Control device, program, and unmanned traveling body

Abstract

Provided is a control device that controls an unmanned traveling body including a loading unit for loading an unmanned flying body, the control device comprising: a weather information acquisition unit that acquires weather information indicating weather between the flight position of the unmanned flying body and an airfield where the unmanned flying body is to land; a flight information acquisition unit that acquires flight information about the unmanned flying body, the flight information including flight position information indicating the flight position of the unmanned flying body, flight speed information indicating the flight speed of the unmanned flying body, and flight attitude information indicating the flight attitude of the unmanned flying body; a determination unit that determines, on the basis of the weather information and the flight information, a first angle between a straight line parallel to the direction in which the unmanned traveling body travels and a straight line parallel to the orientation of the unmanned traveling body; and a control unit that controls, on the basis of the first angle, the unmanned traveling body to load the unmanned flying body in flight onto the loading unit while traveling on a runway of the airfield.

Description

Control device, program, and unmanned vehicle

[0001] The present invention relates to a control device, a program, and an unmanned vehicle.

[0002] Patent Document 1 describes a HAPS (High Altitude Platform Station) that establishes a feeder link with a ground gateway, establishes a service link with a ground terminal, and provides wireless communication services to the terminal by relaying communication between the gateway and the terminal. [Prior Art Documents] [Patent Documents] [Patent Document 1] Japanese Patent Application Publication No. 2019-135823 General disclosure

[0003] According to one embodiment of the present invention, a control device is provided for controlling an unmanned vehicle having a loading unit for carrying an unmanned aerial vehicle. The control device may include a weather information acquisition unit that acquires weather information indicating the weather between the flight position of the unmanned aerial vehicle and the airport on which the unmanned aerial vehicle lands. The control device may include a flight information acquisition unit that acquires flight information of the unmanned aerial vehicle, including flight position information indicating the flight position of the unmanned aerial vehicle, flight speed information indicating the flight speed of the unmanned aerial vehicle, and flight attitude information indicating the flight attitude of the unmanned aerial vehicle. The control device may include a determination unit that determines a first angle between a straight line parallel to the direction in which the unmanned vehicle travels and a straight line parallel to the orientation of the unmanned vehicle, based on the weather information and the flight information. The control device may include a control unit that controls the unmanned vehicle so as to load the unmanned aerial vehicle, which is in flight while traveling on the runway of the airport, onto the loading unit, based on the first angle.

[0004] In the control device, the determination unit may determine the first angle such that a second angle between a straight line parallel to the direction of the unmanned vehicle and a straight line parallel to the direction of the flight attitude of the unmanned aerial vehicle when the unmanned aerial vehicle in flight is mounted on the mounting unit becomes smaller. In any of the control devices, the control unit may control the flight of the unmanned aerial vehicle such that the nose of the fuselage of the unmanned aerial vehicle faces the upwind direction during flight. In any of the control devices, the control unit may control the landing of the unmanned aerial vehicle such that the nose of the fuselage of the unmanned aerial vehicle faces the upwind direction during landing.

[0005] Any of the control devices may further include a travel information acquisition unit that acquires travel information of the unmanned vehicle, including travel position information indicating the travel position of the unmanned vehicle and travel speed information indicating the travel speed of the unmanned vehicle. The control unit may control the travel speed of the unmanned vehicle based on the travel information such that the relative speed between the unmanned aerial vehicle and the unmanned vehicle when the unmanned aerial vehicle in flight is mounted on the mounting unit becomes smaller.

[0006] Any of the control devices may further include a storage unit that stores the airframe information of the unmanned aerial vehicle, and a selection unit that selects, based on the airframe information, the unmanned vehicle on which the unmanned aerial vehicle in flight is to be mounted from among the plurality of unmanned vehicles waiting at the airfield. The control unit may control the unmanned vehicle selected by the selection unit such that the unmanned aerial vehicle in flight is mounted on the mounting unit while traveling on the runway of the airfield.

