3015 and the monitoring area R3018 of the monitoring device 3018, but omits the monitoring areas of the other monitoring devices.

[0082] For example, as shown in Fig. 10 , the area R3015 or R3018 monitored by the monitoring device 3015 or 3018 itself includes a movement path L1111 of a moving object 1111 and a movement path L1112 of a moving object 1112. As shown in Fig. 10 , the moving object 1111 is flying within the monitoring area R3015 of the monitoring device 3015. Therefore, the monitoring device 3015 monitors the movement path L1111 of the moving object 1111 and acquires environmental information associated with the flight of the moving object 1111.

[0083] 10 , a moving object 1112 is flying within a monitoring area R3018 of a monitoring device 3018. Therefore, the monitoring device 3018 monitors a movement path L1112 of the moving object 1112 and acquires environmental information associated with the flight of the moving object 1112.

[0084] Although not shown in FIG. 10, each of the monitoring devices 3011 to 3018 is assumed to be equipped with a camera and an environmental sensor.

[0085] 10 further shows relay points P1 to P4 where mobile units 1111 to 1116 can take off and land. At least one monitoring device is installed at each relay point P1 to P4 so that the mobile units 1111 to 1116 taking off and landing can be monitored. For example, as shown in FIG. 10, a monitoring device 3017 is installed at relay point P1.

[0086] The movement information acquisition unit 11 (not shown in FIG. 10) acquires movement information including the progress status of each of the moving bodies 1111 to 1116 with respect to the flight plan or the operating status of the drive unit.

[0087] The environmental information acquisition unit 12 (not shown in FIG. 10 ) acquires environmental information associated with the flight of the moving bodies 1111 to 1116 from the respective monitoring devices 3011 to 3018. For example, the environmental information acquisition unit 12 (not shown in FIG. 10 ) acquires environmental information associated with the flight of the moving body 1111 from the monitoring device 3015, and acquires environmental information associated with the flight of the moving body 1112 from the monitoring device 3018.

[0088] Then, the recommended action selection unit 13 (not shown in Figure 10) selects a recommended action for each of the moving bodies 1111 to 1116 based on the movement information of each of the moving bodies 1111 to 1116 and environmental information obtained from a monitoring device that monitors the movement route of the moving body.

[0089] The following describes the process from when the environmental information acquisition unit 12 (not shown in FIG. 10) acquires environmental information associated with the flight of the moving bodies 1111 to 1116 from the monitoring devices 3011 to 3018 to when the recommended action selection unit 13 (not shown in FIG. 10) selects a recommended action for the moving bodies 1111 to 1116. Here, the description focuses on the monitoring device 3018 and the monitoring device 3011 shown in FIG. 10.

[0090] 10, it is assumed that tornadoes H1 and H2 occur while moving bodies 1111 to 1116 are flying. As shown in FIG. 10, it is assumed that tornado H1 occurs on movement path L1112, and tornado H2 occurs on movement path L1113.

[0091] First, the monitoring device 3018 monitors the movement path L1112 of the moving object 1112 and therefore acquires environmental information associated with the flight of the moving object 1112. Since a tornado H1 has occurred on the movement path L1112 of the moving object 1112, the monitoring device 3018 acquires environmental information indicating that a tornado H1 has occurred on the movement path L1112.

[0092] As a result, the environmental information acquisition unit 12 (not shown in FIG. 10 ) acquires environmental information from the monitoring device 3018, such as information indicating that a tornado H1 has occurred on the movement path L1112 of the moving body 1112. The recommended action selection unit 13 (not shown in FIG. 10 ) selects a recommended action for the moving body 1112 based on the movement information of the moving body 1112 and the environmental information indicating that a tornado H1 has occurred on the movement path L1112 of the moving body 1112. If the moving body 1112 continues flying along the movement path L1112, it will be caught up in the tornado H1. Therefore, the recommended action selection unit 13 (not shown in FIG. 10 ) selects a recommended action for the moving body 1112, such as turning back in the opposite direction to the flight plan and landing at relay point P4.

[0093] Furthermore, the monitoring device 3011 monitors the movement path L1113 of the moving body 1113, and therefore acquires environmental information associated with the flight of the moving body 1113. Since a tornado H2 has occurred on the movement path L1113 of the moving body 1113, the monitoring device 3011 acquires environmental information indicating that a tornado H2 has occurred on the movement path L1113 of the moving body 1113.

[0094] As a result, the environmental information acquisition unit 12 (not shown in FIG. 10 ) acquires environmental information from the monitoring device 3011, such as information indicating that a tornado H2 has occurred on the movement path L1113 of the moving body 1113. The recommended action selection unit 13 (not shown in FIG. 10 ) selects a recommended action for the moving body 1113 based on the movement information of the moving body 1113 and the environmental information indicating that a tornado H2 has occurred on the movement path L1113 of the moving body 1113. Because the moving body 1113 has already passed the location where the tornado H2 occurred, it will move away from the tornado H2 if it continues flying. Therefore, the recommended action selection unit 13 (not shown in FIG. 10 ) selects a recommended action for the moving body 1113, such as increasing its speed and moving along the movement path L1113 in the flight plan.

[0095] Similarly, the recommended action selection unit 13 (not shown in FIG. 10) selects recommended actions for each of the moving bodies 1111 to 1116. For example, in the example shown in FIG. 10, the moving bodies 1114, 1115, and 1116 continue flying while maintaining their current altitude and speed.

[0096] Here, the recommended action for the moving object 1111 selected by the recommended action selection unit 13 (not shown in FIG. 10 ) will be described. Up to this point, the description has been given on the assumption that the moving object 1112 is flying around the monitoring device 3018, and therefore the monitoring device 3018 is monitoring the movement path L1112 of the moving object 1112 and acquiring environmental information associated with the flight of the moving object 1112. However, the monitoring area R3015 of the monitoring device 3018 also includes the movement path L1111 of the moving object 1111. Therefore, the monitoring device 3018 may further acquire environmental information associated with the flight of the moving object 1111.

[0097] Similarly, since the monitoring area R3015 of the monitoring device 3015 also includes the movement path L1112 of the moving body 1112, the monitoring device 3015 may acquire environmental information associated with the flight of the moving body 1112 in addition to environmental information associated with the flight of the moving body 1111.

[0098] Furthermore, information may be exchanged between the monitoring devices as described above with reference to Fig. 8 and Fig. 9. Here, the recommended action for the moving object 1111 selected by the recommended action selection unit 13 (not shown in Fig. 10) will be described, focusing on the monitoring device 3015 and the monitoring device 3018 shown in Fig. 10.

[0099] First, the monitoring device 3018 monitors the movement path L1111 and the movement path L1112, and acquires environmental information associated with the flights of the moving body 1111 and the moving body 1112. Because a tornado H1 has occurred on the movement path L1112 of the moving body 1112, the monitoring device 3018 acquires environmental information indicating that the tornado H1 has occurred on the movement path L1112.

[0100] Next, the monitoring device 3015 monitors the movement route L1111 and the movement route L1112, and acquires environmental information associated with the flight of the moving body 1111 and the moving body 1112. Because no tornadoes have occurred in the monitoring area R3015, the monitoring device 3015 acquires that there is no environmental information that may interfere with the flight of the moving body 1111 and the moving body 1112.

[0101] In this case, the monitoring device 3018 transmits to the monitoring device 3015 environmental information that a tornado H1 is occurring on the travel route L1112.

[0102] As a result, the environmental information acquisition unit 12 (not shown in FIG. 10) acquires environmental information from the monitoring device 3015, such as that a tornado H1 has occurred on the movement path L1112 of the moving object 1112.

[0103] The recommended action selection unit 13 (not shown in FIG. 10 ) selects a recommended action for the moving body 1111 based on the movement information of the moving body 1111 and environmental information, such as a tornado H1 occurring on the movement path L1112 of the moving body 1112. If the moving body 1111 continues flying along the movement path L1111, there is a risk that it will be caught in the tornado H1. Therefore, the recommended action selection unit 13 (not shown in FIG. 10 ) selects a recommended action for the moving body 1111, such as turning back in the opposite direction to the flight plan and landing at a relay point P4. This allows the control system according to the present disclosure to prevent each moving body from danger in advance when there is a danger further along the movement path than the current position or when the environment changes.

[0104] Here, the configuration has been described in which the monitoring device 3015 and the monitoring device 3018 exchange information, the environmental information acquisition unit 12 (not shown in FIG. 10 ) acquires the exchanged information, and based on the exchanged information, the recommended action selection unit 13 (not shown in FIG. 10 ) selects a recommended action for the moving object 1111. However, the present invention is not limited to this, and the following configuration may also be used.

[0105] The environmental information acquisition unit 12 (not shown in FIG. 10 ) acquires from the monitoring device 3015 environmental information that may interfere with the flight of the moving body 1111 and the moving body 1112. The environmental information acquisition unit 12 (not shown in FIG. 10 ) also acquires environmental information, such as that a tornado H1 has occurred on the movement path L1112, from the monitoring device 3018. The recommended action selection unit 13 (not shown in FIG. 10 ) then selects a recommended action for the moving body 1111 based on the movement information of the moving body 1111 and the environmental information, acquired from the monitoring device 3018, that a tornado H1 has occurred on the movement path L1112 of the moving body 1112.

[0106] That is, the monitoring devices do not exchange environmental information with each other, but transmit the environmental information acquired by each of the monitoring devices 3011 to 3018 to the environmental information acquisition unit 12 (not shown in FIG. 10). Then, the recommended action selection unit 13 (not shown in FIG. 10) selects a recommended action for each of the mobile objects 1111 to 1116 based on the environmental information received from each of the monitoring devices 3011 to 3018 by the environmental information acquisition unit 12 (not shown in FIG. 10).

[0107] Here, the description is based on the premise that each moving object is individually controlled and operated. As another example, the moving objects may be divided into groups and group control may be performed. If one moving object in a group is dangerous, the recommended action selection unit 13 (not shown in FIG. 10 ) may identify the dangerous moving object from the group and select switching from automatic control to manual control as the recommended action for the identified moving object.

[0108] More specifically, when the recommended action selection unit 13 (not shown in FIG. 10 ) identifies a dangerous moving object from the group, the system may be configured as follows, for example. The output unit 14 (not shown in FIG. 10 ) outputs a signal such as "Switch operation of moving object RID (Remote ID): XX to manual?" to the monitor of the terminal or the display of the management device (shown in FIG. 3 ) that can be viewed by the operator. The moving object RID (Remote ID): XX indicates the dangerous moving object identified from the group by the recommended action selection unit 13 (not shown in FIG. 10 ). If the operator confirms and accepts the message displayed on the monitor of the terminal or the display of the management device, the dangerous moving object switches from automatic control to manual control. Then, when the dangerous moving object switches from automatic control to manual control, the monitor of the terminal or the display of the management device becomes a control screen. This allows the operator to manually control the dangerous moving object while checking the monitor of the terminal or the display of the management device.

[0109] Furthermore, when multiple moving bodies included in the group are dangerous and the recommended action selection unit 13 selects switching from automatic control to manual control as the recommended action for the multiple dangerous moving bodies, the following configuration may be used.

[0110] First, the recommended action selection unit 13 (not shown in FIG. 10 ) determines the priority of the dangerous moving object from the group. For example, the recommended action selection unit 13 calculates the danger level for each moving object determined to be dangerous based on the movement information and environmental information of the moving object. More specifically, the recommended action selection unit 13 calculates the danger level based on Table 4. Table 4 is an example showing the danger level of a moving object based on the movement information and environmental information. Table 4 shows the danger level evaluated on a level scale of 1 to 5, where a danger level of 1 indicates that the moving object is not dangerous, and the higher the value, the higher the degree of danger of the moving object, and a danger level of 5 indicates that the moving object is the most dangerous. For example, as shown in Table 4, if the movement information of a moving object is "high motor rotation speed" and the environmental information of the moving object is "a tornado has occurred along the movement route of the flight plan," the recommended action selection unit 13 calculates the danger level of the moving object to be 5.

[0111]

[0112] The danger level of a moving object shown in Table 4 is merely an example, and may be expressed by any method as long as it allows the priority to be determined. For example, the danger level may be expressed by scoring from 0 to 10.

[0113] The recommended action selection unit 13 then determines that the priority of the dangerous moving objects is higher in descending order of the danger level. For example, in the case of three moving objects with danger levels of 3, 4, and 5, the recommended action selection unit 13 determines that the priority of the moving objects with danger levels 5, 4, and 3 is higher in this order.

[0114] Next, based on this priority, the output unit 14 (not shown in FIG. 10 ) outputs a signal such as "Would you like to switch the operation of drone RID (Remote ID): XX to manual?" to the monitor of a terminal that can be viewed by the operator or to the display unit of the management device. A more specific explanation will be given using the example of the three mobile objects with risk levels of 3, 4, and 5 mentioned above. In the following explanation, the RID of the mobile object with risk level 3 will be D1, the RID of the mobile object with risk level 4 will be D2, and the RID of the mobile object with risk level 5 will be D5.

[0115] First, the output unit 14 outputs a signal such as "Do you want to switch the operation of the mobile unit with RID: D3 to manual operation?" to the monitor of the terminal or the display of the management device that can be viewed by the operator in order to switch the mobile unit with the highest priority risk level 5 from automatic operation to manual operation. If the operator confirms and accepts the message displayed on the monitor of the terminal or the display of the management device, the mobile unit with risk level 5 switches from automatic operation to manual operation. Then, when the mobile unit with risk level 5 switches from automatic operation to manual operation, the monitor of the terminal or the display of the management device becomes the operation screen. This allows the operator to manually operate the mobile unit with risk level 5 while checking the monitor of the terminal or the display of the management device.

[0116] Next, the output unit 14 outputs a signal such as "Do you want to switch the operation of the mobile unit with RID: D2 to manual?" to the display unit of the terminal monitor or management device that can be confirmed by the operator in order to switch the mobile unit with the next highest priority, risk level 4, from automatic operation to manual operation. The process from when the terminal monitor or management device receives the signal until the operator manually operates the mobile unit with risk level 4 is the same as in the case of a mobile unit with risk level 5, so a description thereof will be omitted.

[0117] Next, the output unit 14 outputs a signal such as "Do you want to switch the operation of the mobile unit with RID: D1 to manual operation?" to the monitor of a terminal or the display unit of a management device that the operator can check in order to switch the mobile unit with the next highest priority risk level 3 from automatic operation to manual operation.

[0118] In this way, when the recommended action selection unit 13 selects switching from automatic control to manual control as the recommended action for multiple dangerous moving objects, the recommended action selection unit 13 (not shown in FIG. 10) first determines the priority of the dangerous moving objects from the group. Then, based on the priority, the output unit 14 transmits a signal to the monitor of a terminal that the operator can see or to the display unit of the management device, confirming the switch from automatic control to manual control. With this configuration, the operator can prioritize manual control of moving objects that are more dangerous.

[0119] In this way, the control system according to the present disclosure acquires movement information of each moving object and environmental information associated with the flight of the moving object from each monitoring device, and selects a recommended action for each moving object. With this configuration, each monitoring device monitors the flight of each moving object on behalf of the operator, regardless of where the moving object is flying outside the operator's line of sight. Therefore, even if there is only one operator, the operator can grasp the progress of each moving object's flight plan and manage how each moving object is flying according to the local environment. Therefore, the control system according to the fourth embodiment can ensure the safe flight of moving objects even in locations where the operator cannot visually observe the moving object.

[0120] <Configuration Example> FIG. 16 is a block diagram showing a configuration example of the above-described management device 201, monitoring devices 301, 301a, 301b, 3011 to 3018, and mobile objects 101, 1111, 1112, 1113, 1114, 1115, and 1116 (hereinafter referred to as management devices 201, etc.). Referring to FIG. 16, the management device 201, etc. includes a network interface 1201, a processor 1202, and a memory 1203. The network interface 1201 may be used to communicate with a network node. The network interface 1201 may include, for example, a network interface card (NIC) compliant with the IEEE 802.3 series. IEEE stands for Institute of Electrical and Electronics Engineers.

[0121] The processor 1202 reads and executes software (computer programs) from the memory 1203 to perform the processes of the management device 201 and the like described using flowcharts in the above-described embodiment. The processor 1202 may be, for example, a microprocessor, an MPU, or a CPU. The processor 1202 may include multiple processors.

[0122] The memory 1203 is configured by a combination of volatile memory and non-volatile memory. The memory 1203 may include storage located remotely from the processor 1202. In this case, the processor 1202 may access the memory 1203 via an I / O (Input / Output) interface (not shown).

[0123] 16, the memory 1203 is used to store software modules. The processor 1202 reads and executes these software modules from the memory 1203, thereby performing the processing of the management device 201 and the like described in the above embodiment.

[0124] As explained using FIG. 16, each of the processors included in the management device 201 or the like executes one or more programs including a group of instructions for causing a computer to execute the algorithm explained using the drawing.

[0125] Furthermore, part or all of the processing in the control system according to the present disclosure can be implemented as a computer program. Such a program can be stored on various types of non-transitory computer-readable media and provided to a computer. Non-transitory computer-readable media include various types of tangible control media. Examples of non-transitory computer-readable media include magnetic control media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical control media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (Random Access Memory)). The program may also be provided to a computer by various types of temporary computer-readable media. Examples of temporary computer-readable media include electrical signals, optical signals, and electromagnetic waves. The temporary computer-readable medium can supply the program to the computer via a wired communication path such as an electric wire or an optical fiber, or via a wireless communication path.

[0126] Although the present disclosure has been described above with reference to the embodiments, the present disclosure is not limited to the above-described embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present disclosure within the scope of the present disclosure. Furthermore, each embodiment can be combined with other embodiments as appropriate.

[0127] Each drawing is merely an example for describing one or more embodiments. Each drawing may not relate to only one particular embodiment, but may also relate to one or more other embodiments. As will be understood by those skilled in the art, various features or steps described with reference to any one drawing can be combined with features or steps shown in one or more other drawings to create, for example, an embodiment not explicitly shown or described. Not all features or steps shown in any one drawing are necessary to describe an exemplary embodiment, and some features or steps may be omitted. The order of steps described in any drawing may be changed as appropriate.

[0128] Some or all of the above embodiments can be described as, but are not limited to, the following supplementary notes. (Supplementary Note 1) A control system comprising: a movement information acquisition unit that acquires movement information including a progress status of a moving object relative to a flight plan; an environmental information acquisition unit that acquires environmental information associated with the flight of the moving object from a monitoring device that monitors the movement path of the moving object; a recommended action selection unit that selects a recommended action according to the progress status of the moving object based on the movement information and the environmental information; and an output unit that outputs a signal indicating the recommended action by the recommended action selection unit. (Supplementary Note 2) The control system described in Supplementary Note 1, wherein the movement information further includes an operating state of a drive unit of the moving object. (Supplementary Note 3) The control system described in Supplementary Note 1 or 2, wherein the recommended action selection unit determines whether the flight status of the moving object is dangerous based on the movement information and the environmental information, and if it determines that the flight of the moving object is dangerous, selects the recommended action from a plurality of preset danger avoidance actions. (Supplementary Note 4) The control system according to Supplementary Note 3, comprising: an analysis unit that analyzes a cause of a dangerous flight state of the moving object; and a determination unit that determines whether the analyzed cause is due to a cyber-attack, wherein the recommended action selection unit further selects the recommended action based on a determination result of the determination unit. (Supplementary Note 5) The control system according to Supplementary Note 1 or 2, wherein the environmental information is an obstacle or weather that may or may not interfere with the flight of the moving object, included in image data captured by an imaging unit provided in the monitoring device. (Supplementary Note 6) The control system according to Supplementary Note 1 or 2, wherein the environmental information is weather information for the movement route acquired by an environmental sensor provided in the monitoring device.(Supplementary Note 7) The control system described in Supplementary Note 1 or 2, wherein the monitoring devices are composed of at least two or more monitoring devices including a first monitoring device and a second monitoring device monitoring different areas on a movement path of the moving object, the second monitoring device transmits the acquired environmental information to the first monitoring device, the environmental information acquisition unit acquires the environmental information received by the first monitoring device from the second monitoring device, and the recommended action selection unit selects a recommended action based on the movement information and the environmental information received by the first monitoring device from the second monitoring device. (Supplementary Note 8) The control system according to Supplementary Note 1 or 2, wherein the moving bodies are made up of a plurality of moving bodies, the monitoring device is made up of at least two or more monitoring devices monitoring different moving paths or monitoring different areas on each of the moving paths, the monitoring devices monitor the moving paths of each moving body whose moving path is included in an area monitored by the monitoring device, the moving information acquisition unit acquires moving information of each moving body, the environmental information acquisition unit acquires environmental information associated with the flight of the moving body whose moving path is included in an area monitored by the monitoring device, and the recommended action selection unit selects a recommended action for each moving body based on the moving information of each moving body and the environmental information acquired from the monitoring device monitoring the moving path of the moving body. (Supplementary Note 9) The control system according to Supplementary Note 1 or 2, wherein the recommended action selection unit selects switching from automatic control to manual control. (Supplementary Note 10) A control method in which a computer executes the following processes: acquire movement information including a progress status of a moving object relative to a flight plan, acquire environmental information accompanying the flight of the moving object from a monitoring device that monitors the movement path of the moving object, select a recommended action according to the progress status of the moving object based on the movement information and the environmental information, and output a signal indicating the recommended action. (Supplementary Note 11) The control method according to Supplementary Note 10, in which the movement information further includes an operating state of a drive unit of the moving object.(Supplementary Note 12) The control method according to Supplementary Note 10 or 11, determining whether the flight state of the moving object is dangerous based on the movement information and the environmental information, and selecting the recommended action from a plurality of preset danger avoidance actions if it is determined that the flight of the moving object is dangerous. (Supplementary Note 13) The control method according to Supplementary Note 12, analyzing a cause of the dangerous flight state of the moving object, determining whether the analyzed cause is due to a cyber attack, and selecting the recommended action based on the determination result. (Supplementary Note 14) The control method according to Supplementary Note 10 or 11, wherein the environmental information is an obstacle or weather that may or may not interfere with the flight of the moving object, included in image data captured by an imaging unit provided in the monitoring device. (Supplementary Note 15) The control method according to Supplementary Note 10 or 11, wherein the environmental information is weather information for the movement route acquired by an environmental sensor provided in the monitoring device. (Supplementary Note 16) The control method described in Supplementary Note 10 or 11, wherein the monitoring device is composed of at least two monitoring devices including a first monitoring device and a second monitoring device monitoring different areas on the movement path of the moving object, the environmental information acquired by the second monitoring device is transmitted to the first monitoring device, the first monitoring device acquires the environmental information received from the second monitoring device, and a recommended action is selected based on the movement information and the environmental information received by the first monitoring device from the second monitoring device. (Supplementary Note 17) The control method described in Supplementary Note 10 or 11, wherein the moving body is composed of a plurality of moving bodies, the monitoring device is composed of at least two or more monitoring devices monitoring different moving paths or monitoring different areas on each of the moving paths, the monitoring device monitors the moving path of each moving body whose moving path is included in the area monitored by the monitoring device, acquires movement information of each moving body, acquires from each monitoring device environmental information associated with the flight of the moving body whose moving path is included in the area monitored by the monitoring device, and selects a recommended action for each moving body based on the movement information of each moving body and the environmental information acquired from the monitoring device monitoring the moving path of the moving body.(Supplementary Note 18) The control method according to Supplementary Note 10 or 11, selecting to switch from automatic control to manual control. (Supplementary Note 19) A control program that causes a computer to execute the following processes: acquire movement information including a progress status of a moving object relative to a flight plan, acquire environmental information associated with the flight of the moving object from a monitoring device that monitors the movement path of the moving object, select a recommended action according to the progress status of the moving object based on the movement information and the environmental information, and output a signal indicating the recommended action. (Supplementary Note 20) The control program according to Supplementary Note 19, wherein the movement information further includes an operating state of a drive unit of the moving object. (Supplementary Note 21) The control program according to Supplementary Note 19 or 20, determining whether the flight status of the moving object is dangerous based on the movement information and the environmental information, and if it is determined that the flight of the moving object is dangerous, selecting the recommended action from a plurality of preset danger avoidance actions. (Supplementary Note 22) The control program according to Supplementary Note 21, analyzing a cause of a dangerous flight state of the moving object, determining whether the analyzed cause is due to a cyber-attack, and selecting the recommended action based on the determination result. (Supplementary Note 23) The control program according to Supplementary Note 19 or 20, wherein the environmental information is an obstacle or weather that may or may not interfere with the flight of the moving object, included in image data captured by an imaging unit provided in the monitoring device. (Supplementary Note 24) The control program according to Supplementary Note 19 or 20, wherein the environmental information is weather information on the movement path acquired by an environmental sensor provided in the monitoring device. (Supplementary Note 25) The control program according to Supplementary Note 19 or 20, wherein the process of acquiring environmental information acquires the environmental information from at least two or more monitoring devices monitoring different areas on the movement path of the moving object, and the process of selecting the recommended action selects the recommended action based on the movement information and the environmental information from a monitoring device different from a monitoring device whose monitoring area includes the position of the moving object included in the movement information.(Supplementary Note 26) The control program according to Supplementary Note 19 or 20, wherein the process of acquiring movement information acquires movement information of each moving body, The process of acquiring environmental information acquires, from each monitoring device, environmental information accompanying the flight of the moving body whose movement path is included in an area monitored by the monitoring device, and The process of selecting the recommended action selects a recommended action for each moving body based on the movement information of each moving body and the environmental information acquired from a monitoring device monitoring the movement path of the moving body. (Supplementary Note 27) The control program according to Supplementary Note 19 or 20, wherein switching from automatic control to manual control is selected.

[0129] This application claims priority based on Japanese Patent Application No. 2023-048277, filed on March 24, 2023, the disclosure of which is incorporated herein in its entirety.

[0130] 10, 20 Control system 11 Movement information acquisition unit 12 Environmental information acquisition unit 13 Recommended action selection unit 14 Output unit 15 Analysis unit 16 Determination unit 101, 1111, 1112, 1113, 1114, 1115, 1116 Mobile object 111 Drive unit 112 Communication unit 113 Imaging unit 114 Mobile object control unit 115 Self-position estimation unit 1201 Network interface 1202 Processor 1203 Memory 201 Management device 211 Communication unit 212 Recommended action storage unit 301, 301a, 301b Monitoring device 3011, 3012, 3013, 3014 Monitoring device 3015, 3016, 3017, 3018 Monitoring device 311 Communication unit 312 Image capturing units 312a, 312b Cameras 313 Environmental sensors 314, 314a, 314b Weather sensors 315, 315a, 315b Anemometers H1, H2 Tornadoes L1, L2, L21, L22, L23 Movement routes L1111, L1112, L1113 Movement routes L1114, L1115, L1116 Movement routes P1, P2, P3, P4 Relay points R3015, R3018 Monitoring areas S1, S2 Image data T1, T11 High-rise building

Claims

1. a movement information acquisition means for acquiring movement information including a progress status of the moving object with respect to a flight plan; an environmental information acquisition means for acquiring environmental information accompanying the flight of the moving object from a monitoring device that monitors the moving path of the moving object; a recommended action selection means for selecting a recommended action according to the progress status of the moving object based on the movement information and the environmental information; an output means for outputting a signal indicating the recommended action selected by the recommended action selection means; A control system comprising:

2. The movement information further includes an operating state of a drive unit of the moving body. The control system of claim 1 .

3. the recommended action selection means determines whether a flight state of the moving object is dangerous based on the movement information and the environmental information; When it is determined that the flight of the moving object is dangerous, the recommended action is selected from a plurality of preset danger avoidance actions.

3. A control system according to claim 1 or 2.

4. an analysis means for analyzing the cause of a dangerous flight state of the moving object; a determination means for determining whether the analyzed cause is due to a cyber attack, the recommended action selection means further selects the recommended action based on the determination result of the determination means. The control system of claim 3 .

5. The environmental information is an obstacle or weather that may or may not hinder the flight of the moving object included in the image data captured by the imaging means of the monitoring device.

3. A control system according to claim 1 or 2.

6. the environmental information is weather information for the travel route acquired by an environmental sensor included in the monitoring device; 3. A control system according to claim 1 or 2.

7. the monitoring device is composed of at least two monitoring devices including a first monitoring device and a second monitoring device monitoring different areas on a movement path of the moving object, The second monitoring device transmits the acquired environmental information to the first monitoring device; the environmental information acquisition means acquires the environmental information received by the first monitoring device from the second monitoring device, the recommended action selection means selects a recommended action based on the movement information and the environmental information received by the first monitoring device from the second monitoring device.

3. A control system according to claim 1 or 2.

8. the moving body is composed of a plurality of moving bodies, the monitoring device is composed of at least two or more monitoring devices monitoring different moving paths or different areas on a moving path; the monitoring device monitors the movement paths of each moving object whose movement path is included in an area monitored by the monitoring device; the movement information acquisition means acquires movement information of each moving object, the environmental information acquisition means acquires, from each monitoring device, environmental information accompanying the flight of the moving object, the movement path of which is included in an area monitored by the monitoring device; the recommended action selection means selects a recommended action for each moving object based on the movement information of each moving object and the environmental information acquired from a monitoring device monitoring a movement route of the moving object.

3. A control system according to claim 1 or 2.

9. Acquire movement information including progress of the moving object relative to its flight plan; acquiring environmental information accompanying the flight of the moving object from a monitoring device that monitors the movement path of the moving object; selecting a recommended action according to the progress status of the moving object based on the movement information and the environmental information; outputting a signal indicating the recommended action; The computer performs the processing, Control method.

10. Acquire movement information including progress status of a moving object with respect to a flight plan, acquiring environmental information accompanying the flight of the moving object from a monitoring device that monitors the movement path of the moving object; selecting a recommended action according to the progress status of the moving object based on the movement information and the environmental information; outputting a signal indicating the recommended action; Have the computer perform the process, Control program.