Ground control system and ground control method

Abstract

This ground control system, which instructs flight plans for a plurality of flying bodies in a designated controlled airspace, comprises: a movement space allocation unit that plans a flight path on which each flying body can fly, calculates a movement space along the flight path, and allocates the movement space to each flying body; a closed space allocation unit that calculates a dedicated closed space in which each flying body can fly so as to include the movement space allocated by the movement space allocation unit, and allocates the closed space to each flying body; and a collision detection unit that outputs a command for instructing deceleration or stop of a specific flying body among the plurality of flying bodies when the specific flying body deviates from a specific closed space allocated thereto by the closed space allocation unit. The closed space allocation unit calculates the volume of the closed space on the basis of a preset collision probability requirement and the volume of the movement space composed of a cumulative volume associated with the flight of each flying body moving forward within a certain time.

Description

Ground control system and ground control method

[0001] The present invention is suitable for application to a ground control system and a ground control method relating to technology for controlling an aircraft.

[0002] In recent years, home delivery businesses using unmanned aerial vehicles have been considered. Demand for home delivery services is expected to increase, especially in urban areas. For example, Patent Document 1 discloses a technique for controlling aerial vehicles, in which a loop-shaped tunnel is preset as a flight path for the aerial vehicles and a traffic light system is installed to ensure safety, in order to reduce the risk of collisions between multiple aerial vehicles.

[0003] Publication No. 2003-006798

[0004] However, with the technology disclosed in Patent Document 1, in order to respond to shortages within controlled airspace, the flight path was set in advance, but this was insufficient from the standpoint of safety as it provided little flexibility in the flight path.

[0005] The present invention has been made in consideration of the above points, and aims to propose a ground control system and a ground control method that enable aircraft to fly along safer flight paths within controlled airspace.

[0006] In order to solve this problem, the present invention provides a ground control system that instructs the flight plans of multiple aircraft in a designated controlled airspace, comprising: a movement space allocation unit that plans a flight path that each aircraft may fly along, calculates a movement space along the flight path, and allocates it to each of the aircraft; a closed space allocation unit that calculates a dedicated closed space in which each aircraft may fly so as to encompass the movement space allocated by the movement space allocation unit, and allocates it to each of the aircraft; and a collision detection unit that outputs a command to slow down or stop a specific aircraft when a specific aircraft among the multiple aircraft deviates from the specific closed space allocated to it by the closed space allocation unit, and the closed space allocation unit calculates the volume of the closed space based on a preset collision probability requirement and the volume of the movement space, which is composed of the cumulative volume associated with the flight of each aircraft moving forward within a certain period of time.

[0007] Furthermore, in the present invention, a ground control method for a ground control system that instructs flight plans of multiple flying objects in a designated controlled airspace includes a movement space allocation step in which a movement space allocation unit plans a flight path along which each flying object may fly, calculates a movement space along the flight path, and allocates it to each of the flying objects; a closed space allocation step in which a closed space allocation unit calculates a dedicated closed space in which each flying object may fly so as to encompass the movement space allocated by the movement space allocation unit, and allocates it to each of the flying objects; and a collision detection step in which a collision detection unit outputs a command to slow down or stop a specific flying object when the specific flying object among the multiple flying objects deviates from the specific closed space allocated to it by the closed space allocation unit, and in the closed space allocation step, the closed space allocation unit calculates the volume of the closed space based on a preset collision probability requirement and the volume of the movement space, which is composed of the cumulative volume associated with the flight of each of the flying objects moving forward within a certain period of time.

[0008] According to the present invention, an aircraft can be flown along a safer flight path within controlled airspace.

[0009] 1 is a perspective view showing an example of how an aircraft flies in accordance with flight control by a ground control system according to a first embodiment. FIG. 2 is a perspective view showing an example of how an aircraft takes off and lands at a landing port. FIG. 3 is a system configuration diagram showing an example of how flight control of multiple aircraft is performed by a ground control system according to the first embodiment. FIG. 4 is a diagram showing an example of a closed space. FIG. 5 is a diagram showing an example of how multiple closed spaces such as those shown in FIG. 1 are arranged so that they come into contact at a collision point. FIG. 6 is a system configuration diagram showing an example of the configuration of a ground control system and aircraft according to this embodiment. FIG. 7 is a flowchart showing an example of a ground control method according to the first embodiment. FIG. 8 is a diagram showing an example of updating a movement space and a closed space in a navigation window. FIG. 9 is a diagram showing an example of updating a movement space and a closed space in a navigation window. FIG. 10 is a diagram showing an example of updating a movement space and a closed space in a navigation window. FIG. 11 is a diagram showing an example of updating a movement space and a closed space in a navigation window. FIG. 12 is a conceptual diagram showing an example of a procedure for updating a flight path plan for an aircraft. FIG. 13 is a conceptual diagram showing an example of a procedure for updating a different flight path plan for an aircraft. FIG. 14 is a flowchart showing an example of a ground control method according to a second embodiment.

[0010]

[0023] Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. (1) First Embodiment

[0024] Figure 1 is a perspective view showing an example of how an aircraft 100, 100A flies in accordance with flight control by a ground control system 1 according to a first embodiment. In the illustrated example, the configuration of the aircraft 100, 100A is simplified, as in Figure 2 described later.

[0011] The ground control system 1 performs flight control of the unmanned flying vehicles 100, 100A flying above a plurality of buildings 401 in the area 8. Before describing the configuration of the ground control system 1, we will first describe the premise for describing the configuration of the ground control system 1. Therefore, details of the ground control system 1 itself will be described later.

[0012] There are multiple flight paths that the aircraft 100, 100A can take above the area 8. The ground control system 1 controls the flight of the aircraft 100, 100A so that the aircraft 100, 100A flies along each flight path.

[0013] 2 is a perspective view showing an example of aircraft 100, 100A taking off and landing at landing port 19. Aircraft 10 flies while supporting cargo 5 below it, and can transport the cargo 5 from landing port 19 at the departure point to landing port 19 at the destination point.

[0014] The landing port 19 is provided, for example, on the roof of a building 401 within the area 8. The landing port 19 may also be provided on the ground within the area 8. The landing port 19 has a landing site 25 where the aircraft 100, 100A can take off and land.

[0015] 3 is a system configuration diagram showing an example of flight control of multiple flying bodies 100, 100A performed by the ground control system 1 according to the first embodiment. In the following description, when it is not necessary to distinguish between the multiple flying bodies 100, 100A, reference will be made to the flying body 100 as an example.

[0016] The aircraft 100 is a so-called multicopter. The aircraft 100 includes, for example, wings and propellers. The propellers of the aircraft 100 are arranged in a direction substantially perpendicular to the ground, but are configured to be able to change their orientation slightly. By controlling the orientation of the propellers, the aircraft 100 can change its flight direction. The aircraft 100 can fly not only horizontally but also vertically.

[0017] The pilot controls the flight of the aircraft 100, 100A by wireless communication within the controlled area range W by operating the remote controller 300. The ground control system 1 can communicate with each aircraft 100 wirelessly via its communication unit 400B.

[0018] 4 is a diagram showing an example of a closed space 99. The closed space 99 encompasses the movement space 9. The closed space 99 is, for example, a tubular tunnel shape that encompasses the movement space 9. The closed space 99 is allocated to surround the movement space 9 to ensure safe and smooth flight conditions. The closed space 99 is a space in which the allocated flying object 100 can fly freely without considering the flight conditions of other flying objects 100A.

[0019] On the other hand, the travel space 9 is, for example, a tubular tunnel shape in which the flying object 100 was originally planned to fly. ｃｌｏｓｅｄ is the volume of the closed space 99 [m ３ ] and the V ｍｏｖｅ is the volume of the moving space 9 [m ３ ] is shown.

[0020] Collision probability P ｃｏｌｌｉｓｉｏｎ For example, in the case of two aircraft 100 and 100A, P ｃｏｌｌｉｓｉｏｎ =P ＳＬ ２ where the spatial density P ＳＬ indicates the target required safety level. ＳＬ is V ｍｏｖｅ / V ｃｌｏｓｅｄ Therefore, the closed space 99 satisfies the required collision probability and is expressed as V ｃｌｏｓｅｄ =V ｍｏｖｅ / P ＳＬ The following formula is established.

[0021] 5 is a diagram showing an example of a state in which a plurality of closed spaces 99, such as those shown in FIG. 1, are arranged so as to come into contact with each other at a collision point CP. In the closed space 99 shown on the upper side, the movement spaces 9 are set parallel to the direction in which the closed spaces 99 extend.

[0022] Meanwhile, the enclosed space 99 shown at the bottom shows the flying object 100B flying with a malfunction. As a result, the flight direction of the flying object 100B is unstable, and the travel space 9 in which the flying object 100B is scheduled to fly is set to a direction different from the extension direction of the enclosed space. Therefore, one end of the travel space 9 is in contact with the other enclosed space 99 above at the collision point CP. At the collision point CP, the collision probability is set to be equal to or less than the required safety level. The required safety level is defined in the required safety level information, which will be described later.

[0023] Here, the collision probability P at the collision point CP where the two closed spaces 99 come into contact is ｃｏｌｌｉｓｉｏｎ is defined as being equal to or less than a required safety level ε, for example, as determined by a national aviation authority or other regulatory body.

[0024] Volume V of the closed space 99 ｃｌｏｓｅｄ [m ３ The equation for defining the collision probability P between the flying object 100 and the flying object 100A will be described. ｃｏｌｌｉｓｉｏｎ is estimated as follows: P ｃｏｌｌｉｓｉｏｎ =P Ａ ・P Ｂ ... (1) However, P Ａ is the spatial density of the flying object 100, and P Ｂ is the spatial density of the air vehicle 100A.

[0025] Collision probability P ｃｏｌｌｉｓｉｏｎ However, the collision probability P ｃｏｌｌｉｓｉｏｎ is the maximum value when the closed space 99 is to be minimized, and can be regarded as equation (3). ｃｏｌｌｉｓｉｏｎ ≦ε... (2) P ｃｏｌｌｉｓｉｏｎ＝ ε ・・・ (3)

[0026] P Ａ and P Ｂ Taking this into consideration, the following equation (4) is derived from equations (1) and (3): P Ａ =P Ｂ =√ε (4) where P is the volume V of the closed space 99 ｃｌｏｓｅｄ and the volume V of the moving space 9 ｍｏｖｅ By the ratio of Pi to V, the following equation (5) can be derived: ｍｏｖｅ / V ｃｌｏｓｅｄ ... (5) where i∈{A, B}

[0027] Closed Space 99 V ｃｌｏｓｅｄ is defined by the following equation (6) from equations (4) and (5): ｃｌｏｓｅｄ =V ｍｏｖｅ / √ε ・・・ (6)

[0028] Volume V ｍｏｖｅ is defined by equation (7). Here, S is the projected area of ​​the flying object 100, 100A that approximates a circle, v is a typical flight speed, t is the time until separation in collision avoidance mode, and α is a typical deceleration. The first term "S v t" indicates the volume of the flight space with the time delay required for the separation operation. The second term "S (v２ / 2α) indicates the free run volume until flight is stopped. This volume V ｍｏｖｅ is estimated depending on the flight conditions. ｍｏｖｅ =S・v・t+S・(v ２ / 2α) ... (7)

[0029] As a result, in this embodiment, the volume V of the moving space 9 ｍｏｖｅ is designed in advance, and the volume V of the closed space 99 ｃｌｏｓｅｄ When estimating, the collision probability P ｃｏｌｌｉｓｉｏｎ is uniquely determined. In other words, it is possible to design an enclosed space 99 that satisfies the safety requirements.

[0030] FIG. 6 is a system configuration diagram showing an example of the configuration of the ground control system 1 and the flying object 100 according to this embodiment.

[0031] The ground control system 1 includes an object detection unit 210, a wind prediction unit 220, a warning unit 230, a flight planning unit 240, and a communication unit 400B.

[0032] The object detection unit 210 is an example of a detection unit, and detects which of the cells 24 dividing the controlled airspace 11 above the landing point 25 an aircraft 100 that may fly from the landing point 25 of the landing port 19 is flying through.

[0033] The object detection unit 210 has a camera 211, a radar 212, a LiDAR 213, and an object detection unit 214. The camera 211 photographs objects in the airspace. The radar 212 measures the distance and direction to the object by emitting radio waves toward the object and measuring the reflected waves. The LiDAR 213 irradiates an object in the airspace with laser light and measures the distance to the object, shape, etc. from measurement data collected from the reflected light by an optical sensor.

[0034] The object detection unit 214 detects objects in the airspace based on images of the objects photographed in the airspace by the camera 211. The object detection unit 214 detects objects in the airspace based on measurement data measured by the radar 212 and the LiDAR 213, and outputs object information related to the detected objects.

[0035] The wind prediction unit 220 has a wind sensor 221, a terrain model 222, and a wind simulator 223. The wind sensor 221 measures the wind force and direction of the wind blowing within the controlled airspace 11. The terrain model 222 is a model related to the terrain of area 8 (and its vicinity). The wind simulator 223 simulates the wind within the controlled airspace 11 based on the measurement data measured by the wind sensor 221 and the terrain model 222.

[0036] The warning unit 230 issues a warning if there is an obstacle to the flight of the aircraft 100 based on the results of a wind simulation within the controlled airspace 11 performed by the wind simulator 223.

[0037] The ground control system 1 has a function of instructing flight plans for a plurality of flying bodies 100, 100A in a designated controlled airspace 11. The ground control system 1 includes a flight planning unit 240 as follows.

[0038] The flight planning unit 240 includes a movement space allocation unit 241 , a closed space allocation unit 242 , a collision detection unit 243 , and required safety level information 244 .

[0039] The movement space allocation unit 241 has the function of planning a flight path that each flying body 100, 100A can fly, and calculating and allocating a movement space 9 along the flight path to each flying body 100, 100A.

[0040] The movement space allocation unit 241 plans a flight path taking into consideration the width of the closed space 99, which is defined to have a predetermined width or a variable width depending on the flight environment.

[0041] The required safety level information 244 is an example of a preset collision probability requirement, and defines a required safety level. The required safety level information 244 is read by the closed space allocation unit 242.

[0042] The closed space allocation unit 242 has the function of calculating and / or updating a dedicated closed space 99 in which each flying body 100, 100A can fly so as to encompass the movement space 9 allocated by the movement space allocation unit 241, and allocating it to each flying body 100, 100A.

[0043] The closed space allocation unit 242 calculates the volume of the closed space 99 using required safety level information 244 as an example of a predetermined collision probability requirement and the volume of the movement space 9, which is composed of the cumulative volume associated with the flight of each flying body 100, 101A moving forward within a certain period of time.

[0044] When the closed space allocation unit 242 detects the flight of a specific flying object 100 within the controlled airspace 11, it calculates the closed space 99 corresponding to the presence of the specific flying object 100.

[0045] The closed space allocation unit 242 calculates the movement space 9 corresponding to the presence of a specific flying body 100 based on, for example, the navigation accuracy which depends on the position detection error, the control accuracy which depends on the flight control performance, the delayed movement distance until the start of evasive action, and the movement distance until flight cessation.

[0046] When the closed space allocation unit 242 detects that multiple closed spaces 99 are competing with each other, it updates the flight path and the closed spaces 99 to avoid the multiple closed spaces 99 from competing with each other.

[0047] The collision detection unit 243 has the function of outputting a command to slow down or stop a specific flying body 100 when a specific flying body 100 among the multiple flying bodies 100, 100A deviates from the specific closed space 99 assigned to it by the closed space allocation unit 242.

[0048] When the movement space 9 corresponding to the presence of a specific flying body 100 approaches another closed space 99 corresponding to the presence of the other flying body 100A among the multiple flying bodies 100, 100A, the collision detection unit 243 outputs a command to slow down or stop the specific flying body 100.

[0049] Meanwhile, the flying object 100 includes a flight control unit 110, a rotor control unit 120, an aileron control unit 130, a rudder control unit 140, and a communication unit 400A. The flying object 100 receives commands via the communication unit 400A.

[0050] The flight control unit 110 includes a navigation unit 111 , a guidance unit 112 , a control unit 113 , a status monitor unit 114 , and a map 115 .

[0051] The navigation unit 111 has a function of performing navigation. The navigation unit 111 has a position sensor 111A, an altitude sensor 111B, and a speed sensor 111C. The position sensor 111A measures the position of the flying object 100 and outputs measurement data. The altitude sensor 111B measures the altitude of the flying object 100 and outputs measurement data. The speed sensor 111C measures the flight speed of the flying object 100 and outputs measurement data. These measurement data are also referred to as flight data.

[0052] The status monitor unit 114 generates navigation commands for the guidance unit 112 based on commands received from the ground control system 1 via the communication unit 400A and measurement data from the navigation unit 111.

[0053] The guidance unit 112 generates guidance commands based on the received navigation commands and the map 115. The guidance unit 112 includes a flight mode selection unit 112A and a route planning unit 112B.

[0054] The flight mode selection unit 112A selects one of the multiple flight modes for the flying object 100 based on the received navigation command and map 115.

[0055] Based on the received navigation command and map 115, the route planning unit 112B plans a route to be flown by the aircraft 100 when it lands (or takes off) in the controlled airspace 11. Furthermore, based on the planned route, the route planning unit 112B determines a route search cell 24A consisting of at least one cell from among the cells 24 in the controlled airspace 11 where the aircraft 100 should fly.

[0056] The control unit 113 creates a fair drawing of the aircraft 100 based on the route search cell 24A from the guidance unit 112. The control unit 113 has an actuator allocation unit 113A. The actuator allocation unit 113A allocates the multiple actuators mounted on the aircraft 100. Each of the multiple actuators drives, for example, a respective propeller. The control unit 113 controls at least one of the rotor control unit 120, aileron control unit 130, and rudder control unit 140 in accordance with the allocation. The rotor control unit 120 controls the drive state of the rotor for rotating the propeller of the aircraft 100.

[0057] The configuration example of the ground control system 1 according to this embodiment has been described above, and next, an example of a ground control method according to the first embodiment will be described with reference to Figures 1 to 6. First, an outline of the ground control method will be described.

[0058] The ground control method is a ground control method of a ground control system 1 that instructs flight plans for a plurality of flying bodies 100, 100A in a designated controlled airspace 11, and includes a movement space allocation step in which a movement space allocation unit 241 plans a flight path along which each flying body 100, 100A can fly, calculates a movement space 9 along the flight path, and allocates the movement space 9 to each flying body 100, 100A; and a closed space allocation step in which a closed space allocation unit 242 calculates a dedicated closed space 99 in which each flying body 100, 100A can fly so as to include the movement space 9 allocated by the movement space allocation unit 241, and allocates the closed space 9 to each flying body 100, 100A. The method includes an allocation step, and a collision detection step in which a collision detection unit 243 outputs a command to slow down or stop a specific flying body 100 when a specific flying body 100 among the multiple flying bodies 100, 100A deviates from the specific closed space 99 assigned to it by the closed space allocation unit 242.In the closed space allocation step, the closed space allocation unit 242 calculates the volume of the closed space 99 using required safety level information 244 as an example of a predetermined collision probability requirement and the volume of the movement space 9 which is composed of the cumulative volume associated with the flight of each flying body 100, 101A moving forward within a certain period of time.

[0059] 7 is a flowchart showing an example of a ground control method according to the first embodiment. The dashed arrows connecting multiple flowcharts, each with a vertically arranged step, indicate that the steps indicated by the arrows are related to each other. The wind prediction unit 220 constantly monitors the wind direction and speed at various locations within the controlled airspace 11, for example.

[0060] In step S1, the flight planning unit 240 sets the controlled airspace 11. In step S2, the object detection unit 210 detects flying objects 100 within the controlled airspace 11 and acquires flight data of all detected flying objects 100 from the flying objects 100.

[0061] In step S3, the flight planning unit 240 updates the flight path of each flying object 100. In step S4, the flight planning unit 240 updates the movement space 9 and the closed space 99. In step S5, the flight planning unit 240 transmits closed space information regarding the closed space 99 to, for example, the pilot's remote controller 300.

[0062] In step S6, the closed space allocation unit 242 determines whether any flying object 100 has deviated from the closed space 99. If it is determined in step S6 that any flying object 100 has deviated from the closed space 99, the closed space allocation unit 242 executes step S7. In step S7, the closed space allocation unit 242 controls the warning unit 230 to send an alert. The flying object 100 performs flight control so as to return to the controlled airspace 11 in response to a deceleration / stop command received via a remote controller 300 held by the pilot, as will be described later.

[0063] On the other hand, if it is not determined in step S6 that there is an aircraft 100 departing from the closed space 99 or if step S7 is executed, the closed space allocation unit 242 executes step S8. Thereafter, steps S1 to S7 are repeatedly executed until the closed space allocation unit 242 no longer detects any aircraft 100 flying within the controlled airspace 11 (step S8).

[0064] If it is determined in step S8 that the aircraft 100 flying in the controlled airspace 11 has been detected, the flight planning unit 240 returns to step S1 and executes each step from here on. On the other hand, if it is determined in step S8 that the aircraft 100 flying in the controlled airspace 11 has not been detected, the flight planning unit 240 ends the flight control process for the aircraft 100.

[0065] In step S11, the pilot starts operating the flying object 100. In step S12, the flight control unit 110 acquires flight data of the flying object 100. In step S13, the pilot operates the flying object 100 within the closed space 99.

[0066] In step S14, the remote controller 300 determines whether or not an alert has been received from the ground control system 1, and if so, outputs the alert and executes step S15. In step S15, the pilot who receives the alert transmits a deceleration / stop command to the flying object 100 from the remote controller 300. The above-described steps S12 to S15 are repeated until the flying object 100 lands (step S16).

[0067] Next, the flying object 100 will be described. In step S21, the flying object 100 performs flight control. In step S22, the flying object 100 transmits flight data to the remote controller 300 and the ground control system 1. The above-described steps S21 to S22 are repeatedly executed until the flying object 100 lands (step S23).

[0068] 8 and 9 are diagrams showing examples of updating the movement space 9 and the closed space 99 of the navigation window, respectively. Fig. 8 shows the state before updating, and Fig. 9 shows the state after updating.

[0069] First, the pilot of the aircraft 100 controls the flight of the aircraft 100 while referring to a controlled airspace screen displayed on the display of, for example, a laptop computer, so that the aircraft 100 does not deviate from the designated closed space 99.

[0070] This controlled airspace screen includes a flight status window and a navigation window. The flight status window displays the flight status of the flying object 100. The navigation window displays, for example, the landing port 19, the enclosed space 99, and the movement space 9.

[0071] As shown in Figure 8, when the movement space 9, which can move depending on the flight state of the flying body 100, approaches or comes into contact with the edge of the closed space 99, the closed space allocation unit 242 updates the closed space 99 as follows and displays the updated closed space 99 as shown in Figure 9.

[0072] 9, the inner edge of the closed space 99 is spaced apart from the outer edge of the movement space 9 by a predetermined margin. Therefore, even if the flying object 100 continues to fly in this state, the closed space allocation unit 242 causes the command generation unit 253 to output a command for updating the spatial range of the closed space 99 and displaying the closed space 99 so that the outer edge of the movement space 9 does not come into contact with the inner edge of the closed space.

[0073] 10 and 11 are diagrams showing examples of updating the movement space 9 and the closed space 99 of the navigation window, respectively. Fig. 10 shows the state before the update, and Fig. 11 shows the state after the update. In the examples shown in Figs. 10 and 11, unlike the examples shown in Figs. 8 and 9, there is another flying object 100A approaching the flying object 100 along with the flying object 100.

[0074] For example, in the case of abnormal flight that frequently deviates from the original flight path due to a sudden gust of wind or an emergency, another aircraft 100A may approach the closed space 99 of the aircraft 100, as shown in Fig. 10. In this case, the closed space allocation unit 242 attempts to update the closed space 99 to expand it in the direction of movement of the aircraft 100, but does not allow it because, for example, another aircraft 100A is present in the direction of expansion. Therefore, the aircraft 100 stops flying, or the ground control system 1 creates a different flight path as shown in Fig. 11 to prevent the aircraft 100 from colliding with the other aircraft 100A.

[0075] When the movement space 9, which can move depending on the flight state of the flying body 100, approaches or comes into contact with the edge of the closed space 99, the closed space allocation unit 242 updates the closed space 99 as follows and outputs a command from the command generation unit 253 to display the updated closed space 99 as shown in Figure 11.

[0076] 11, the outer edge of the closed space 99 of the flying object 100 is set so as not to come into contact with the outer edge of the adjacent flying object 100A. Therefore, even if the flying object 100 continues to fly, it is possible to avoid the flying object 100 colliding with the adjacent flying object 100A.

[0077] 12 is a conceptual diagram showing an example of a procedure for updating the flight path plan of the flying object 100. It is assumed that the flying object 100 is flying in an airspace between a plurality of buildings 401.

[0078] First, the closed space allocation unit 242 can design the closed space 99 shown by the dashed line so that it has an intended width. Therefore, the closed space allocation unit 242 can plan a feasible flight path for the flying object 100 to reach the landing point 25 of the target landing port 19, taking into account the planned width of the closed space 99.

[0079] The closed space allocation unit 242 generates a flight path for the aircraft 100, for example, while setting points (hereinafter referred to as "waypoints") 70WP on the flight path when the flight speed of the aircraft 100 flying through each dashed cell at times t0 to t6 is considered constant, for each update period predicted for the closed space 99. This makes it possible to avoid collisions between the aircraft 100 and other aircraft 100A in advance, and to improve safety regarding flight control of the aircraft 100.

[0080] Fig. 13 is a conceptual diagram showing an example of a procedure for updating a plan for another flight path of the flying object 100. It is assumed that the flying object 100 is flying in an airspace between multiple buildings 401. Note that in Fig. 13, content that is not particularly mentioned is the same as that in Fig. 12 described above.

[0081] First, a priority is assigned to each of the air vehicles 100 and 100A. In the illustrated example, the air vehicle 100 has its flight path planned before the other air vehicle 100A, and then the other air vehicle 100A has its flight path planned while avoiding conflicts with the air vehicle 100 in terms of position and flight time. In the illustrated example, the positions of the air vehicle 100 and the other air vehicle 100A may overlap, but their flight times do not, so this plan can be accepted. This measure can improve the efficiency of flight path planning and can perform flight control to allow more air vehicles 101, etc. to fly within the controlled airspace 11.

[0082] (2) Second Embodiment The ground control system according to the second embodiment has almost the same configuration and operation as the ground control system 1 according to the first embodiment described above. Therefore, a description of the similar configuration and operation will be omitted, and the following description will focus on the differences from the ground control system 1 according to the first embodiment.

[0083] The ground control system of the second embodiment performs flight control of the aircraft 100 directly and wirelessly, unlike the ground control system 1 of the first embodiment in which the pilot controls the flight of the aircraft 100 using a remote controller 300.

[0084] Figure 14 is a flowchart showing an example of a ground control method according to the second embodiment. The dashed arrows connecting multiple flowcharts arranged vertically indicate that the processes indicated by the arrows are related to each other. The wind prediction unit 220 described above, for example, constantly monitors the wind direction and speed at various locations within the controlled airspace 11. Steps S1 to S4 are the same as steps S1 to S4 shown in Figure 7 described above, and therefore will not be described here.

[0085] In step S5, the flight planning unit 240 transmits closed space information regarding the closed space 99, for example, directly to the flying body 100.

[0086] In step S6, as in the first embodiment, the closed space allocation unit 242 determines whether or not there is an aircraft 100 departing from the closed space 99. If it is determined in step S6 that there is an aircraft 100 departing from the closed space 99, the closed space allocation unit 242 executes step S7A. In step S7A, the closed space allocation unit 242 transmits, for example, a deceleration / stop command directly to the aircraft 100. The aircraft 100 performs flight control so as to return to the controlled airspace 11 in response to the deceleration / stop command.

[0087] On the other hand, if it is not determined in step S6 that there is an aircraft 100 departing from the closed space 99 or if step S7 is executed, the closed space allocation unit 242 executes step S8. Thereafter, steps S1 to S7 are repeatedly executed until the closed space allocation unit 242 no longer detects any aircraft 100 flying within the controlled airspace 11 (step S8).

[0088] According to the embodiment described above, compared to the first embodiment, it is not necessary to prepare a pilot or a remote controller 300, and therefore flight control of the flying bodies 100, 100A can be automated.

[0089] As described above, the ground control system 1 according to this embodiment is a ground control system 1 that instructs flight plans for a plurality of flying bodies 100, 100A in a designated controlled airspace 11, and includes a movement space allocation unit 241 that plans a flight route that each flying body 100, 100A can fly, calculates a movement space 9 along the flight route, and allocates it to each flying body 100, 100A, and calculates a dedicated closed space 99 in which each flying body 100, 100A can fly so as to encompass the movement space 9 allocated by the movement space allocation unit 241, and allocates it to each flying body 100, 100A. 00A, and a collision detection unit 243 that outputs a command to instruct a specific flying body 100 to slow down or stop when the specific flying body 100 among the multiple flying bodies 100, 100A deviates from the specific closed space 99 assigned to it by the closed space allocation unit 242, and the closed space allocation unit 242 calculates the volume of the closed space 99 based on a preset collision probability requirement and the volume of the movement space 9 which is composed of the cumulative volume associated with the flight of each flying body 100, 101A moving forward within a certain period of time.

[0090] The ground control method of the ground control system 1 according to the present embodiment described above is a ground control method of the ground control system 1 that instructs flight plans for a plurality of flying bodies 100, 100A in a designated controlled airspace 11, and includes a movement space allocation step in which a movement space allocation unit 241 plans a flight path along which each flying body 100, 100A can fly, calculates a movement space 9 along the flight path, and allocates the movement space 9 to each flying body 100, 100A; and a closed space allocation step in which a closed space allocation unit 242 calculates a dedicated closed space 99 in which each flying body 100, 100A can fly, so as to encompass the movement space 9 allocated by the movement space allocation unit 241, and allocates the movement space 9 to each flying body 100, 100A. The method includes a closed space allocation step in which a specific flying body 100 is assigned to a specific flying body 100, 100A by the closed space allocation unit 242, and a collision detection step in which the collision detection unit 243 outputs a command to slow down or stop the specific flying body 100 when the specific flying body 100 among the multiple flying bodies 100, 100A deviates from the specific closed space 99 assigned to it by the closed space allocation unit 242. In the closed space allocation step, the closed space allocation unit 242 calculates the volume of the closed space 99 based on required safety level information 244 as an example of a preset collision probability requirement and the volume of the movement space 9 which is composed of the cumulative volume associated with the flight of each flying body 100, 101A moving forward within a certain period of time.

[0091] According to the above embodiment, for each of the aircraft 100, 100A, a closed space 99 is defined as a dedicated three-dimensional airspace that takes into account, for example, a hazard risk. Each aircraft 100, 100A is assigned a closed space 99 that is free of intruders. The hazard risk is estimated based on the probability of collision between the aircraft 100, 100A. The collision probability is defined by the spatial density of, for example, two aircraft 100, 100A in each occupied space. The spatial density is defined by the ratio of the closed space 99 to the movement space 9. The movement space 9 is defined as an area where collisions are unavoidable. This allows each aircraft 100, 100A to fly along a safer flight path within the controlled airspace. In other words, the density of the aircraft 100, 100A within the controlled airspace 11 can be increased to comply with a predetermined required safety level and accommodate various types of aircraft 100, 100A. It can accommodate a variety of operators and also improves the flexibility of planning the moving space 9 and the closed space 99.

[0092] In this embodiment, when the closed space allocation unit 242 detects the flight of a specific aircraft 100 within the controlled airspace 11, it calculates a closed space 99 corresponding to the presence of the specific aircraft 100. In this way, depending on the calculation result of such a closed space 99, each aircraft 100, 100A can be flown along a safer flight path within the controlled airspace 11.

[0093] In this embodiment, the closed space allocation unit 242 calculates the movement space 9 corresponding to the presence of a specific flying object 100 based on, for example, the navigation accuracy that depends on the position detection error, the control accuracy that depends on the flight control performance, the delayed movement distance until the start of evasive action, and the movement distance until flight cessation. In this way, each flying object 100, 100A can fly along a safer flight path within the controlled airspace 11 based on the calculation results of such movement distances.

[0094] In this embodiment, when the movement space 9 corresponding to the presence of a specific flying object 100 approaches another closed space 99 corresponding to the presence of the other flying object 100A among the multiple flying objects 100, 100A, the collision detection unit 243 outputs a command to instruct the specific flying object 100 to slow down or stop. In this way, such a command allows each flying object 100, 100A to fly along a safer flight path within the controlled airspace 11.

[0095] In this embodiment, when the closed space allocation unit 242 detects that multiple closed spaces 99 are competing with each other, it updates the flight path and the closed spaces 99 to avoid the competition between these multiple closed spaces 99. In this way, each flying vehicle 100, 100A can fly along a safer flight path within the controlled airspace 11 depending on the update results of the closed spaces 99, etc.

[0096] In this embodiment, the movement space allocation unit 241 plans a flight path taking into consideration the width of the closed space 99, which is defined as a predetermined width or a variable width depending on the flight environment. In this way, each flying object 100, 100A can fly along a safer flight path within the controlled airspace.

[0097] The present invention is not limited to the above-described embodiment, and includes various modifications and equivalent configurations within the spirit and scope of the appended claims. For example, the above-described embodiment has been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to a configuration including all of the described configurations. Furthermore, the elements described in parallel in the first embodiment may be configured such that at least one of the elements is connected in series to the other elements.

[0098] The present invention can be applied to, for example, a ground control system related to technology for controlling an aircraft.

[0099] 1... Ground control system, 240... Flight planning unit, 241... Movement space allocation unit, 242... Closed space allocation unit, 243... Collision detection unit, 244... Required safety level information

Claims

1. A ground control system that instructs the flight plans of multiple flying vehicles in a designated controlled airspace, comprising: a movement space allocation unit that plans a flight path that each flying vehicle may fly, and calculates a movement space along said flight path and allocates it to each of said flying vehicles; a closed space allocation unit that calculates a dedicated closed space in which each flying vehicle may fly so as to encompass the movement space allocated by the movement space allocation unit, and allocates it to each of said flying vehicles; and a collision detection unit that outputs a command to slow down or stop a specific flying vehicle when said specific flying vehicle deviates from the specific closed space allocated to it by the closed space allocation unit, wherein said closed space allocation unit calculates the volume of said closed space based on a preset collision probability requirement and the volume of said movement space, which is composed of the cumulative volume associated with the flight of each flying vehicle moving forward within a certain period of time.

2. The ground control system described in claim 1, characterized in that the closed space allocation unit calculates the closed space corresponding to the presence of the specific aircraft when it detects the flight of the specific aircraft within the controlled airspace.

3. The ground control system described in claim 1, characterized in that the closed space allocation unit calculates the movement space corresponding to the presence of the specific flying object based on navigation accuracy dependent on position detection error, control accuracy dependent on flight control performance, delayed movement distance until evasive action begins, and movement distance until flight cessation.

4. The ground control system of claim 1, characterized in that the collision detection unit outputs a command to slow down or stop the specific flying object when the movement space corresponding to the presence of the specific flying object approaches another closed space corresponding to the presence of another flying object among the multiple flying objects.

5. The ground control system described in claim 1, characterized in that when the closed space allocation unit detects that multiple closed spaces are competing with each other, it updates the flight path and the closed spaces so as to avoid the multiple closed spaces from competing with each other.

6. The ground control system according to claim 1, wherein the movement space allocation unit plans the flight path taking into account the width of a closed space defined by a predetermined width or a variable width depending on the flight environment.

7. A ground control method for a ground control system that instructs the flight plans of multiple flying vehicles in a designated controlled airspace, comprising: a movement space allocation step in which a movement space allocation unit plans a flight path that each flying vehicle may fly, calculates a movement space along the flight path, and allocates it to each of the flying vehicles; a closed space allocation step in which a closed space allocation unit calculates a dedicated closed space in which each flying vehicle may fly so as to encompass the movement space allocated by the movement space allocation unit, and allocates it to each of the flying vehicles; and a collision detection step in which a collision detection unit outputs a command to slow down or stop a specific flying vehicle among the multiple flying vehicles when the specific closed space allocated to the specific flying vehicle by the closed space allocation unit deviates from the specific closed space allocated to the specific flying vehicle, wherein in the closed space allocation step, the closed space allocation unit calculates the volume of the closed space based on a preset collision probability requirement and the volume of the movement space, which is composed of the cumulative volume associated with the flight of each of the flying vehicles moving forward within a certain period of time.

8. The ground control method described in claim 7, characterized in that in the closed space allocation step, when the closed space allocation unit detects the flight of the specific flying object within the controlled airspace, it calculates the closed space corresponding to the presence of the specific flying object.

9. The ground control method described in claim 7, characterized in that in the closed space allocation step, the closed space allocation unit calculates the movement space corresponding to the presence of the specific flying object based on navigation accuracy dependent on position detection error, control accuracy dependent on flight control performance, delayed movement distance until the start of evasive action, and movement distance until flight cessation.

10. The ground control method described in claim 7, characterized in that in the collision detection step, when the movement space corresponding to the presence of the specific flying object approaches another closed space corresponding to the presence of another flying object among the plurality of flying objects, the collision detection unit outputs a command to instruct the specific flying object to slow down or stop.

11. The ground control method described in claim 7, characterized in that in the closed space allocation step, if the closed space allocation unit detects that multiple closed spaces are competing with each other, it updates the flight path and the closed spaces so as to avoid the multiple closed spaces competing with each other.

12. The ground control method described in claim 7, characterized in that in the movement space allocation step, the movement space allocation unit plans the flight path taking into account the width of a closed space defined by a predetermined width or a variable width depending on the flight environment.

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