[0007] Any of the above control devices may further include a determination unit that determines whether the weather conditions indicated by the weather information meet predetermined descent start conditions, and the control unit may further control the unmanned aircraft so that it starts descending when the determination unit determines that the weather conditions meet the descent start conditions. In any of the above control devices, the determination unit may determine whether the weather conditions meet predetermined good weather conditions, and the control unit may control the unmanned aircraft so that it starts descending when the determination unit determines that the weather conditions meet the good weather conditions. In any of the above control devices, the determination unit may determine whether the wind speed between the flight position of the unmanned aircraft and the airfield is slower than a predetermined wind speed threshold, and the control unit may control the unmanned aircraft so that it starts descending when the determination unit determines that the wind speed is slower than the wind speed threshold. In any of the above control devices, the determination unit may determine whether the amount of rainfall between the flight position of the unmanned aerial vehicle and the airfield is less than a predetermined rainfall threshold, and the control unit may control the unmanned aerial vehicle to begin descending if the determination unit determines that the amount of rainfall is less than the rainfall threshold. In any of the above control devices, the determination unit may determine whether the amount of snowfall between the flight position of the unmanned aerial vehicle and the airfield is less than a predetermined snowfall threshold, and the control unit may control the unmanned aerial vehicle to begin descending if the determination unit determines that the amount of snowfall is less than the snowfall threshold. In any of the above control devices, the determination unit may determine whether or not lightning is occurring between the flight position of the unmanned aerial vehicle and the airfield, and the control unit may control the unmanned aerial vehicle to begin descending if the determination unit determines that lightning is not occurring between the flight position of the unmanned aerial vehicle and the airfield.In any of the control devices, the determination unit may determine whether fog is not occurring between the flight position of the unmanned aircraft and the airfield, and when the determination unit determines that no fog is occurring between the flight position of the unmanned aircraft and the airfield, the control unit may control the unmanned aircraft so that the unmanned aircraft starts to descend. In any of the control devices, the determination unit may determine whether haze is not occurring between the flight position of the unmanned aircraft and the airfield, and when the determination unit determines that no haze is occurring between the flight position of the unmanned aircraft and the airfield, the control unit may control the unmanned aircraft so that the unmanned aircraft starts to descend. In any of the control devices, the determination unit may determine whether sleet is not occurring between the flight position of the unmanned aircraft and the airfield, and when the determination unit determines that no sleet is occurring between the flight position of the unmanned aircraft and the airfield, the control unit may control the unmanned aircraft so that the unmanned aircraft starts to descend. In any of the control devices, the determination unit may determine whether hail is not occurring between the flight position of the unmanned aircraft and the airfield, and when the determination unit determines that no hail is occurring between the flight position of the unmanned aircraft and the airfield, the control unit may control the unmanned aircraft so that the unmanned aircraft starts to descend.

[0008] Any of the control devices may further include a storage unit that stores flight performance information indicating the flight performance of the unmanned aircraft and flight route information indicating the flight route until the unmanned aircraft lands at the airfield. When the unmanned aircraft starts to descend, the determination unit may determine a scheduled landing time at which the unmanned aircraft lands at the airfield based on the flight performance information and the flight route information, and the control unit may control the unmanned vehicle so that the unmanned aircraft in flight while traveling on the runway of the airfield at the scheduled landing time is loaded onto the loading unit.

[0009] In any of the control devices described above, the determination unit may further determine whether the unmanned aircraft has descended to a flight altitude at which direct wireless communication can be established between the unmanned aircraft and the unmanned vehicle. If the determination unit determines that the unmanned aircraft has descended to a flight altitude at which direct wireless communication can be established between the unmanned aircraft and the unmanned vehicle, the control unit may control the unmanned vehicle to establish a direct wireless communication connection with the unmanned aircraft and to receive the flight information from the unmanned aircraft via the direct wireless communication connection.

[0010] Any of the control devices described above may further include a storage unit for storing flight performance information indicating the flight performance of the unmanned aircraft and flight path information indicating the flight path of the unmanned aircraft until it lands at the airfield, and the determination unit may further determine whether the unmanned aircraft has descended to a predetermined flight altitude lower than the flight altitude at which direct wireless communication can be established between the unmanned aircraft and the unmanned vehicle, and the determination unit, when the determination unit determines that the unmanned aircraft has descended to the predetermined flight altitude, stores the flight performance information and the Based on the recorded flight path information, the determination unit may determine the scheduled landing time for the unmanned aircraft to land at the airport, and the determination unit may further determine whether the unmanned vehicle can load the unmanned aircraft, which is flying while traveling on the runway of the airport, into the loading unit at the scheduled landing time, and the control unit may further control the unmanned aircraft to ascend if the determination unit determines that the unmanned vehicle cannot load the unmanned aircraft, which is flying while traveling on the runway of the airport, into the loading unit at the scheduled landing time. In any of the above control devices, the determination unit may determine whether the unmanned vehicle can load the unmanned aircraft, which is flying while traveling on the runway of the airport, into the loading unit by determining whether the predetermined landing completion conditions are met at the scheduled landing time of the unmanned aircraft. In any of the above control devices, the determination unit may determine that the unmanned vehicle can load the flying unmanned aircraft into the loading unit while traveling on the runway of the airport if, during the landing time from the start of landing to the scheduled landing time, the wind speed between the flight position of the unmanned aircraft and the airport is slower than a predetermined wind speed threshold. In any of the above control devices, the determination unit may determine that the unmanned vehicle can load the flying unmanned aircraft into the loading unit while traveling on the runway of the airport if, during the landing time from the start of landing to the scheduled landing time, the second angle between a straight line parallel to the orientation of the unmanned vehicle and a straight line parallel to the direction of the flight attitude of the unmanned aircraft when it is loaded into the loading unit is smaller than a predetermined angle threshold.In any of the above control devices, the determination unit may determine that the unmanned aircraft can be loaded onto the loading unit while the unmanned vehicle is traveling on the runway of the airport if, during the landing time from the start of landing to the scheduled landing time, the bank angle of the unmanned aircraft is smaller than the allowable bank angle. In any of the above control devices, the determination unit may determine that the unmanned vehicle can be loaded onto the loading unit while the unmanned vehicle is traveling on the runway of the airport if, at the scheduled landing time, the relative speed between the unmanned aircraft and the unmanned vehicle is smaller than a predetermined relative speed threshold. In any of the above control devices, the determination unit may determine that the unmanned vehicle can be loaded onto the loading unit while the unmanned aircraft is traveling on the runway of the airport if, after the loading unit of the unmanned vehicle has loaded the unmanned aircraft, the unmanned vehicle can stop within the runway of the airport.

[0011] Any of the aforementioned control devices may be mounted on the unmanned vehicle.

[0012] According to one embodiment of the present invention, a program is provided for a control device that controls an unmanned vehicle having a loading unit for carrying an unmanned aerial vehicle, to execute a weather information acquisition procedure for acquiring weather information indicating the weather between the flight position of the unmanned aerial vehicle and an airport where the unmanned aerial vehicle will land; a flight information acquisition procedure for acquiring flight information of the unmanned aerial vehicle, including flight position information indicating the flight position of the unmanned aerial vehicle, flight speed information indicating the flight speed of the unmanned aerial vehicle, and flight attitude information indicating the flight attitude of the unmanned aerial vehicle; a determination procedure for determining the angle between a straight line parallel to the direction in which the unmanned vehicle travels and a straight line parallel to the orientation of the unmanned vehicle, based on the weather information and the flight information; and a control procedure for controlling the unmanned vehicle so as to load the unmanned aerial vehicle, which is in flight while traveling on the runway of the airport, onto the loading unit, based on the angle.

[0013] According to one embodiment of the present invention, an unmanned vehicle is provided that is equipped with any of the above-mentioned control devices.

[0014] In the aforementioned unmanned vehicle, the mounting section may function as a stratospheric platform and mount the unmanned aircraft that forms a wireless communication area by irradiating a beam and provides wireless communication services to communication terminals within the wireless communication area.

[0015] Furthermore, the above summary of the invention does not enumerate all the necessary features of the present invention. Also, subcombinations of these features may also constitute an invention.

[0016] An example of system 10 is schematically shown. This is an explanatory diagram illustrating an example of the relationship between the unmanned aerial vehicle 100 and the unmanned vehicle 200. This is an explanatory diagram illustrating an example of the unmanned vehicle 200 moving. This is an explanatory diagram illustrating an example of the unmanned aerial vehicle 100 landing. This is an explanatory diagram illustrating an example of the unmanned aerial vehicle 100 beginning to descend. This is an explanatory diagram illustrating an example of the unmanned aerial vehicle 100 descending. This is an explanatory diagram illustrating an example of determining whether or not the unmanned vehicle 200 can land. An example of the functional configuration of the control device 300 is schematically shown. This is an explanatory diagram illustrating an example of the processing flow of the control device 300. An example of the hardware configuration of the computer 1200 that functions as the controller 250 or the control device 300 is schematically shown.

[0017] For HAPS, which can fly in the stratosphere for several months using only solar energy, the weight of the HAPS aircraft has a significant impact on the length of time it can stay in the stratosphere. Therefore, it is desirable to make the HAPS aircraft as light as possible. Currently, there is consideration to eliminate the landing gear used to absorb the impact of landing. Note that landing gear may also be referred to as landing pods or landing gear. As mentioned above, due to the nature of HAPS flying in the stratosphere for several months, the frequency of use of the HAPS landing pod is extremely low compared to the frequency of use of the landing gear of other aircraft such as passenger planes. Therefore, if the HAPS landing pod, which accounts for a certain percentage of the total weight of HAPS, can be eliminated, it will greatly contribute to extending the length of time that HAPS can stay in the stratosphere. Therefore, a so-called dolly has been proposed that has an auxiliary function to assist the landing of a lightweight HAPS (sometimes referred to as a lightweight HAPS) by absorbing the impact when the lightweight HAPS lands, and an autonomous driving function to allow it to move autonomously. However, HAPS, including lightweight HAPS, land at an airfield while suppressing the effects of wind by controlling the orientation of the aircraft. Therefore, if a dolly equipped with only auxiliary and autonomous driving functions is used to assist the landing of a lightweight HAPS, an extremely large circular dedicated area is required, resulting in enormous costs. In the system according to this embodiment, for example, a dolly is adopted that is further equipped with a changing function that allows the orientation of the aircraft relative to the direction of its autonomous driving to be changed to any desired direction. In the system according to this embodiment, for example, the orientation of the dolly relative to the autonomous direction of the aircraft is determined based on the weather between the lightweight HAPS and the airport where the lightweight HAPS will land, as well as the flight information of the lightweight HAPS. Based on the orientation of the dolly relative to the autonomous direction of the aircraft, the dolly is controlled to load the lightweight HAPS in flight while traveling on the runway of the airport. As a result, the lightweight HAPS can be landed on the ground using the runway of an existing airport, thereby enabling a longer period of stay in the stratosphere for the HAPS at a low cost.

[0018] The present invention will be described below through embodiments, but these embodiments are not intended to limit the invention as defined in the claims. Furthermore, not all combinations of features described in the embodiments are necessarily essential to the solution of the invention. In addition, in the drawings, identical or similar parts may be given the same reference numeral to omit redundant descriptions.

[0019] Figure 1 schematically shows an example of system 10. System 10 may include an unmanned aerial vehicle 100. System 10 may include an unmanned ground vehicle 200. System 10 may include a control device 300. System 10 may include a weather server 500.

[0020] The unmanned aerial vehicle 100 can be any type of aircraft that is capable of flying without a person on board. For example, the unmanned aerial vehicle 100 is an unmanned airplane. For example, the unmanned aerial vehicle 100 is an unmanned aircraft. For example, the unmanned aerial vehicle 100 is a so-called HAPS that functions as a stratospheric platform. Figure 1 shows an example in which the unmanned aerial vehicle 100 is a HAPS.

[0021] The unmanned aerial vehicle 100 may have a main wing section 121, a body section 122, a propeller 124, a control section 126, a solar panel 130, an SL (Service Link) antenna 132, and an FL (Feeder Link) antenna 134. A battery is located in at least one of the main wing section 121 and the body section 122. The battery stores the electricity generated by the solar panel 130. The body section 122 includes a control device 150.

[0022] The management device 150 manages the objects to be managed. For example, the management device 150 manages the unmanned aerial vehicle 100.

[0023] The control device 150 manages the unmanned aerial vehicle 100, for example, by controlling the unmanned aerial vehicle 100. The unmanned aerial vehicle 100 may perform various processes in accordance with the control provided by the control device 150.

[0024] The unmanned aerial vehicle 100 may have various functions, for example. The unmanned aerial vehicle 100 may perform these functions using power stored in a battery mounted on its own.

[0025] The unmanned aerial vehicle 100 has, for example, a flight function. The unmanned aerial vehicle 100 flies, for example, by rotating its propeller 124.

[0026] The unmanned aerial vehicle 100 may, for example, fly autonomously. The unmanned aerial vehicle 100 may also fly according to the remote control of an external device such as a control system.

[0027] The unmanned aerial vehicle 100 has, for example, a positioning function. The unmanned aerial vehicle 100 measures its own flight position using, for example, a positioning sensor mounted on itself. Examples of positioning sensors include GNSS (Global Navigation Satellite System) sensors, GPS (Global Positioning System) sensors, and RTK (Real Time Kinetic) sensors.

[0028] Location information may be represented as a three-dimensional position. In this case, location information may include latitude, longitude, and altitude information.

[0029] The adjustment unit 126 may adjust the flight of the unmanned aerial vehicle 100. The adjustment unit 126 adjusts the flight of the unmanned aerial vehicle 100, for example, by adjusting the airflow around the unmanned aerial vehicle 100 during flight.

[0030] The number of adjustment units 126 in the unmanned aerial vehicle 100 is not limited to the four example shown in Figure 1. The unmanned aerial vehicle 100 may have four or fewer adjustment units 126, or it may have five or more adjustment units 126.

[0031] The unmanned aerial vehicle 100 has, for example, a range-measuring function. The unmanned aerial vehicle 100 measures the distance from itself to the object to be measured using, for example, a range-measuring sensor mounted on itself. LiDAR (Light Detection and Ranging) and Radar (Radio Detection and Ranging) are examples of range-measuring sensors.

[0032] The unmanned aerial vehicle 100 has, for example, an imaging function. The unmanned aerial vehicle 100 uses, for example, a camera mounted on itself to image the target. Examples of cameras include visible light cameras, infrared cameras, and omnidirectional cameras.

[0033] Image capture may be just one example of measurement. Therefore, the unmanned aerial vehicle 100 may measure its own flight position and the distance to the object to be measured based on the image data obtained by capturing images of the object using a camera mounted on the vehicle.

[0034] The unmanned aerial vehicle 100 has, for example, a measurement function. The unmanned aerial vehicle 100 measures the target of measurement using, for example, various sensors mounted on itself.

[0035] The measurement targets of the measurement function of the unmanned aerial vehicle 100 are, for example, various parameters related to the flight of the unmanned aerial vehicle 100. Examples of various parameters related to flight include speed, acceleration, and flight attitude. The flight attitude of the unmanned aerial vehicle 100 may be expressed as parameters such as the roll angle, pitch angle, and yaw angle of the unmanned aerial vehicle 100.

[0036] The measurement targets of the measurement function of the unmanned aerial vehicle 100 may be various parameters related to the surrounding environment of the unmanned aerial vehicle 100. Examples of parameters related to the surrounding environment include wind speed, wind direction, rainfall, snowfall, temperature, humidity, illuminance, and atmospheric pressure.

[0037] Examples of various sensors that measure various parameters related to flight include speed sensors, acceleration sensors, angle sensors, gyroscopes, and IMUs (Internal Measurement Units). Examples of various sensors that measure parameters related to the surrounding environment include wind speed sensors, wind direction sensors, rainfall sensors, snowfall sensors, and weather sensors. A weather sensor may be a sensor capable of measuring at least one of the following parameters: wind speed, wind direction, rainfall, snowfall, temperature, humidity, illuminance, and atmospheric pressure.

[0038] The unmanned aerial vehicle 100 has, for example, a wireless communication function. The unmanned aerial vehicle 100 communicates wirelessly with a communication target by, for example, irradiating beams onto the SL antenna 132 and the FL antenna 134.

[0039] The unmanned aerial vehicle 100 periodically communicates wirelessly with the communication target, for example. The unmanned aerial vehicle 100 may communicate wirelessly with the communication target at different communication frequencies depending on the status of the unmanned aerial vehicle 100.

[0040] The unmanned aerial vehicle 100 forms a wireless communication area 142 by, for example, irradiating an SL beam using the SL antenna 132 and provides wireless communication services to the communication terminal 400 within the wireless communication area 142. The unmanned aerial vehicle 100 establishes a service link between the communication terminal 400 within the wireless communication area 142 and the unmanned aerial vehicle 100 using the SL antenna 132.

[0041] The wireless communication area 142 includes, for example, one cell. The wireless communication area 142 includes, for example, multiple cells. In this case, the SL antenna 132 may be a multi-beam antenna.

[0042] The communication terminal 400 can be any communication terminal that is capable of using the wireless communication service provided by the unmanned aerial vehicle 100. For example, the communication terminal 400 may be a mobile phone such as a smartphone, a tablet terminal, or a wearable device. The communication terminal 400 may also be a PC (Personal Computer). The communication terminal 400 may also be an IoT (Internet of Things) terminal. The communication terminal 400 may include anything that falls under the IoE (Internet of Everything).

[0043] The unmanned aerial vehicle 100 establishes a feeder link between itself and the ground gateway 40 by, for example, irradiating it with an FL beam using the FL antenna 134. The unmanned aerial vehicle 100 may access the network 20 via the gateway 40.

[0044] Network 20 may include a core network provided by a telecommunications carrier. The core network may, for example, conform to a 5G (5th Generation) communication system. The core network may conform to a 6G (6th Generation) or later mobile communication system. The core network may conform to a 3G (3rd Generation) communication system. The core network may conform to an LTE (Long Term Evolution) communication system. Network 20 may include the Internet.

[0045] The unmanned aerial vehicle 100 provides wireless communication services to the communication terminal 400 while flying in the stratosphere, for example, in an area from an altitude of approximately 10 km to approximately 50 km. The unmanned aerial vehicle 100 covers the ground area by the wireless communication area 142 while patrolling the airspace above the ground area to be covered.

[0046] The unmanned aerial vehicle 100 transmits various data, for example. The unmanned aerial vehicle 100 transmits various data, for example, via the network 20.

[0047] The various data transmitted by the unmanned aerial vehicle 100 are, for example, various data measured by the unmanned aerial vehicle 100.

[0048] The unmanned aerial vehicle 100 may transmit various data to, for example, the unmanned vehicle 200. The unmanned aerial vehicle 100 may transmit various data to, for example, the control device 300. The unmanned aerial vehicle 100 may transmit various data to, for example, the weather server 500. The unmanned aerial vehicle 100 may also transmit various data to any other external device.

[0049] The unmanned aerial vehicle 100 receives various types of data, for example. The unmanned aerial vehicle 100 receives various types of data, for example, via the network 20.

[0050] The unmanned aerial vehicle 100 may receive various data from, for example, the unmanned vehicle 200. The unmanned aerial vehicle 100 may receive various data from, for example, the control device 300. The unmanned aerial vehicle 100 may receive various data from, for example, the weather server 500. The unmanned aerial vehicle 100 may also receive various data from any other external device.

[0051] The unmanned aerial vehicle 100 does not have landing gear such as a landing pod. As a result, the weight of the unmanned aerial vehicle 100 is lighter compared to the weight of other unmanned aerial vehicles with similar functions and landing gear. Therefore, the continuous flight period of the unmanned aerial vehicle 100 can be extended compared to the continuous flight period of those other unmanned aerial vehicles.

[0052] The unmanned aerial vehicle 100 does not necessarily have to have the adjustment unit 126. By omitting the adjustment unit 126, the unmanned aerial vehicle 100 can be made even lighter.

[0053] The unmanned vehicle 200 may assist in the landing of the unmanned aircraft 100 while it is in flight. For example, the unmanned vehicle 200 may assist in the landing of the unmanned aircraft 100 that is not equipped with landing gear. The unmanned vehicle 200 may be a so-called dolly.

[0054] The unmanned vehicle 200 has, for example, various functions. The unmanned vehicle 200 may perform its various functions using fuel such as gasoline carried on board, or it may perform its various functions using electricity stored in a battery carried on board.

[0055] The unmanned vehicle 200 has, for example, a driving function. The unmanned vehicle 200 moves by, for example, driving an actuator such as a motor.

[0056] The unmanned vehicle 200 travels, for example, on the runway of an airport where the unmanned aircraft 100 will land. The airport may have one runway or two or more runways. A runway may be a straight road constructed on the airport for aircraft to land.

[0057] The unmanned vehicle 200 may, for example, drive autonomously. The unmanned vehicle 200 may also drive according to the remote control of an external device such as a control system.

[0058] The unmanned vehicle 200 has, for example, an onboarding function. The target of the onboarding function may be an unmanned aerial vehicle 100.

[0059] The unmanned vehicle 200 has, for example, a positioning function. The unmanned vehicle 200 measures its own position using, for example, a positioning sensor mounted on itself. The positioning function of the unmanned vehicle 200 may be the same as the positioning function of the unmanned aircraft 100, or it may be a different positioning function from the positioning function of the unmanned aircraft 100.

[0060] The unmanned vehicle 200 has, for example, a distance measuring function. The unmanned vehicle 200 measures the distance from itself to the object to be measured using, for example, a distance measuring sensor mounted on itself. The distance measuring function of the unmanned vehicle 200 may be the same as the distance measuring function of the unmanned aircraft 100, or it may be a different distance measuring function from the distance measuring function of the unmanned aircraft 100.

[0061] The unmanned vehicle 200 has, for example, an imaging function. The unmanned vehicle 200 uses, for example, a camera mounted on itself to image the target object. The imaging function of the unmanned vehicle 200 may be the same as the imaging function of the unmanned aircraft 100, or it may be a different imaging function from the imaging function of the unmanned aircraft 100.

[0062] The unmanned vehicle 200 has, for example, a measurement function. The unmanned vehicle 200 measures a target using, for example, various sensors mounted on itself. The target of measurement for the measurement function of the unmanned vehicle 200 is, for example, various parameters related to the movement of the unmanned vehicle 200. Velocity, acceleration, and the orientation of the unmanned vehicle 200 are examples of various parameters related to movement. The orientation of the unmanned vehicle 200 may be expressed as parameters such as the roll angle, pitch angle, and yaw angle of the unmanned vehicle 200. The target of measurement for the measurement function of the unmanned vehicle 200 may also be various parameters related to the surrounding environment of the unmanned vehicle 200. The measurement function of the unmanned vehicle 200 may be the same as the measurement function of the unmanned aircraft 100, or it may be a different measurement function from the measurement function of the unmanned vehicle 200.

[0063] The unmanned vehicle 200 has, for example, a wireless communication function. The unmanned vehicle 200 has, for example, a direct wireless communication function. Communication standards such as Wi-Fi®, Bluetooth®, and Zigbee® are exemplified as examples of communication standards for direct wireless communication.

[0064] The unmanned vehicle 200 communicates wirelessly with the communication target, for example, via a direct wireless communication connection. The unmanned vehicle 200 communicates wirelessly with the communication target, for example, via a network 20.

[0065] The unmanned vehicle 200 periodically communicates wirelessly with the communication target, for example. The unmanned vehicle 200 may communicate wirelessly with the communication target at different communication frequencies depending on the status of the unmanned vehicle 200.

[0066] The unmanned vehicle 200 transmits various data, for example. The various data transmitted by the unmanned vehicle 200 are, for example, various data measured by the unmanned vehicle 200.

[0067] The unmanned vehicle 200 may, for example, transmit various data to the unmanned aircraft 100. The unmanned vehicle 200 may, for example, transmit various data to the control device 300. The unmanned vehicle 200 may, for example, transmit various data to the weather server 500. The unmanned vehicle 200 may also transmit various data to any other external device.

[0068] The unmanned vehicle 200 may, for example, receive various data. The unmanned vehicle 200 may, for example, receive various data from the unmanned aircraft 100. The unmanned vehicle 200 may, for example, receive various data from the control device 300. The unmanned vehicle 200 may, for example, receive various data from the weather server 500. The unmanned vehicle 200 may also receive various data from any other external device.

[0069] The control device 300 controls the object to be controlled. For example, the control device 300 controls the unmanned aerial vehicle 100. For example, the control device 300 controls the unmanned vehicle 200.

[0070] The control device 300 controls the controlled object by, for example, generating various control signals to control the controlled object and transmitting the generated various control signals to the controlled object. The control device 300 transmits the various control signals, for example, via the network 20.

[0071] Figure 1 shows an example in which the unmanned vehicle 200 and the control device 300 are different devices, and the control device 300 is not mounted on the unmanned vehicle 200. The control device 300 may be mounted on the unmanned vehicle 200. The unmanned vehicle 200 and the control device 300 may be the same device.

[0072] The weather server 500 manages weather information. Examples of weather information include wind speed data, wind direction data, rainfall data, snowfall data, temperature data, humidity data, illuminance data, and atmospheric pressure data.

[0073] The weather information provided may be the weather at the current time, or it may be a forecast of the weather after a predetermined elapsed time has elapsed from the current time. Examples of such predetermined elapsed times include 1 minute, 10 minutes, 1 hour, 6 hours, 12 hours, 1 day, etc.

[0074] The weather server 500 transmits weather information, for example. The weather server 500 transmits weather information, for example, via the network 20.

[0075] The weather server 500 periodically transmits weather information, for example. The weather server 500 transmits weather information in response to receiving an acquisition request, for example, a request to obtain weather information. An acquisition request includes, for example, at least one of flight position information indicating the flight position of the unmanned aerial vehicle 100 and driving position information indicating the driving position of the unmanned vehicle 200.

[0076] The weather server 500 may, for example, transmit weather information to the unmanned aerial vehicle 100. The weather server 500 may, for example, transmit weather information to the unmanned vehicle 200. The weather server 500 may, for example, transmit weather information to the control device 300. The weather server 500 may also transmit weather information to any other external device.

[0077] The weather server 500 transmits, for example, weather information indicating the weather between the flight position of the unmanned aerial vehicle 100 and the airfield where the unmanned aerial vehicle 100 will land. The weather server 500 transmits the weather information based, for example, on the flight position information of the unmanned aerial vehicle 100 included in the acquisition request.

[0078] Figure 2 is an explanatory diagram illustrating an example of the relationship between the unmanned aerial vehicle 100 and the unmanned vehicle 200. Here, an example of the relationship between the unmanned aerial vehicle 100 and the unmanned vehicle 200 will be explained while describing an example of the configuration of the unmanned aerial vehicle 100 and an example of the configuration of the unmanned vehicle 200.

[0079] The upper diagram of Figure 2 is an explanatory diagram illustrating an example of the relationship between the unmanned aerial vehicle 100 and the unmanned vehicle 200 when the unmanned aerial vehicle 100 is not mounted on the unmanned vehicle 200. In Figure 2, an example is shown in which the unmanned aerial vehicle 100 is equipped with one camera 160 and two range-measuring sensors 180.

[0080] Camera 160 may function as an imaging function of the unmanned aerial vehicle 100. Camera 160 may function as a positioning function of the unmanned aerial vehicle 100. Camera 160 may function as a measurement function of the unmanned aerial vehicle 100. Distance sensor 180 may function as a distance measuring function of the unmanned aerial vehicle 100.

[0081] The number of cameras 160 on the unmanned aerial vehicle 100 is not limited to the example shown in Figure 2. The unmanned aerial vehicle 100 may have two or more cameras 160. If the unmanned aerial vehicle 100 has two or more cameras 160, these two or more cameras 160 may be stereo cameras.

[0082] The arrangement of camera 160 is not limited to the example shown in Figure 2. Camera 160 may be placed in any position different from the arrangement shown in Figure 2.

[0083] The number of range-measuring sensors 180 equipped on the unmanned aerial vehicle 100 is not limited to the two examples shown in Figure 2. The unmanned aerial vehicle 100 may be equipped with one range-measuring sensor 180, or it may be equipped with three or more range-measuring sensors 180.

[0084] The arrangement of the distance measuring sensor 180 is not limited to the example shown in Figure 2. The distance measuring sensor 180 may be placed in any position different from the arrangement shown in Figure 2.

[0085] The unmanned vehicle 200 may include a driving unit 220 and a carrying unit 260. The unmanned vehicle 200 may also include a controller 250.

[0086] The controller 250 controls various functions of the unmanned vehicle 200. The controller 250 controls various functions of the unmanned vehicle 200 by, for example, generating various control signals and controlling various functions of the unmanned vehicle 200 based on the generated various control signals. The controller 250 also controls various functions of the unmanned vehicle 200 by, for example, receiving various control signals and controlling various functions of the unmanned vehicle 200 based on the received various control signals. The controller 250 may be an example of the control device 300.

[0087] The running unit 220 may function as the driving function of the unmanned vehicle 200. The running unit 220 may have multiple wheels 225. The running unit 220 may have actuators.

[0088] