Management device, management method, and recording medium

Abstract

In order to realize seamless continuation of work performed by a plurality of drones in alternation, there is provided a management device comprising: an acquisition unit that acquires operation data including a work status and a power residual amount pertaining to a preceding drone during work in a work region; a determination unit that, in accordance with the work status and the power residual amount of the preceding drone, determines whether the preceding drone can work; an activation control unit that activates the subsequent drone in the standby mode in accordance with a determination result of whether the preceding drone can work; a data transfer unit that transfers work plan data including work information for taking over the work of the preceding drone to the activated subsequent drone; and a flight instruction unit that transmits, to the subsequent drone to which the work plan data is inputted, a departure signal for instructing the subsequent drone to depart toward a work start point included in the work plan data.

Description

Management device, management method, and recording medium

[0001] The present disclosure relates to a management device, a management method, and a recording medium.

[0002] Drones and other unmanned aerial vehicles (hereinafter referred to as unmanned vehicles) are becoming more common. As a result, there is a movement to use unmanned vehicles in places where it is difficult for people to work. By using unmanned vehicles, it is possible to work in places where people cannot work.

[0003] Patent Document 1 discloses a flight path creation method. The method of Patent Document 1 aims to automatically create a flight path for an unmanned aerial vehicle with a fixed separation that follows the shape of an inspection target. In the method of Patent Document 1, the flight path is created based on the position coordinates of the start and end points of the flight path of the unmanned aerial vehicle, a fixed separation set for the inspection target on the path, and the result of comparing map information including position information of the inspection target with drawing information of the inspection target.

[0004] Japanese Patent Application Laid-Open No. 2022-037971

[0005] The method of Patent Document 1 can automatically create a flight path for inspections using a single unmanned aerial vehicle. When inspecting large structures, it is desirable to use multiple unmanned aerial vehicles to efficiently inspect a wide area. However, the method of Patent Document 1 cannot automatically create a flight path for inspections using multiple unmanned aerial vehicles. Furthermore, when inspecting using multiple drones, there is a possibility that the inspection work will be interrupted due to the limited battery life of the drones. To perform inspection work efficiently, it is necessary to use multiple drones to seamlessly continue the inspection work of a structure.

[0006] An object of the present disclosure is to provide a management device, a management method, and a program that enable seamless continuity of work performed in shifts by multiple drones.

[0007] A management device according to one embodiment of the present disclosure includes an acquisition unit that acquires operational data including the work status and remaining power of a leading drone working in a work area; a determination unit that determines whether the leading drone is able to work based on the work status and remaining power of the leading drone; a start-up control unit that activates a following drone in standby mode based on the determination result of whether the leading drone is able to work; a data transfer unit that transfers work plan data including work information for taking over the work of the leading drone to the activated following drone; and a flight instruction unit that transmits a departure signal to the following drone to which the work plan data has been input, instructing it to depart for the work start point included in the work plan data.

[0008] In one aspect of the management method of the present disclosure, a computer acquires operational data including the work status and remaining power of a leading drone working in a work area, determines whether the leading drone is able to work based on the work status and remaining power of the leading drone, activates a following drone in standby mode based on the determination result of whether the leading drone is able to work, transfers work plan data including work information for taking over the work of the leading drone to the activated following drone, and sends a departure signal to the following drone to which the work plan data has been input, instructing it to depart for the work start point included in the work plan data.

[0009] A program according to one embodiment of the present disclosure causes a computer to perform the following processes: acquiring operational data including the work status and remaining power of a leading drone working in a work area; determining whether the leading drone is able to work based on the work status and remaining power of the leading drone; activating a following drone in standby mode based on the determination result of whether the leading drone is able to work; transferring work plan data including work information for taking over the work of the leading drone to the activated following drone; and transmitting a departure signal to the following drone to which the work plan data has been input, instructing it to depart for the work start point included in the work plan data.

[0010] According to the present disclosure, it is possible to provide a management device, a management method, and a program that enable seamless continuity of work performed in shifts by multiple drones.

[0011] 1 is a block diagram illustrating a configuration of a management device according to the present disclosure. FIG. 1 is a conceptual diagram illustrating an example of management of drones by a management device according to the present disclosure. FIG. 2 is a table illustrating an example of a work table according to the present disclosure. FIG. 3 is a conceptual diagram for explaining an example of transmission and reception of signals between a management device and a drone according to the present disclosure. FIG. 4 is a table illustrating an example of a work table according to the present disclosure. FIG. 5 is a table illustrating an example of a work table according to the present disclosure. FIG. 6 is a conceptual diagram for explaining an example of drone replacement according to the present disclosure. FIG. 7 is a conceptual diagram for explaining an example of drone replacement according to the present disclosure. FIG. 8 is a conceptual diagram for explaining an example of a configuration of a drone according to the present disclosure. FIG. 9 is a block diagram for explaining an example of a functional configuration of a drone according to the present disclosure. FIG. 10 is a flowchart for explaining an example of operation of a management device according to the present disclosure. FIG. 11 is a flowchart for explaining an example of flight control processing by a management device according to the present disclosure. FIG. 12 is a conceptual diagram for explaining an example of displaying the operation status of a drone managed by a management device according to the present disclosure on the screen of a terminal device. FIG. 13 is a conceptual diagram for explaining an example of displaying the operation status of a drone managed by a management device according to the present disclosure on the screen of a terminal device. FIG. 14 is a conceptual diagram for explaining an application example of a management device according to the present disclosure. FIG. 1 is a block diagram showing the configuration of a management device in the present disclosure. FIG. 2 is a table showing an example of a work table in the present disclosure. FIG. 3 is a conceptual diagram for explaining an example of a drone change in the present disclosure, which is a table showing an example of a work table in the present disclosure. FIG. 4 is a flowchart for explaining an example of an operation of a management device in the present disclosure. FIG. 5 is a flowchart for explaining an example of a work status determination process by a management device in the present disclosure. FIG. 6 is a block diagram showing the configuration of a management device in the present disclosure. FIG. 7 is a table showing an example of a work performance table in the present disclosure. FIG. 8 is a conceptual diagram showing an example of a display of a work performance table generated by a management device in the present disclosure. FIG. 9 is a conceptual diagram showing an example of detailed information showing the work performance for each drone, generated by a management device in the present disclosure.Fig. 1 is a flowchart for explaining an example of an operation of a management device in the present disclosure. Fig. 2 is a block diagram showing a configuration of a management device in the present disclosure. Fig. 3 is a flowchart for explaining an example of an operation of a management device in the present disclosure. Fig. 4 is a block diagram showing an example of a hardware configuration for executing control and processing in the present disclosure.

[0012] Hereinafter, embodiments for carrying out the present disclosure will be described with reference to the drawings. In this disclosure, the drawings used in describing each embodiment relate to one or more embodiments. Furthermore, elements included in each drawing may apply to one or more embodiments. The embodiments described below are limited in a manner that is technically preferable for carrying out the present disclosure, but this does not limit the scope of the disclosure to the following. In all drawings used in describing the following embodiments, similar parts are designated by the same reference numerals unless otherwise specified. In the following embodiments, repeated description of similar configurations and operations may be omitted. The direction of arrows in the drawings is an example and does not limit the direction of signals, etc.

[0013] First Embodiment First, a management device according to a first embodiment will be described with reference to the drawings. In this embodiment, an example is given of work management for a drone that performs inspection work on a large structure, which is an inspection target. For example, the drone performs deterioration diagnosis of the structure using image recognition technology, and identifies and inspects structural problems of the structure. In the following, an example is given in which the drone is an aerial unmanned aerial vehicle. The drone may be an unmanned aircraft that moves not only in the air but also on land, water, underwater, or on the bottom of the water. The drone may also be a flying vehicle that can carry a person. The method of this embodiment is not limited to inspection work on large structures, but can be applied to any work using a drone.

[0014] In this embodiment, an example is given in which a remote ID (Identification) device is mounted on a drone. The remote ID device is a device that transmits information including the drone's identification information via radio waves. The signal transmitted by the remote ID device is also referred to as a remote ID signal. The remote ID device transmits the remote ID signal using a direct broadcast method conforming to ASTM International F3411-19 (ASTM standard). For example, the remote ID device transmits the remote ID signal using a communication method conforming to standards such as Bluetooth (registered trademark) or Wi-Fi (registered trademark). While the drone is flying, the remote ID device continues to transmit the remote ID signal at a predetermined interval. The remote ID signal transmitted by the remote ID device can be received by a communication terminal using a dedicated application. The remote ID device may be external or internal. The management device acquires information including the identification information from the remote ID device mounted on the drone.

[0015] 1 is a block diagram showing the configuration of a management device according to the present disclosure. The management device 10 includes an acquisition unit 11, a storage unit 12, a determination unit 13, a startup control unit 15, a data transfer unit 16, and a flight instruction unit 17. The functions of the startup control unit 15, the data transfer unit 16, and the flight instruction unit 17 may be integrated into a flight control unit 170.

[0016] 2 is a conceptual diagram showing an example of drone management by a management device according to the present disclosure. FIG. 2 shows drones 120 in different statuses. The drones 120 are operational drones. The drones 120 are located in work area A. w Inspection work is being carried out on the large structure that is the subject of inspection in Work Area A. w is an area including a large structure to be inspected. Drone 120 is a drone on standby. Drone 120 is located in standby area A. s Waiting area A s In this area, equipment for charging the rechargeable battery mounted on the drone 120 is installed.

[0017] Standby area A sThe UTM100 (UAS Traffic Management) is deployed in the work area A (UAS: Unmanned Aircraft Systems). The UTM100 is used for drone operation management. The UTM prevents interference and collisions between multiple drones and acquires drone position and movement information. For example, the UTM100 is implemented in a cloud or server. In this case, the UTM100 manages the work area A. w The UTM 100 communicates with the drone 120 via a base station 140 located near the work area A. For example, the UTM 100 may be a portable device. In this case, the UTM 100 w The UTM is placed in a position where it can communicate with the drone 120 that is working. If the UTM and battery are integrated, it is possible to build a system that charges the drone after it has finished working and transfers data.

[0018] In the example of FIG. 2, the management device 10 is implemented in a cloud or a server. w The management device 10 communicates with the drone 120 via a base station 140 located near the work area A. w For example, the management device 10 may be implemented in the UTM 100.

[0019] The acquisition unit 11 collects operation data from the drone 120 in operation. The operation data includes identification information, work information, and remaining power of the operating drone 120. The work information includes data acquired during work performed at the inspection location. For example, if the work is photography, image data captured at the inspection location corresponds to the work information. For example, if work is acquired using a sensor, sensor data detected at the inspection location corresponds to the work information. In other words, the work information includes data acquired in accordance with the work. The remaining power indicates the remaining amount of power stored in the rechargeable battery of the operating drone 120. For example, the remaining power indicates the percentage of power stored in the rechargeable battery. The remaining power may also be indicated by the amount of power stored in the rechargeable battery. Note that the operation data may include information other than the work information and remaining power. The operation data includes the time when the work information was generated. The operation data may also include the time when the work corresponding to the work information was performed and the time when the operation data was transmitted.

[0020] The acquisition unit 11 also acquires a remote ID signal transmitted from a remote ID device mounted on the drone 120. The remote ID signal includes remote ID information. The remote ID information includes the registration symbol notified pursuant to Article 132-4, Paragraph 3 of the Aviation Act, the serial number set by the manufacturer, the position, speed, and time information of the unmanned aerial vehicle (drone), and authentication information. For example, the acquisition unit 11 simultaneously acquires the operation data and the remote ID signal. In this case, the acquisition unit 11 may be configured to add the position information and time information included in the remote ID information to the operation data. The acquisition unit 11 may also be configured to acquire the operation data and the remote ID signal at different times.

[0021] The acquisition unit 11 is configured to receive the operation data via wireless communication. There are no particular limitations on the communication method or communication standard of the acquisition unit 11. For example, the acquisition unit 11 is configured to receive the operation data via a wireless communication method such as Wi-Fi (registered trademark) or Bluetooth (registered trademark). The acquisition unit 11 outputs the acquired operation data to the determination unit 13. The acquisition unit 11 also stores the acquired operation data in the storage unit 12.

[0022] The storage unit 12 stores the work area A w The storage unit 12 stores a task management table that summarizes tasks performed by the drone 120. The task management table includes task information related to tasks performed by the drone 120 and drone information related to the drone 120 to which the task is assigned. The storage unit 12 also stores a threshold (task threshold) set for the remaining charge (remaining power) of the rechargeable battery mounted on the drone 120. The task threshold is a criterion for determining whether the drone 120 is permitted to continue performing the task. The storage unit 12 also accumulates remote ID information included in a remote ID signal transmitted from an operating drone 120 and operation data of the drone 120.

[0023] 3 is a table illustrating an example of a work table in the present disclosure. The work management table 110 includes work information and drone information. The work management table 110 may include information other than the work information and drone information. Furthermore, the information listed in the work management table 110 is an example and does not limit the information listed in the work management table 110.

[0024] The work information includes a work ID, a work scope, and work content. The work ID is an identifier for identifying each individual work. The work scope indicates the range of the work specified by the work ID. In the example of Figure 3, the work scope includes a start point and an end point. The work content indicates the work specified by the work ID. The work content indicates work that can be performed using equipment mounted on the drone. For example, the work content includes work such as taking photos with a camera and measuring using a sensor. There are no particular restrictions on the work included in the work content, as long as it is work that can be performed using equipment mounted on the drone.

[0025] The drone information includes a drone ID, an operation status, and a remaining power. The drone ID is an identifier assigned to each drone 120. For example, the drone ID is a registration code or a serial number included in the remote information. The drone ID may be an identifier temporarily assigned to the drone 120 during inspection work on an inspection target object. The operation status indicates the status of the drone 120. When the drone 120 is flying, the operation status is "operating." When the drone 120 is started and ready to fly, the operation status is also "operating." On the other hand, when the drone 120 is not started, the operation status is "standby." The remaining power indicates the remaining power of a rechargeable battery installed in the drone 120. For example, the remaining power is expressed as a percentage. The remaining power may also be expressed as a capacity.

[0026] The determination unit 13 acquires operation data of the working drone 120. The determination unit 13 determines whether to continue or stop the operation of the working drone 120 based on the position information and remaining power included in the operation data.

[0027] 4 is a conceptual diagram for explaining an example of signal transmission and reception between a management device and a drone in the present disclosure. w 4 shows how the management device 10 receives operational data transmitted from the drone 120 operating in the waiting area A. s The waiting drone starts up and goes to work area A. w 4 shows a flow of preparation for flight toward the target. The signal flow shown in FIG. 4 is an example and does not limit the signal flow in this embodiment. Furthermore, the types of signals shown in FIG. 4 are an example and do not represent all of the signals in this embodiment.

[0028] The determination unit 13 determines whether the drone 120 currently working should continue working based on the remaining power. If the remaining power of the rechargeable battery of the drone 120 currently working exceeds the work threshold and the position of the drone 120 has not yet reached the end point, the determination unit 13 determines that the drone 120 should continue working. In this case, the determination unit 13 does not send instructions to the drone 120 currently working. The determination unit 13 updates the remaining power of the drone 120 recorded in the work management table 110 with the current remaining power.

[0029] When the remaining power of the rechargeable battery of a drone 120 currently working falls below the work threshold, the determination unit 13 determines that the drone 120 should stop working. In this case, the determination unit 13 outputs to the start control unit 15 a start instruction for the waiting drone 120 to which the next work is assigned. The determination unit 13 identifies the location of the point where the drone 120, whose remaining power falls below the work threshold, last performed work. The determination unit 13 sets the point where the drone 120 was scheduled to perform work after the point where the drone 120 last performed work as the start point of the work of the drone 120 that is scheduled to perform the next work. The determination unit 13 overwrites the work management table 110 with the updated start point. The determination unit 13 may be configured to set the point where the drone 120 has already performed work as the start point of the work of the drone 120 that is scheduled to perform the next work. This configuration can reduce work omissions.

[0030] Even if the remaining power level of the rechargeable battery of the drone 120 currently working exceeds the work threshold, when the drone 120 reaches the end point, the determination unit 13 outputs an activation instruction for the drone 120 scheduled to work next to the activation control unit 15. In this case, the determination unit 13 does not update the work management table 110. The determination unit 13 may be configured to output an activation instruction for the drone 120 scheduled to work next when the drone 120 currently working reaches a point a predetermined number of points before the end point. With this configuration, it is possible to reduce the time lost when swapping drones 120.

[0031] The activation control unit 15 acquires an activation instruction from the determination unit 13. In response to the activation instruction, the activation control unit 15 activates the drone that will perform the next task. The activation control unit 15 refers to the task management table 110 to identify the drone ID associated with the task ID of the next task. The activation control unit 15 transmits an activation signal to the drone 120 corresponding to the identified drone ID. The transmitted activation signal is received by the drone 120. The drone 120 that has received the activation signal activates in response to the activation signal and performs flight setup. Once flight setup is complete, the activated drone 120 transmits an activation notification signal to the activation control unit 15. Upon receiving the activation notification signal, the activation control unit 15 transmits a data transfer instruction to the data transfer unit 16, instructing the activated drone 120 to transfer task plan data.

[0032] The data transfer unit 16 acquires a data transfer instruction from the activation control unit 15. In response to the data transfer instruction, the data transfer unit 16 acquires work plan data corresponding to the work ID of the next work. The work plan data includes the work scope and work content corresponding to the work ID. The data transfer unit 16 transfers the work plan data to the activated drone 120. The transferred work plan data is input to the activated drone 120. The drone 120 to which the work plan data has been input transmits a work preparation completion signal to the data transfer unit 16. Upon receiving the work preparation completion signal, the data transfer unit 16 transmits a departure instruction to the flight instruction unit 17 to issue a departure signal to the drone 120 to which the work plan data has been input.

[0033] The flight instruction unit 17 acquires a departure instruction from the data transfer unit 16. In response to the departure instruction, the flight instruction unit 17 transmits a departure signal to the drone 120 to which the work plan data has been input. The transmitted departure signal is received by the drone 120 scheduled to perform the next work. Upon receiving the departure signal, the drone 120 departs for the start point of the next work in response to the received departure signal.

[0034] In addition, when the flight instruction unit 17 receives a departure instruction, the flight instruction unit 17 directs the drone 120 that has completed its work to the waiting area A sThe drone 120 receives the return signal and returns to the waiting area A in response to the return signal. s It should be noted that if the drone 120 reaches the end point with the remaining power exceeding the operation threshold, it will autonomously return to the waiting area A. s In this configuration, the flight instruction unit 17 does not need to be configured to transmit a return signal. On the other hand, it is preferable to configure the drone 120 whose remaining power is below the operation threshold to transmit a return signal. In this configuration, the drone 120 whose remaining power is insufficient can return to the waiting area A. s This can avoid the occurrence of an incident where it is not possible to return to the original location.

[0035] 5 is a table showing an example of a work table in the present disclosure. In the work management table 110, the drone 120 with the drone ID "ABCD...001" has completed the work with the work ID 0001. The operation status of the drone 120 that has completed the work is returning. The returning drone 120 is in waiting area A. s The drone 120 is flying towards work area A. The remaining power of the returning drone 120 is 24%. The drone ID of the drone performing the work with work ID 002 is "ABCD...002". The operation status of the drone 120 performing the work with work ID 002 is "in operation". The operating drone 120 is flying towards work area A. w Flying towards the start of work area A w Work is currently underway.

[0036] 6 is a table showing an example of a task table in the present disclosure. In the task management table 110, the operational status of the task with task ID 0001 is "completed." The drone 120 that completed the task with task ID 0001 has been assigned a new task with task ID 000X. The operational status of that drone 120 is "charging" in preparation for the next task.

[0037] 7 is a conceptual diagram for explaining an example of drone switching in the present disclosure. In the example of FIG. 7, drone 120A (leading drone) is followed by drone 120B (following drone) performing work. Drone 120A is in work area A. w After completing the work in the waiting area A s The drone 120A's working range R A is the starting point S A From end point E A The drone 120B is within the range of the work area A. w Towards waiting area A s The drone 120B's working range R B is the starting point S B From end point E B In the example of FIG. 7, the end point E A and starting point S B is set at the same position. Drone 120B is set at the starting point S B The timing at which the drone 120B departs is set arbitrarily. The drone 120B flies towards the waiting area A. s Alternatively, the drone 120A may be set to depart after arriving at the waiting area A s For example, drone 120B may be set to depart before drone 120A completes the task. For example, drone 120B may be set to start the task before drone 120A completes the task. Drone 120B may depart from the starting point S B From end point E B Working range R up to B Perform work at.

[0038] 8 is a conceptual diagram for explaining an example of drone switching in the present disclosure. In the example of FIG. 8, drone 120B performs work after drone 120A. Drone 120A is in work area A. w After completing the work in the waiting area A s The drone 120A's working range R Ais the starting point S A From end point E A The drone 120B is within the range of the work area A. w Towards waiting area A s The drone 120B's working range R B is the starting point S B From end point E B In the example of FIG. 8, the end point E A and starting point S B are set at different positions. A and working range R B The timing at which the drone 120B departs is set arbitrarily. The drone 120B departs from the waiting area A. s Alternatively, the drone 120A may be set to depart after arriving at the waiting area A s In the example of FIG. 8 , the drone 120B may be set to depart before the drone 120A arrives at the end point E A After leaving the starting point S B It is preferable that the drones are set to arrive at the designated location. This setting can prevent the drones 120A and 120B from crossing paths with each other. If the work areas partially overlap as shown in Figure 8, it is possible to reduce missed work in the vicinity of the point where the drones 120A and 120B switch work, thereby improving the accuracy of the inspection work.

[0039] [Drone] Next, an example of a drone that performs work in this embodiment will be described with reference to the drawings. In the following, an airborne drone that moves through the air will be used as an example. The drone may be a type that travels on land or a type that travels on or underwater.

[0040] FIG. 9 is a conceptual diagram showing an example of the configuration of a drone according to the present disclosure. FIG. 9 is a plan view of the drone viewed from above. Views of the drone from below, side, rear, and oblique views are omitted from the present disclosure. Four arms 1220 are attached to the main body 121 of the drone 120. A propeller 122 and a motor 123 are attached to the main body 121 of the drone 120 via the arms 1220. The drone 120 is equipped with a camera 128 for capturing images ahead. The mounting position and capturing direction of the camera 128 are set arbitrarily. The drone 120 is equipped with a remote ID device that transmits transmission information including a registration code, a serial number, location information, time, and authentication information.

[0041] 9 shows a quadcopter with four propellers. The drone 120 may be a monocopter with a single propeller 122. The drone 120 may also be a multicopter with multiple propellers 122. Considering attitude stability in the air and flight performance, the drone 120 is preferably a multicopter with multiple propellers 122. The multiple propellers 122 attached to the drone 120 may be of different sizes. The multiple propellers 122 may also have different rotation planes.

[0042] 10 is a block diagram illustrating an example of the functional configuration of a drone according to the present disclosure. The drone 120 includes a propeller 122, a motor 123, a communication unit 124, a drive unit 125, a work control unit 126, and a memory unit 127. The communication unit 124, the drive unit 125, the work control unit 126, and the memory unit 127 constitute a control device 150. For example, the control device 150 is realized by hardware such as a microcomputer or a microcontroller. For example, the functions of the control device 150 may be realized by a program. In this case, the functions of the control device 150 are realized by a processor executing a program (instructions) stored in a memory.

[0043] The drone 120 also includes a camera 128, a rechargeable battery 129, and a remote ID device 130. In Fig. 10, the lines indicating connections between the camera 128, the remote ID device 130, and the rechargeable battery 129 and the components that make up the control device 150 are omitted. The camera 128 is an example of work equipment for performing work performed by the drone 120.

[0044] The drone 120 may be added with functions for carrying out work. When used for infrastructure inspection or monitoring, the drone 120 may be added with functions such as sensors for inspecting and monitoring the equipment to be inspected. For example, the sensor (not shown) is a measuring device that detects the state of the drone 120 and the state of the surroundings of the drone 120. For example, the sensor includes a geomagnetic sensor, an acceleration sensor, a speed sensor, an altitude sensor, a distance sensor, etc. The sensor may be equipped with a GPS function. The sensor outputs detected sensor data to the work control unit 126. There are no particular limitations on the type or use of the sensor data detected by the sensor.

[0045] When used to transport luggage, the drone 120 is additionally equipped with a luggage transport function (not shown). For example, the drone 120 transports luggage by storing the luggage inside the main body 121, hanging the luggage from the main body 121, or placing the luggage on the main body 121. When hanging the luggage from the main body 121, the drone 120 may be configured to be able to attach a camera 128 below the luggage in order to capture images below the drone 120. There are no particular limitations on the functions implemented in the drone 120 as long as the drone 120 can perform the mission according to the flight plan. Instead of the camera 128, work equipment having these functions may be implemented in the drone 120.

[0046] The control device 150, the camera 128, the remote ID device 130, and the rechargeable battery 129 are stored inside the main body 121. The main body 121 is a housing that stores the control device 150, the camera 128, the remote ID device 130, the rechargeable battery 129, etc. At least one propeller 122 for flying the drone 120 is attached to the main body 121. For example, the main body 121 may be provided with a space for storing luggage inside, a mechanism for hanging luggage, a place for placing luggage on top, etc., depending on the application. There are no particular limitations on the shape or material of the main body 121.

[0047] The propeller 122 is a mechanism that causes the drone 120 to fly. The propeller 122 is also called a rotor or a rotating blade. For example, the propeller 122 is formed from a strong, lightweight plastic or metal. The propeller 122 is attached to a motor 123 fixed to the main body 121 by an arm 1220. The propeller 122 rotates when driven by the motor 123. The size and attachment position of the propeller 122 in FIG. 9 are conceptual and are not fully designed for flying the drone 120. In the example of FIG. 9, four propellers 122 are installed on the main body 121 of the drone 120. The rotational speeds of the multiple propellers 122 can be controlled independently of each other.

[0048] A motor 123 is installed on each of the multiple propellers 122. The motor 123 is a drive mechanism for rotating the propellers 122. The motor 123 rotates the propellers 122 in accordance with the control of the drive unit 125. The motor 123 is realized by a precision small motor that has little vibration and can operate at a high rotation speed for a long period of time. By independently controlling the rotation speeds of the multiple motors 123, the drone 120 can move in any direction.

[0049] The communication unit 124 is connected to the base station via wireless communication. The communication unit 124 communicates with the management device 10 via the Internet via the base station 140. The communication unit 124 is also connected to the UTM 100 via wireless communication. The communication unit 124 communicates with the UTM 100 located within its communication range via wireless communication. There are no particular limitations on the connection between the communication unit 124 and each of the base station 140 and the UTM 100. For example, the communication unit 124 is connected to the base station 140 or the UTM 100 via a wireless communication method such as Wi-Fi (registered trademark) or Bluetooth (registered trademark). For example, the communication unit 124 may be configured to be connected to the base station 140 or the UTM 100 via a repeater (not shown). The communication forms listed here are merely examples and do not limit the communication forms between the communication unit 124 and each of the base station 140 or the UTM 100.

[0050] The communication unit 124 receives a start signal from the management device 10. The communication unit 124 sends the received start signal to the drive unit 125. The communication unit 124 receives work plan data from the management device 10. The communication unit 124 stores the received work plan data in the memory unit 127. The communication unit 124 receives a departure signal from the management device 10. The communication unit 124 sends the received departure signal to the drive unit 125. The communication unit 124 receives a return signal from the management device 10. The communication unit 124 sends the received return signal to the drive unit 125.

[0051] During the work period, the communication unit 124 transmits operation data. The work period is the period during which the drone 120 is working between the start point and the end point included in the work range. s The period during which the drone 120 flies from the start point to the waiting area A sThe period may include a period during which the drone 120 is flying towards the target. The communication unit 124 transmits the operation data at a predetermined timing. For example, the communication unit 124 is configured to transmit the operation data at regular intervals. For example, the communication unit 124 is configured to transmit the operation data when a specific task has been performed. The communication unit 124 may be configured to transmit the operation data in response to a request from the management device 10. The operation data transmitted from the communication unit 124 is received by the management device 10 and the UTM 100.

[0052] The communication unit 124 also transmits a remote ID signal at regular intervals. The remote ID signal includes remote ID information generated by the remote ID device 130. The remote ID information includes the drone 120's registration information, serial number, location information, time information, authentication information (also referred to as identification information), and the like. The drone 120's registration information, serial number, authentication information, and the like are fixed information (also referred to as fixed information). The location information and time information are information that is updated as needed (also referred to as variable information). The drone 120 continues to transmit a remote ID signal while it is performing a mission according to the work plan data. For example, the drone 120 transmits a remote ID signal at a transmission interval of at least once per second. For example, the communication unit 124 transmits a remote ID signal in synchronization with the timing of transmitting operation data. The communication unit 124 may be configured to transmit a remote ID signal at a timing different from the timing of transmitting operation data.

[0053] Furthermore, the communication unit 124 is connected to the UTM100 by wireless communication. The communication unit 124 transmits work plan data input thereto to the UTM100. The communication unit 124 receives control signals from the UTM100. The communication unit 124 outputs the received control signals to the drive unit 125. Note that the drone 120 may be configured to work autonomously in accordance with the input work plan data. In this case, communication between the drone 120 and the UTM100 may not be performed.

[0054] The driving unit 125 is a control device that controls the flight of the drone 120. The driving unit 125 drives the motor 123 in response to the acquired signal. For example, the driving unit 125 is realized by a control device such as a microcomputer or a microcontroller.

[0055] The drive unit 125 receives the activation signal. Upon receiving the activation signal, the drive unit 125 sets the motor 123 to operate. The flight control unit sets the start position included in the input work plan data as the target point. The flight control unit also sets the waiting area A s Set a return point included in.

[0056] The driving unit 125 receives a departure signal. Upon receiving the departure signal, the driving unit 125 drives the motor 123 to start flying toward the set target point. Once flight has started, the driving unit 125 drives the motor 123 in response to the control signal transmitted from the UTM 100. If the drone 120 is equipped with an autonomous flight function, the driving unit 125 drives the motor 123 so that the drone 120 flies toward the target point.

[0057] The drive unit 125 acquires the return signal. Upon acquiring the return signal, the drive unit 125 drives the motor 123 to start flying toward the set return point. Once flight has started, the drive unit 125 drives the motor 123 in response to the control signal transmitted from the UTM 100. If the drone 120 is equipped with an autonomous flight function, the drive unit 125 drives the motor 123 so that the drone 120 flies toward the return point.

[0058] The work control unit 126 acquires an activation signal. Upon acquiring the activation signal, the work control unit 126 activates the camera. When the drone 120 reaches the target point, the work control unit 126 performs photography work using the camera 128 in accordance with the work plan data. The work control unit 126 acquires images captured by the camera 128. The drive unit 125 may be configured to acquire image data automatically captured by the camera 128 at a predetermined timing, without controlling the camera 128 to capture images. The work control unit 126 stores the captured image data in the memory unit 127. For example, the image data stored in the memory unit 127 is transmitted in accordance with the timing of transmitting the operation data. The image data acquired during the work period may be configured to be transmitted all at once when the work is completed.

[0059] When work equipment other than the camera 128 is used, the work control unit 126 performs work using that work equipment in accordance with the work plan data. For example, the work control unit 126 performs measurements using a sensor. In this case, the work control unit 126 stores the measured sensor data in the storage unit 127. For example, the sensor data stored in the storage unit 127 is transmitted in accordance with the transmission timing of the operation data and image data. The sensor data acquired during the work period may be configured to be transmitted all at once when the work is completed.

[0060] The work control unit 126 also monitors the charge amount of the rechargeable battery 129. The work control unit 126 adds the charge amount of the rechargeable battery 129 to the operation data. The charge amount included in the operation data is used by the management device 10 to determine whether or not the drone 120 can continue its operation.

[0061] The camera 128 is positioned at a location where it can capture images of the area around the drone 120. In the case of FIG. 9 , the camera 128 captures images in front of the drone 120. The camera 128 may also be mounted at a location where it can capture images to the side, below, or above the drone 120. The drone 120 may be equipped with multiple cameras 128. For example, the camera 128 may be positioned so that it can capture images in multiple directions by changing the drone 120's attitude in the air. The camera 128 may be configured to change the capture direction of the drone 120. The camera 128 captures images under the control of the work control unit 126. The camera 128 may also be configured to capture images at predetermined times without being controlled by the work control unit 126. The camera 128 stores the captured images (image data) in the memory unit 127. The camera 128 incorporates a lens for capturing images. The lens is preferably a zoom lens with a variable focal length. The lens may be provided with a protective member such as a protective film or protective glass. It is preferable that the camera 128 is equipped with an autofocus function that automatically adjusts the focus. It is also preferable that the camera 128 is equipped with functions that are commonly used in digital cameras, such as a function to prevent camera shake. The specific structure of the camera 128 is not particularly limited.

[0062] The rechargeable battery 129 is a secondary battery with a charging function. The rechargeable battery 129 is the power source for the drone 120. The charge amount of the rechargeable battery 129 is monitored by the work control unit 126. The charge amount of the rechargeable battery 129 is used by the management device 10 to determine whether or not the drone 120 can continue its work.

[0063] The remote ID device 130 is a device that generates unique remote ID information for each drone 120. The remote ID device 130 may be a general-purpose device that can be mounted on the drone 120, or may be a device built into the drone 120. The remote ID information includes fixed information and variable information. The remote ID device 130 generates transmission information including fixed information and variable information at a predetermined cycle. For example, the remote ID device 130 generates remote ID information at a predetermined cycle of at least once per second. The fixed information includes the registration information, serial number, and authentication information of the drone 120. The fixed information is stored in a memory area (not shown) of the remote ID device 130. The variable information includes location information and time information. For example, the remote ID device 130 generates location information using positioning data collected by a positioning system such as a Global Positioning System (GPS). The remote ID device 130 may acquire location information of a location measurement device (not shown) installed near the flight path from the location measurement device. If the drone 120 is equipped with a sensor capable of identifying its position, the remote ID device 130 may generate position information using data collected by the sensor. The remote ID device 130 stores the generated remote ID information in the storage unit 127. If the drone 120 is configured to transmit a remote ID signal at regular intervals, the remote ID device 130 is configured to output the generated remote ID information to the communication unit 124. If the drone 120 is configured to transmit the operation data and the remote ID signal at the same time, the remote ID device 130 is configured to output the generated remote ID information to the work control unit 126.

[0064] (Operation) Next, an example of the operation of the management device 10 in this embodiment will be described with reference to the drawings. Fig. 11 is a flowchart for describing an example of the operation of the management device in the present disclosure. In the description of the processing according to the flowchart in Fig. 11, the components of the management device 10 are the subject of the operations. The subject of the processing according to the flowchart in Fig. 11 may be the management device 10.

[0065] 11 , first, the acquisition unit 11 acquires operation data of the drone 120 working in the work area (step S11). The acquisition unit 11 stores the acquired operation data in the storage unit 12.

[0066] Next, the determination unit 13 determines whether the drone 120 will stop working (step S12). If the remaining power of the rechargeable battery 129 of the working drone 120 falls below the work threshold, the determination unit 13 determines that the drone 120 will stop working (Yes in step S12). Furthermore, regardless of the remaining power of the rechargeable battery 129, if the drone 120 reaches the end point, the determination unit 13 determines that the drone 120 will stop working (Yes in step S12). If the determination is Yes in step S12, the determination unit 13 outputs an activation instruction to the activation control unit 15 for the waiting drone 120 assigned the next work. If the remaining power of the rechargeable battery 129 of the working drone 120 exceeds the work threshold and the drone 120 has not yet reached the end point, the determination unit 13 determines that the drone 120 will continue working (No in step S12). If the determination is No in step S12, the process returns to step S11.

[0067] If the answer is Yes in step S12, the management device 10 executes a flight control process (step S13). In the flight control process, the management device 10 activates the waiting drone 120, moves the activated drone 120 to a work area, and has it perform the next task. In addition, in the flight control process, the management device 10 returns the drone 120 that has completed its task to the waiting area. Details of the flight control process in step S13 will be described later.

[0068] [Flight Control Processing] Next, an example of the flight control processing (step S13 in FIG. 11 ) performed by the management device 10 in this embodiment will be described with reference to the drawings. FIG. 12 is a flowchart for describing an example of the flight control processing performed by the management device in the present disclosure. In describing the processing according to the flowchart in FIG. 12 , the components of the management device 10 are the operating subjects. The processing according to the flowchart in FIG. 12 may be executed by a single operating subject (flight control unit 170). Furthermore, the operating subject of the processing according to the flowchart in FIG. 12 may be the management device 10.

[0069] 12 , first, the activation control unit 15 activates the drone that will perform the next task in response to the activation instruction (step S131). Upon receiving an activation notification signal from the activated drone 120, the activation control unit 15 transmits a data transfer instruction to the data transfer unit 16 to instruct the drone 120 to transfer the task plan data.

[0070] Next, in response to the data transfer instruction, the data transfer unit 16 transfers the work plan data to the activated drone 120 (step S132). When the data transfer unit 16 receives a work preparation completion signal from the drone 120 to which the work plan data has been input, the data transfer unit 16 transmits a departure instruction to the flight instruction unit 17 to issue a departure signal to the drone 120.

[0071] Next, the flight instruction unit 17 transmits a departure signal to the drone 120 to which the work plan data has been input in response to the departure instruction (step S133). The drone 120 that has received the departure signal departs for the start point of the next work in response to the received departure signal. The departing drone 120 moves to the work start position in response to the control signal from the UTM 100 and performs the work within the work area.

[0072] Next, in response to the departure command, the flight instruction unit 17 causes the drone 120 that has completed its work to leave the waiting area A s The drone 120 transmits a return signal to the waiting area A in response to the return signal (step S134). sThe order of the process of step S15 and the process of step S16 may be reversed.

[0073] (Display Example) Next, an example will be given in which the operational status of a drone managed by the management device of the present disclosure is displayed on the screen of a terminal device. The work manager checks the information displayed on the screen of the terminal device. In the following, an example is shown in which the inspection target is a spherical tank. Spherical tanks are also called gas tanks or gas holders. A work area is set around the spherical tank. The display information displayed on the screen of the terminal device may be configured to be generated by the management device, or may be configured to be generated by an external system using data output from the management device. The following display example is merely an example and does not limit the method of visualizing the management status of drones by the management device of the present disclosure. Furthermore, the following display example can be applied not only to this embodiment but also to all subsequent embodiments.

[0074] 13 is a conceptual diagram showing an example of displaying the operational status of a drone managed by a management device in the present disclosure on the screen of a terminal device. The screen of the terminal device 180 displays a work area A set around a spherical tank. w The screen of the terminal device 180 displays a drone 120 with low remaining power. Corresponding to the drone 120 with low remaining power, information "ABCDE00XXX003, remaining power low!" is displayed. A work manager who sees this information can recognize that the remaining power of the drone 120 with drone ID ABCDE00XXX003 is low. Also, the screen of the terminal device 180 displays a drone 120 for which a shift has been completed. Corresponding to the drone 120 for which a shift has been completed, information "ABCDE00XXX005, shift completed!" is displayed. A work manager who sees this information can recognize that the shift of the drone 120 with drone ID ABCDE00XXX005 has been completed.

[0075] 14 is a conceptual diagram showing an example of displaying the operational status of a drone managed by a management device in the present disclosure on the screen of a terminal device. The screen of the terminal device 180 displays a work area A set around a spherical tank. w The screen of the terminal device 180 displays a drone 120 whose work progress is slightly behind schedule. The information "ABCDE00XXX003, slightly behind schedule" is displayed in association with the drone 120 whose work progress is slightly behind schedule. A work manager who sees this information can recognize that the work of the drone 120 with the drone ID ABCDE00XXX003 is slightly behind schedule. The screen of the terminal device 180 also displays a drone 120 whose work progress is slightly ahead schedule. The information "ABCDE00XXX005, slightly ahead schedule" is displayed in association with the drone 120 whose work progress is slightly ahead schedule. A work manager who sees this information can recognize that the work of the drone 120 with the drone ID ABCDE00XXX005 is slightly ahead schedule.

[0076] 15 is a conceptual diagram showing an example of displaying the operational status of a drone managed by a management device in the present disclosure on the screen of a terminal device. The screen of the terminal device 180 displays a work area A set around a spherical tank. w The screen of the terminal device 180 displays multiple drones 120 working in the same location. The drones 120 that had an abnormality in their work are displayed on the screen of the terminal device 180. Corresponding to the drone 120 that had an abnormality in its work, information saying "ABCDE00XXX003, confirmation required" is displayed. A work manager who sees this information can recognize that the work content of the drone 120 with the drone ID ABCDE00XXX003 should be confirmed.

[0077] (Application Examples) Next, application examples of the management device according to the present disclosure will be given. The following application examples are merely examples and do not limit the applications of the management device according to the present disclosure. Furthermore, the following application examples can be applied not only to this embodiment but also to all subsequent embodiments.

[0078] FIG. 16 is a conceptual diagram illustrating an application example of the management device according to the present disclosure. In this application example, a large facility is the subject of inspection. For example, the large facility may be a radio tower, a stadium, an airport, or other large-scale facility. When inspecting the exterior walls of a facility such as a radio tower or a stadium, the inspection worker must work on scaffolding erected at a high altitude. When inspecting a facility such as an airport, the inspection worker must inspect the facility while moving around over a wide area. In such cases, it has been difficult to seamlessly continue inspection work performed by multiple inspection workers in shifts. In contrast, by using the management device according to the present disclosure, it is possible to seamlessly continue inspection work at large facilities by using multiple drones to work continuously, even at high locations or over a wide area.

[0079] FIG. 17 is a conceptual diagram illustrating an application example of the management device according to the present disclosure. In this application example, large facilities and infrastructure facilities located in a city are inspected. Multiple high-rise buildings line the city. When inspecting multiple high-rise buildings from the outside, inspection workers must work on scaffolding erected at high altitudes for the multiple high-rise buildings. Additionally, infrastructure facilities such as power lines, roads, and railways are located in the city. Infrastructure such as power lines, roads, and railways are installed over a wide area, spanning multiple municipalities. When inspecting infrastructure facilities such as power lines, roads, and railways, inspections must be performed while traveling over a wide area for each municipality. Therefore, when inspecting large facilities and infrastructure facilities located in a city, it has been difficult to perform seamless inspection work over a wide area. In contrast, by using the management device according to the present disclosure, it is possible to perform seamless and continuous work over a wide area by continuously operating multiple drones, even at high locations and over a wide area.

[0080] As described above, the management device of this embodiment includes an acquisition unit, a storage unit, a determination unit, a startup control unit, a data transfer unit, and a flight instruction unit. The acquisition unit acquires operation data, including the work status and remaining power of a leading drone working in a work area. The storage unit stores a work management table that summarizes the work performed by the drones in the work area. The determination unit determines whether the leading drone is able to work based on the work status and remaining power of the leading drone. The startup control unit activates a following drone in standby mode based on the determination result of whether the leading drone is able to work. The data transfer unit transfers work plan data, including work information for taking over the work of the leading drone, to the activated following drone. The flight instruction unit transmits a departure signal to the following drone to which the work plan data has been input, instructing it to depart for the work start point included in the work plan data.

[0081] In this embodiment, the following drone scheduled to perform the next task is activated according to the task status and remaining power of the preceding drone currently performing the task. The activated drone receives task plan data including task information for taking over the task of the preceding drone. The drone to which the task plan data has been input can take over the task being performed by the preceding drone without delay by following the task plan data. Therefore, this embodiment makes it possible to seamlessly continue tasks being performed by multiple drones in shifts.

[0082] In one aspect of this embodiment, the determination unit determines that the lead drone cannot continue its work when the remaining power of the lead drone falls below the work threshold. The activation control unit activates the following drone in standby mode. The flight instruction unit transmits a return signal to the lead drone whose remaining power falls below the work threshold. According to this aspect, a following drone can be prepared without delay to take over the work in response to a decrease in the lead drone's remaining power. Therefore, according to this embodiment, the drone performing the work can be accurately replaced in response to a decrease in the lead drone's remaining power. Furthermore, according to this embodiment, a lead drone whose remaining power falls below the work threshold can reliably return to the standby area.

[0083] In one aspect of this embodiment, the determination unit activates the subsequent drone that will perform the work after the leading drone in accordance with the work management table. The work management table registers, for each work, work information including the work scope and work content, including the start and end points of the work, and drone information including the identifier and remaining power of the drone performing the work. The determination unit transmits a departure signal to the subsequent drone, instructing it to move to the start point. According to this aspect, by using the work management table, it is possible to more accurately achieve seamless continuity of work performed in shifts by multiple drones.

[0084] In this embodiment, an example is shown in which UTM is used to automatically realize work performed in shifts by multiple drones. In an actual work environment, the power capacity of the rechargeable batteries installed in the drones may change suddenly due to unforeseen circumstances such as weather conditions. Therefore, it is necessary to appropriately adjust the departure timing of the next drone to perform work while managing the status of the rechargeable batteries installed in the drones currently working. The method of this embodiment makes it possible to seamlessly continue work performed in shifts by multiple drones, even in situations where unforeseen circumstances occur in the work environment.

[0085] Second Embodiment Next, a management device according to a second embodiment will be described with reference to the drawings. The management device according to this embodiment has a configuration that updates a work management table according to the work status of the drone. In this respect, the management device according to this embodiment differs from the management device according to the first embodiment. In this embodiment, the operation data transmitted from a drone during work includes image data acquired by the drone. When a drone performs work other than photography using a camera, the operation data may be configured to include data acquired by that work. Image data and other data acquired by the drone are referred to as work plan data. In the following, a description of the same configuration as in the first embodiment will be omitted.

[0086] 18 is a block diagram showing the configuration of a management device according to the present disclosure. The management device 20 includes an acquisition unit 21, a storage unit 22, a determination unit 23, an operation determination unit 24, a startup control unit 25, a data transfer unit 26, and a flight instruction unit 27. The functions of the startup control unit 25, the data transfer unit 26, and the flight instruction unit 27 may be integrated into a flight control unit 270.

[0087] The acquisition unit 21 has the same configuration as the acquisition unit 11 of the first embodiment. The acquisition unit 21 is configured to receive operation data via wireless communication. The operation data includes image data acquired by the drone during operation. When the drone performs an operation other than photographing using a camera, the operation data may be configured to include data acquired by that operation. The acquisition unit 21 outputs the acquired operation data to the determination unit 23. The acquisition unit 21 also stores the acquired operation data in the memory unit 22.

[0088] The memory unit 22 stores a work management table that summarizes the work to be performed by the drone in the work area. The work management table includes work information related to the work to be performed by the drone and drone information related to the drone assigned to the work. The memory unit 22 also stores a threshold (work threshold) set for the remaining charge (remaining power) of the rechargeable battery installed in the drone. The work threshold is a criterion for determining whether the drone is allowed to continue working. The memory unit 22 also accumulates remote ID information included in remote ID signals transmitted from operating drones and drone operation data.

[0089] FIG. 19 is a table showing an example of a work table in the present disclosure. The work management table 210 includes work information and drone information. The work management table 210 is similar to the work management table 110 in the first embodiment, except that the work range includes a verification point. A verification point is a point that has been inspected by a drone and that should be re-inspected. For example, a verification point is a point where a work omission occurred. The work management table 210 may include information other than work information and drone information. Furthermore, the information listed in the work management table 210 is an example and does not limit the information listed in the work management table 210.

[0090] The determination unit 23 has the same configuration as the determination unit 13 in the first embodiment. The determination unit 23 acquires operation data of the drone during work. The determination unit 23 determines whether to continue or stop the operation of the drone during work based on the location information and remaining power included in the operation data.

[0091] The work determination unit 24 acquires work data included in operation data transmitted from a drone in operation. The work determination unit 24 determines whether the quality of the acquired work data meets preset standards. For example, if the work data is image data, standards are set for parameters such as image data resolution, contrast, color balance, noise, sharpness, and distortion. If the quality of the work data does not meet the standards, the work determination unit 24 determines that a work was omitted at the point where the work data was acquired. In this case, the work determination unit 24 registers the point where the work data was acquired as a verification point in the work management table 210. For example, the work determination unit 24 registers the first verification point detected in the drone's work range in the work management table 210. For example, the work determination unit 24 registers all verification points detected in the drone's work range in the work management table 210. The work determination unit 24 may be configured to register a portion of multiple verification points detected in the drone's work range in the work management table 210. The system may be configured so that a flag indicating insufficient quality is assigned to work data acquired at a point where a work omission is detected. On the other hand, if the work data meets the criteria, the work determination unit 24 determines that there was no work omission at the point where the work data was acquired. In this case, the work determination unit 24 does not make any changes to the work management table 210. The system may be configured so that a flag indicating sufficient quality is assigned to work data acquired at a point where no work omission is detected.

[0092] 20 is a table showing an example of a work table in the present disclosure. The work management table 210 is updated by the work determination unit 24. Assume that a work omission occurred at verification point A013 in the work with work ID 0001. Verification point A013 where the work omission occurred is registered as verification point A013 in the work range of work ID 0002. Verification point A013 registered for work ID 0002 will be re-inspected by the next drone scheduled to perform the work.

[0093] The activation control unit 25 has the same configuration as the activation control unit 15 of the first embodiment. The activation control unit 25 acquires an activation instruction from the determination unit 23. The activation control unit 25 activates the drone that will perform the next task in response to the activation instruction. The activation control unit 25 refers to the task management table 210 to identify the drone ID associated with the task ID of the next task. The activation control unit 25 transmits an activation signal to the drone with the identified drone ID. The transmitted activation signal is received by the drone. The drone that receives the activation signal activates in response to the activation signal and performs flight setup. Once flight setup is complete, the activated drone transmits an activation notification signal to the activation control unit 25. Upon receiving the activation notification signal, the activation control unit 25 transmits a data transfer instruction to the data transfer unit 26, instructing the activated drone to transfer task plan data.

[0094] The data transfer unit 26 has the same configuration as the data transfer unit 16 of the first embodiment. The data transfer unit 26 acquires a data transfer instruction from the activation control unit 25. In response to the data transfer instruction, the data transfer unit 26 acquires work plan data corresponding to the work ID of the next work. The work plan data includes the work scope and work content corresponding to the work ID. If the work of the preceding drone includes a missing work, a verification point is registered in the work plan data of the subsequent drone. The data transfer unit 26 transfers the work plan data to the activated drone. The transferred work plan data is input into the activated drone. The drone to which the work plan data has been input transmits a work preparation completion signal to the data transfer unit 26. Upon receiving the work preparation completion signal, the data transfer unit 26 transmits a departure instruction to the flight instruction unit 27, which issues a departure signal to the drone to which the work plan data has been input.

[0095] The flight instruction unit 27 has the same configuration as the flight instruction unit 17 of the first embodiment. The flight instruction unit 27 acquires a departure instruction from the data transfer unit 26. In response to the departure instruction, the flight instruction unit 27 transmits a departure signal to the drone to which the work plan data has been input. The transmitted departure signal is received by the drone scheduled to perform the next work. The drone that has received the departure signal departs for the start point of the next work in response to the received departure signal.

[0096] Furthermore, upon receiving a departure command, the flight instruction unit 27 transmits a return signal to the drone that has completed its work, instructing it to return to the waiting area. The drone that receives the return signal returns to the waiting area in response to the return signal. Note that a drone that reaches the end point with its remaining power exceeding the work threshold may be configured to autonomously return to the waiting area. In this configuration, the flight instruction unit 27 does not need to be configured to transmit a return signal. On the other hand, it is preferable to configure the unit 27 to transmit a return signal to a drone whose remaining power falls below the work threshold. This configuration can avoid the occurrence of an incident in which a drone with insufficient remaining power is unable to return to the waiting area.

[0097] FIG. 21 is a conceptual diagram for explaining an example of drone replacement in the present disclosure. In the example of FIG. 21, drone 220B (following drone) performs work after drone 220A (leading drone). In the example of FIG. 21, there is a work omission in the work of drone 220A, and drone 220B, which is scheduled to perform work next, arrives at the point where the work omission occurred (verification point V B The drone 220A will re-inspect the work area A. w After completing the work in the waiting area A s The drone 220A's working range R A is the starting point S A From end point E A The drone 220B is within the range of the work area A. w Towards waiting area A s The drone 220B's working range R B is the starting point S B From end point EB In the example of FIG. 21, the end point E A and starting point S B are set at the same position. In the example of FIG. 21, the verification point V B is registered. Drone 220B is B The timing at which the drone 220B departs is set arbitrarily. The drone 220B flies towards the waiting area A. s Alternatively, the drone 220A may be set to depart after arriving at the waiting area A s For example, drone 220B may be set to depart before drone 220A completes the task. For example, drone 220B may be set to start the task before drone 220A completes the task. Drone 220B may depart before arriving at verification point V B From end point E B Working range R up to B The drone 220B performs the work at the verification point V B After working at the starting point S B From end point E B For example, the verification point V B If there are multiple verification points V B The verification point V is configured to make a pinpoint stop. B If there are multiple verification points V B If the drones are configured to take turns inspecting the work as shown in Fig. 21, the following drone 220B can re-inspect the areas missed by the leading drone 220A, thereby reducing the number of missed work tasks.

[0098] (Operation) Next, an example of the operation of the management device 20 in this embodiment will be described with reference to the drawings. Fig. 22 is a flowchart for describing an example of the operation of the management device in the present disclosure. In the description of the processing according to the flowchart in Fig. 22, the components of the management device 20 are the subject of the operations. The subject of the processing according to the flowchart in Fig. 22 may be the management device 20.

[0099] 22 , first, the acquisition unit 21 acquires operation data of the drone working in the work area (step S21). The acquisition unit 21 stores the acquired operation data in the storage unit 22.

[0100] Next, the work determination unit 24 executes a work status determination process (step S22). In the work status determination process, the work determination unit 24 determines the quality of the work performed by the drone during the work. Details of the work status determination process in step S212 will be described later.

[0101] Next, the determination unit 23 determines whether the drone will stop working (step S23). If the remaining power of the rechargeable battery of the working drone falls below the work threshold, the determination unit 23 determines that the drone will stop working (Yes in step S23). Furthermore, regardless of the remaining power of the rechargeable battery, if the drone's position reaches the end point, the determination unit 23 determines that the drone will stop working (Yes in step S23). If the determination is Yes in step S23, the determination unit 23 outputs an activation instruction to the activation control unit 25 for the waiting drone assigned the next task. If the remaining power of the rechargeable battery of the working drone exceeds the work threshold and the drone's position has not yet reached the end point, the determination unit 23 determines that the drone will continue working (No in step S23). If the determination is No in step S23, the process returns to step S21.

[0102] If the answer to step S23 is Yes, the management device 20 executes a flight control process (step S24). In the flight control process, the management device 20 activates the waiting drone, moves the activated drone to the work area, and has the drone perform the next task. In the flight control process, the management device 20 also returns the drone that has completed the task to the waiting area. The work status determination process in step S24 is the same as in the first embodiment ( FIG. 12 ).

[0103] [Work Status Determination Process] Next, an example of the work status determination process (step S21 in FIG. 22) by the management device 20 in this embodiment will be described with reference to the drawings. FIG. 23 is a flowchart for describing an example of the work status determination process by the management device in the present disclosure. In the description of the process according to the flowchart in FIG. 23, the work determination unit 24 is the subject of operation. The subject of operation of the process according to the flowchart in FIG. 23 may also be the management device 20.

[0104] In FIG. 23, first, the work determination unit 24 determines the quality of the work data included in the operation data transmitted from the drone working in the work area (step S221).

[0105] If the quality of the work data does not meet the standard (No in step S222), the point where the work was omitted is registered as a verification point in the work plan data (step S223). After step S23, the process proceeds to step S23 in the flowchart of Fig. 22. If the quality of the work data meets the standard (Yes in step S222), the process also proceeds to step S23 in the flowchart of Fig. 22.

[0106] As described above, the management device of this embodiment includes an acquisition unit, a memory unit, a determination unit, a task determination unit, a startup control unit, a data transfer unit, and a flight instruction unit. The acquisition unit acquires operation data, including the task status and remaining power of a leading drone currently working in the task area. The memory unit stores a task management table that summarizes tasks performed by drones in the task area. The determination unit determines whether the leading drone can perform the task based on the task status and remaining power of the leading drone. The task determination unit determines whether the quality of the task data included in the operation data meets a standard. The task determination unit determines that a task has been omitted at a location where task data with quality that does not meet the standard has been acquired. The task determination unit adds the location where a task has been omitted as a verification point to the task range of the following drone. The startup control unit activates the following drone in standby mode based on the determination result of the task status of the leading drone. The data transfer unit transfers task plan data, including task information for taking over the task of the leading drone, to the activated following drone. The flight instruction unit transmits a departure signal to the subsequent drone to which the work plan data has been input, instructing it to depart toward the work start point included in the work plan data.

[0107] In this embodiment, locations where work has been omitted are added as verification locations depending on the quality of the work data included in the operation data. According to this embodiment, the following drone that performs the work after the preceding drone can verify the verification location where the preceding drone omitted work. Therefore, according to this embodiment, it is possible to more accurately realize seamless continuation of work performed in shifts by multiple drones. Furthermore, according to this embodiment, a flight path management function can be realized that realizes optimal and efficient route generation for the work of the following drone depending on the work status of the preceding drone.

[0108] In this embodiment, we have shown an example of using UTM to automatically realize tasks performed by multiple drones in shifts. In an actual work environment, the power capacity of the rechargeable batteries installed in the drones may change suddenly due to unforeseen circumstances such as weather conditions. Therefore, it is necessary to manage the status of drones currently working and appropriately change the task content of the next drone to perform the task. In some cases, a human may be required to operate the drone.

[0109] In this embodiment, an example is shown in which a verification point for a following drone is set according to the quality of the work data acquired by the leading drone. Instead of the quality of the work data, whether an effective work has been performed may be verified according to the specifications of the drone. If it is possible to determine in advance whether a drone can perform an effective work according to its specifications, it is possible to avoid sending a drone that cannot perform the intended work to a work point. Furthermore, feedback on work performance may be provided by managing a log of the work data.

[0110] (Third Embodiment) Next, a management device according to a third embodiment will be described with reference to the drawings. The management device according to this embodiment has a configuration that enables the centralized management of drone-based work performed in a work area. In this respect, the management device according to this embodiment differs from the management devices according to the first and second embodiments. In this embodiment, a timestamp is assigned to each drone work. In the following, a description of the same configuration as in the first and second embodiments will be omitted.

[0111] 24 is a block diagram showing the configuration of the management device according to the present disclosure. The management device 30 includes an acquisition unit 31, a storage unit 32, a determination unit 33, an operation determination unit 34, a startup control unit 35, a data transfer unit 36, a flight instruction unit 37, and a data management unit 38. The functions of the startup control unit 35, the data transfer unit 36, and the flight instruction unit 37 may be integrated into a flight control unit 370.

[0112] The acquisition unit 31 has the same configuration as the acquisition unit 11 of the first embodiment. The acquisition unit 31 is configured to receive operation data via wireless communication. The operation data includes image data acquired by the drone during operation. When the drone performs an operation other than photographing using a camera, the operation data may be configured to include data acquired by that operation. The acquisition unit 31 outputs the acquired operation data to the determination unit 33. The acquisition unit 31 also stores the acquired operation data in the memory unit 32.

[0113] The memory unit 32 stores a work management table that summarizes the work to be performed by the drone in the work area. The work management table includes work information related to the work to be performed by the drone and drone information related to the drone assigned to the work. The memory unit 32 also stores a threshold (work threshold) set for the remaining charge (remaining power) of the rechargeable battery installed in the drone. The work threshold is a criterion for determining whether the drone is allowed to continue working. The memory unit 32 also accumulates remote ID information included in remote ID signals transmitted from operating drones and drone operation data.

[0114] The determination unit 33 has the same configuration as the determination unit 13 in the first embodiment. The determination unit 33 acquires operation data of the drone during work. The determination unit 33 determines whether to continue or stop the operation of the drone during work based on the location information and remaining power included in the operation data.

[0115] The work determination unit 34 acquires work data included in operation data transmitted from a drone in operation. The work determination unit 34 determines whether the quality of the acquired work data meets predetermined standards. For example, if the work data is image data, standards are set for parameters such as image data resolution, contrast, color balance, noise, sharpness, and distortion. If the work data does not meet the standards, the work determination unit 34 determines that a work omission occurred at the point where the work data was acquired. In this case, the work determination unit 34 registers the point where the work data was acquired as a verification point in the work management table. Work data acquired at a point where a work omission was detected is assigned a flag indicating insufficient quality. For example, the work determination unit 34 registers the first verification point detected within the drone's work range in the work management table. For example, the work determination unit 34 registers all verification points detected within the drone's work range in the work management table. The work determination unit 34 may be configured to register a portion of multiple verification points detected within the drone's work range in the work management table. On the other hand, if the work data meets the criteria, the work determination unit 34 determines that there was no work omission at the point where the work data was acquired. In this case, the work determination unit 34 makes no changes to the work management table. A flag indicating sufficient quality is assigned to work data acquired at a point where no work omission was detected.

[0116] The activation control unit 35 has the same configuration as the activation control unit 15 of the first embodiment. The activation control unit 35 acquires an activation instruction from the determination unit 33. The activation control unit 35 activates the drone that will perform the next task in response to the activation instruction. The activation control unit 35 refers to the task management table to identify the drone ID associated with the task ID of the next task. The activation control unit 35 transmits an activation signal to the drone with the identified drone ID. The transmitted activation signal is received by the drone. The drone that receives the activation signal activates in response to the activation signal and performs flight setup. Once flight setup is complete, the activated drone transmits an activation notification signal to the activation control unit 35. Upon receiving the activation notification signal, the activation control unit 35 transmits a data transfer instruction to the data transfer unit 36, instructing the activated drone to transfer task plan data.

[0117] The data transfer unit 36 ​​has the same configuration as the data transfer unit 16 of the first embodiment. The data transfer unit 36 ​​acquires a data transfer instruction from the activation control unit 35. In response to the data transfer instruction, the data transfer unit 36 ​​acquires work plan data corresponding to the work ID of the next work. The work plan data includes the work scope and work content corresponding to the work ID. If the work of the preceding drone includes a missing work, a verification point is registered in the work plan data of the subsequent drone. The data transfer unit 36 ​​transfers the work plan data to the activated drone. The transferred work plan data is input into the activated drone. The drone to which the work plan data has been input transmits a work preparation completion signal to the data transfer unit 36. Upon receiving the work preparation completion signal, the data transfer unit 36 ​​transmits a departure instruction to the flight instruction unit 37, which issues a departure signal to the drone to which the work plan data has been input.

[0118] The flight instruction unit 37 has the same configuration as the flight instruction unit 17 of the first embodiment. The flight instruction unit 37 acquires a departure instruction from the data transfer unit 36. In response to the departure instruction, the flight instruction unit 37 transmits a departure signal to the drone to which the work plan data has been input. The transmitted departure signal is received by the drone scheduled to perform the next work. The drone that has received the departure signal departs for the start point of the next work in response to the received departure signal.

[0119] Furthermore, upon receiving a departure command, the flight instruction unit 37 transmits a return signal to the drone that has completed its work, instructing it to return to the waiting area. The drone that receives the return signal returns to the waiting area in response to the return signal. Note that a drone that reaches the end point with its remaining power exceeding the work threshold may be configured to autonomously return to the waiting area. In this configuration, the flight instruction unit 37 does not need to be configured to transmit a return signal. On the other hand, it is preferable to configure the unit 37 to transmit a return signal to a drone whose remaining power falls below the work threshold. This configuration can avoid the occurrence of an incident in which a drone with insufficient remaining power is unable to return to the waiting area.

[0120] The data management unit 38 generates a work performance table using the work data included in the operation data transmitted from the drone. The work performance table is a table that summarizes the work performance performed by the drone. The timing at which the data management unit 38 generates the work performance table is set arbitrarily. For example, the data management unit 38 generates the work performance table when work for each work ID is completed. For example, the data management unit 38 generates the work performance table when all work is completed. The data management unit 38 stores the generated work performance table in the memory unit 32. The data management unit 38 may also be configured to output the generated work performance table to an external device. For example, the data management unit 38 outputs the work performance table to a terminal device used by a work manager who manages inspection work using drones.

[0121] The data management unit 38 records, in association with the task ID, the drone ID of the drone that performed the task, the task area where the drone performed the task, the task quality, and a timestamp. The data management unit 38 assigns a task quality to each task ID according to the flag assigned by the task determination unit 34. The data management unit 38 also records a timestamp for each task ID. The timestamp indicates the time when the task ID was performed. For example, the timestamp is the time when the task was completed. For example, the timestamp may be the time when the task started or any time included in the time period when the task was performed. The data management unit 38 records detailed information indicating the task performance performed by the drone for each task ID. The detailed information indicating the task performance is recorded in association with the task ID. For example, the detailed information includes the time when the task started, the time when the task ended, and the area where the task was not performed.

[0122] FIG. 25 is a table showing an example of a work performance table in the present disclosure. In the work performance table 381, a drone ID, work scope, work quality, and timestamp are recorded for each work ID. The work with work ID 0001 was performed by a drone with a drone ID of ABCD...001. The work scope of work ID 0001 has a start point A010 and an end point B010. The work quality of work ID 0001 is sufficient (OK). The timestamp (work completion time) of work ID 0001 is 13:00 on May 24, 2024. The work with work ID 0002 was performed by a drone with a drone ID of ABCD...002. The work scope of work ID 0002 has a start point B010 and an end point C010. The work quality of work ID 0002 is insufficient (NG). The timestamp (task completion time) for task ID 0002 is 14:00 on May 24, 2024. The task with task ID 0003 was performed by a drone with drone ID ABCD...003. The task range for task ID 0003 is from start point C010 to end point D010. The task quality for task ID 0003 is sufficient (OK). The timestamp (task completion time) for task ID 0003 is 15:00 on May 24, 2024.

[0123] FIG. 26 is a conceptual diagram showing an example display of a work performance table generated by a management device according to the present disclosure. The work performance table is displayed on the screen of the terminal device 380 used by the work manager. The screen of the terminal device 380 also displays information such as, "If you would like to check the work performance, please click on the work ID." Each work ID in the work performance table is linked to detailed information indicating the work performance for that work ID. For example, when a work ID number is clicked, detailed information indicating the work performance for that work ID is displayed. A work manager viewing the screen of the terminal device 380 can grasp at a glance the series of drone-based tasks performed in the work area.

[0124] FIG. 27 is a conceptual diagram illustrating an example of a display of detailed information indicating the work performance for each task generated by the management device of the present disclosure. FIG. 27 shows an example in which a task ID is selected in the work performance table of FIG. 25. Detailed information (pop-up P) on the work performance for the task with task ID 0002 is displayed on the screen of the terminal device 380 used by the task manager. The screen of the terminal device 380 displays the drone ID of the drone that performed the task with task ID 0002, the task start point, the task end point, the task start time, and the task completion time. The screen of the terminal device 380 also displays information indicating the quality of the task with task ID 0002, such as "NG," and the range of missed tasks. The task manager viewing the screen of the terminal device 380 can accurately grasp the range of missed tasks caused by drones with NG work quality.

[0125] (Operation) Next, an example of the operation of the management device 30 in this embodiment will be described with reference to the drawings. Fig. 28 is a flowchart for describing an example of the operation of the management device in the present disclosure. The description of the processing according to the flowchart in Fig. 28 mainly includes cases where the components of the management device 30 are the subject of the operations. The subject of the operations of the processing according to the flowchart in Fig. 28 may be the management device 30.

[0126] 28 , first, the acquisition unit 31 acquires operation data of the drone working in the work area (step S31). The acquisition unit 31 stores the acquired operation data in the storage unit 32.

[0127] Next, the work determination unit 34 executes a work status determination process (step S32). In the work status determination process, the work determination unit 34 determines the quality of the work performed by the drone during the work. The work status determination process in step S312 is the same as that in the second embodiment (the work status determination process in FIG. 22).

[0128] Next, the determination unit 33 determines whether the drone will stop working (step S33). If the remaining power of the rechargeable battery of the working drone falls below the work threshold, the determination unit 33 determines that the drone will stop working (Yes in step S33). Furthermore, regardless of the remaining power of the rechargeable battery, if the drone's position reaches the end point, the determination unit 33 determines that the drone will stop working (Yes in step S33). If the determination in step S33 is Yes, the determination unit 33 outputs an activation instruction to the activation control unit 35 for the waiting drone assigned the next task. If the remaining power of the rechargeable battery of the working drone exceeds the work threshold and the drone's position has not yet reached the end point, the determination unit 33 determines that the drone will continue working (No in step S33). If the determination in step S33 is No, the process returns to step S31.

[0129] If step S33 is Yes, the management device 30 executes flight control processing (step S34). In the flight control processing, the management device 30 activates the waiting drone, moves the activated drone to the work area, and has it perform the next task. In the flight control processing, the management device 30 also causes the drone that has completed the task to return to the waiting area. The work status determination processing in step S34 is the same as in the first embodiment ( FIG. 12 ).

[0130] Next, the data management unit 38 generates a work record table for the work performed by the returned drone (step S35). The data management unit 38 stores the generated work record table in the storage unit 32. The data management unit 38 may also be configured to output the generated work record table to an external device.

[0131] As described above, the management device of this embodiment includes an acquisition unit, a memory unit, a determination unit, a task determination unit, a startup control unit, a data transfer unit, a flight instruction unit, and a data management unit. The acquisition unit acquires operation data, including the task status and remaining power of a leading drone currently working in the task area. The memory unit stores a task management table that summarizes tasks performed by drones in the task area. The determination unit determines whether the leading drone can perform the task based on the task status and remaining power of the leading drone. The task determination unit determines whether the quality of the task data included in the operation data meets a standard. The task determination unit determines that a task has been omitted at a location where task data with quality that does not meet the standard has been acquired. The task determination unit adds the location where a task has been omitted as a verification point to the task range of the following drone. The startup control unit activates the following drone in standby mode based on the determination result of the task status of the leading drone. The data transfer unit transfers task plan data, including task information for taking over the task of the leading drone, to the activated following drone. The flight instruction unit transmits a departure signal to the subsequent drones to which the work plan data has been input, instructing them to depart for the work start point included in the work plan data. The data management unit uses the work data included in the operation data to generate a work performance table that summarizes the work performance for each work. The data management unit outputs the generated work performance table to the outside.

[0132] In this embodiment, a work performance table summarizing the work performance for each task is output to the outside. According to this embodiment, by referring to the work performance table, the work performed by the drones can be accurately understood. Furthermore, according to this embodiment, the continuity and completeness of the entire work can be ensured by accurate information exchange between drones taking over the work and data management based on time history.

[0133] In one aspect of the present embodiment, the data management unit records a timestamp for each task recorded in the task record table. According to this aspect, by referring to the timestamp, it becomes easier to understand the chronological order of tasks performed by multiple drones in shifts.

[0134] In one aspect of this embodiment, the data management unit displays a work performance table for work managed by the work manager on the screen of a terminal device used by the work manager. According to this aspect, by referring to the work performance table displayed on the screen of the terminal device, the work performed in shifts by multiple drones can be generally understood.

[0135] In one aspect of the present embodiment, the data management unit displays detailed information indicating the work performance of a work selected in the work performance table on the screen of a terminal device used by the work manager. According to this aspect, by referring to the detailed information for each work displayed on the screen of the terminal device, the details of the work performed by the drone can be understood.

[0136] Fourth Embodiment Next, a management device according to a fourth embodiment will be described with reference to the drawings. The management device according to this embodiment has a simplified configuration of the management devices according to the first to third embodiments. For example, the functions of the components included in the management device according to this embodiment are realized by the functions of the components included in the management devices according to the first to third embodiments.

[0137] 29 is a block diagram showing an example of the configuration of a management device according to this embodiment. The management device 40 includes an acquisition unit 41, a determination unit 43, a start-up control unit 45, a data transfer unit 46, and a flight instruction unit 47.

[0138] The acquisition unit 41 acquires operation data including the work status and remaining power of the leading drone working in the work area. The determination unit 43 determines whether the leading drone is able to work based on the work status and remaining power of the leading drone. The activation control unit 45 activates the following drone in standby mode based on the determination result of whether the leading drone is able to work. The data transfer unit 46 transfers work plan data including work information for taking over the work of the leading drone to the activated following drone. The flight instruction unit 47 transmits a departure signal to the following drone to which the work plan data has been input, instructing it to depart for the work start point included in the work plan data.

[0139] (Operation) Fig. 30 is a flowchart showing an example of the operation (management method) of the management device in this embodiment. In explaining the processing according to the flowchart of Fig. 30, the components of the management device 40 will be described as the subject of the operations. The subject of the operations according to the flowchart of Fig. 30 may be the management device 40.

[0140] In FIG. 30, first, the acquisition unit 41 acquires operational data including the work status and remaining power of the leading drone working in the work area (step S41).

[0141] Next, the determination unit 43 determines whether the leading drone is capable of working based on the work status and remaining power of the leading drone (step S42).

[0142] Next, the activation control unit 45 activates the subsequent drone in standby mode depending on the determination result of whether the leading drone is capable of performing work (step S43).

[0143] Next, the data transfer unit 46 transfers the work plan data, including work information for taking over the work of the leading drone, to the activated following drone (step S44).

[0144] Next, the flight instruction unit 47 transmits a departure signal to the subsequent drone to which the work plan data has been input, instructing it to depart toward the work start point included in the work plan data (step S45).

[0145] In this embodiment, the following drone scheduled to perform the next task is activated according to the task status and remaining power of the preceding drone currently performing the task. The activated drone receives task plan data for executing the next task. The drone to which the task plan data has been input can take over the task being performed by the preceding drone without delay by following the task plan data. Therefore, this embodiment makes it possible to seamlessly continue tasks being performed by multiple drones in shifts.

[0146] (Hardware) Next, a hardware configuration for executing the control and processing in the present disclosure will be described with reference to the drawings. Here, an information processing device 90 (computer) in Fig. 31 is shown as an example of such a hardware configuration. The information processing device 90 in Fig. 31 is an example configuration for executing the control and processing in the present disclosure and does not limit the scope of the present disclosure.

[0147] As shown in FIG. 31 , an information processing device 90 includes a processor 91, a memory 92, an auxiliary storage device 93, an input / output interface 95, and a communication interface 96. In FIG. 31 , interface is abbreviated as I / F (Interface). The information processing device 90 may include a plurality of at least any of the processor 91, memory 92, auxiliary storage device 93, input / output interface 95, and communication interface 96. The processor 91, memory 92, auxiliary storage device 93, input / output interface 95, and communication interface 96 are connected to each other via a bus 98 so as to be able to communicate data with each other. The processor 91, memory 92, auxiliary storage device 93, and input / output interface 95 are also connected to a network such as the Internet or an intranet via the communication interface 96.

[0148] The processor 91 loads a program (instructions) stored in an auxiliary storage device 93 or the like into the memory 92. For example, the program is a software program for executing the control and processing in the present disclosure. The processor 91 executes the program loaded into the memory 92. The processor 91 executes the program to execute the control and processing in the present disclosure. The processor 91 may be configured by a single piece of hardware or by multiple pieces of hardware.

[0149] The memory 92 is a storage device having an area in which a program is loaded. The processor 91 loads a program stored in an auxiliary storage device 93 or the like into the memory 92. The memory 92 is realized by a volatile memory such as a dynamic random access memory (DRAM). Alternatively, a non-volatile memory such as a magnetoresistive random access memory (MRAM) may be used as the memory 92. The memory 92 may be configured by a single piece of hardware or by multiple pieces of hardware.

[0150] The auxiliary storage device 93 stores various data such as programs. For example, the auxiliary storage device 93 is realized by a local disk such as a hard disk or flash memory. The auxiliary storage device 93 may be configured by a single piece of hardware or by multiple pieces of hardware. The auxiliary storage device 93 may also be configured as external hardware. It is also possible to omit the auxiliary storage device 93 by configuring the various data to be stored in the memory 92.

[0151] The input / output interface 95 is an interface for connecting the information processing device 90 to peripheral devices based on standards and specifications. The communication interface 96 is an interface for connecting to external systems and devices via a network such as the Internet or an intranet based on standards and specifications. The input / output interface 95 may be configured by a single piece of hardware, or may be configured by multiple pieces of hardware. The input / output interface 95 and the communication interface 96 may be a common interface for connecting to external devices.

[0152] Input devices such as a keyboard, mouse, and touch panel may be connected to the information processing device 90 as needed. These input devices are used to input information and settings. When a touch panel is used as the input device, a screen having the function of the touch panel serves as the interface. The processor 91 and the input devices are connected via an input / output interface 95.

[0153] The information processing device 90 may be equipped with a display device for displaying information. When the display device is equipped, the information processing device 90 is equipped with a display control device (not shown) for controlling the display of the display device. The information processing device 90 and the display device are connected via an input / output interface 95.

[0154] The information processing device 90 may be equipped with a drive device. The drive device acts as an intermediary between the processor 91 and a recording medium (program recording medium) to read data and programs stored on the recording medium and to write processing results of the information processing device 90 to the recording medium. The information processing device 90 and the drive device are connected via an input / output interface 95.

[0155] The above is an example of a hardware configuration for enabling the control and processing of the present disclosure. The hardware configuration of Figure 31 is an example of a hardware configuration for executing the control and processing of the present disclosure and does not limit the scope of the present disclosure. A program that causes a computer to execute the control and processing of the present disclosure is also included in the scope of the present disclosure.

[0156] A program recording medium on which a program for executing the processing of this embodiment is recorded is also included within the scope of the present invention. For example, the program recording medium is a computer-readable, non-transitory recording medium. The recording medium can be, for example, an optical recording medium such as a CD (Compact Disc) or a DVD (Digital Versatile Disc). The recording medium may also be a semiconductor recording medium such as a USB (Universal Serial Bus) memory or an SD (Secure Digital) card. The recording medium may also be a magnetic recording medium such as a flexible disk, or other recording medium.

[0157] The components in the present disclosure may be combined in any manner. The components in the present disclosure may be realized by software. The components in the present disclosure may be realized by circuits.

[0158] 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.

[0159] A part or all of the above-described embodiments can be described as, but not limited to, the following supplementary notes.

[0160] (Supplementary Note 1) A management device comprising: an acquisition unit that acquires operation data including the work status and remaining power of a leading drone working in a work area; a determination unit that determines whether the leading drone is able to work based on the work status and remaining power of the leading drone; a start-up control unit that starts a following drone in standby mode based on the determination result of whether the leading drone is able to work; a data transfer unit that transfers work plan data including work information for taking over the work of the leading drone to the started following drone; and a flight instruction unit that sends a departure signal to the following drone, into which the work plan data has been input, instructing it to depart for a work start point included in the work plan data.

[0161] (Supplementary Note 2) The management device described in Supplementary Note 1, wherein the determination unit determines that the leading drone cannot continue its work when the remaining power of the leading drone falls below the work threshold, the activation control unit activates the following drone in the standby mode, and the flight instruction unit transmits a return signal to the leading drone whose remaining power has fallen below the work threshold.

[0162] (Supplementary Note 3) The determination unit activates the subsequent drone that will perform the work after the leading drone in accordance with a work management table in which work information, including the work range and work content, including the start and end points of the work, and drone information, including the identifier of the drone performing the work and the remaining power, is registered for each work, and transmits the departure signal to the subsequent drone instructing it to move to the start point.

[0163] (Supplementary Note 4) A management device as described in Supplementary Note 3, comprising a work determination unit that determines whether the quality of the work data included in the operation data meets a standard, wherein the work determination unit determines that there has been a work omission at a point where the work data whose quality does not meet the standard was acquired, and adds the point where it has been determined that there has been a work omission as a verification point to the work range of the subsequent drone.

[0164] (Supplementary Note 5) The management device according to Supplementary Note 4 includes a data management unit that generates a work performance table that summarizes work performance for each task using the work data included in the operation data, and the data management unit outputs the generated work performance table to an external device.

[0165] (Supplementary Note 6) The management device according to Supplementary Note 5, wherein the data management unit records a timestamp in the work performance for each work recorded in the work performance table.

[0166] (Supplementary Note 7) The management device according to Supplementary Note 5, wherein the data management unit displays the work performance table of the work managed by a work manager on a screen of a terminal device used by the work manager.

[0167] (Supplementary Note 8) The management device according to Supplementary Note 7, wherein the data management unit displays detailed information indicating the work performance of the work selected in the work performance table on a screen of a terminal device used by the work manager.

[0168] (Supplementary Note 9) A management method in which a computer acquires operation data including the work status and remaining power of a leading drone working in a work area, determines whether the leading drone is able to work based on the work status and remaining power of the leading drone, activates a following drone in standby mode based on the determination result of whether the leading drone is able to work, transfers work plan data including work information for taking over the work of the leading drone to the activated following drone, and sends a departure signal to the following drone into which the work plan data has been input, instructing it to depart for the work start point included in the work plan data.

[0169] (Supplementary Note 10) A program that causes a computer to execute the following processes: a process of acquiring operation data including the work status and remaining power of a lead drone working in a work area; a process of determining whether the lead drone is able to work based on the work status and remaining power of the lead drone; a process of activating a follower drone in standby mode based on the result of the determination of whether the lead drone is able to work; a process of transferring work plan data including work information for taking over the work of the lead drone to the activated follower drone; and a process of transmitting a departure signal to the follower drone to which the work plan data has been input, instructing the follower drone to depart for a work start point included in the work plan data. Also, some or all of the configurations described in Supplementary Note 2 to Supplementary Note 8 that are subordinate to Supplementary Note 1 above may also be subordinate to Supplementary Note 9 and Supplementary Note 10 in the same subordinate relationship as Supplementary Note 2 to Supplementary Note 8. Furthermore, not limited to Appendix 1, Appendix 9, and Appendix 10, but within the scope of each of the above-mentioned embodiments, some or all of the configurations described as appendices may be subordinated to various hardware, software, various recording means for recording software, or systems.

[0170] This application claims priority based on Japanese Patent Application No. 2024-090429, filed on June 4, 2024, the disclosure of which is incorporated herein in its entirety by reference.

[0171] 10, 20, 30, 40 Management device 11, 21, 31, 41 Acquisition unit 12, 22, 32 Memory unit 13, 23, 33, 43 Determination unit 15, 25, 35, 45 Start control unit 16, 26, 36, 46 Data transfer unit 17, 27, 37, 47 Flight instruction unit 38 Data management unit 120 Drone 121 Main body 122 Propeller 123 Motor 124 Communication unit 125 Drive unit 126 Work control unit 127 Memory unit 128 Camera 129 Rechargeable battery 130 Remote ID device 150 Control device 170, 270, 370 Flight control unit

Claims

1. A management device comprising: an acquisition unit that acquires operational data including the work status and remaining power of a leading drone working in a work area; a determination unit that determines whether the leading drone is able to work based on the work status and remaining power of the leading drone; a start-up control unit that starts a following drone in standby mode based on the determination result of whether the leading drone is able to work; a data transfer unit that transfers work plan data including work information for taking over the work of the leading drone to the started following drone; and a flight instruction unit that sends a departure signal to the following drone to which the work plan data has been input, instructing it to depart for the work start point included in the work plan data.

2. The management device described in claim 1, wherein the judgment unit determines that the leading drone cannot continue its work when the remaining power of the leading drone falls below the work threshold, the activation control unit activates the following drone in standby mode, and the flight instruction unit transmits a return signal to the leading drone when the remaining power of the leading drone falls below the work threshold.

3. The management device described in claim 1, wherein the determination unit activates the subsequent drone that will perform the work after the leading drone in accordance with a work management table in which work information, including the work range and work content, including the start and end points of the work, and drone information, including the identifier of the drone performing the work and the remaining power, is registered for each work, and sends the departure signal to the subsequent drone instructing it to move to the start point.

4. A management device as described in claim 3, further comprising a work determination unit that determines whether the quality of the work data included in the operation data meets a standard, wherein the work determination unit determines that there has been a work omission at a point where the work data whose quality does not meet the standard was acquired, and adds the point where it has been determined that there has been a work omission as a verification point to the work range of the subsequent drone.

5. The management device according to claim 4, further comprising a data management unit that uses the work data included in the operation data to generate a work performance table that summarizes the work performance for each task, and the data management unit outputs the generated work performance table to an external device.

6. The management device according to claim 5, wherein the data management unit records a timestamp in the work results for each task recorded in the work results table.

7. The management device according to claim 5, wherein the data management unit displays the work performance table for the work managed by the work manager on a screen of a terminal device used by the work manager.

8. The management device according to claim 7, wherein the data management unit displays detailed information indicating the work performance of the work selected in the work performance table on the screen of a terminal device used by the work manager.

9. A management method in which a computer acquires operational data including the work status and remaining power of a leading drone working in a work area, determines whether the leading drone is able to work based on the work status and remaining power of the leading drone, activates a following drone in standby mode based on the determination result of whether the leading drone is able to work, transfers work plan data including work information for taking over the work of the leading drone to the activated following drone, and sends a departure signal to the following drone into which the work plan data has been input, instructing it to depart for the work start point included in the work plan data.

10. A computer-readable non-transitory recording medium having recorded thereon a program that causes a computer to execute the following processes: a process of acquiring operational data including the work status and remaining power of a leading drone working in a work area; a process of determining whether the leading drone is able to work based on the work status and remaining power of the leading drone; a process of activating a following drone in standby mode based on the result of the determination of whether the leading drone is able to work; a process of transferring work plan data including work information for taking over the work of the leading drone to the activated following drone; and a process of sending a departure signal to the following drone to which the work plan data has been input, instructing it to depart for the work start point included in the work plan data.

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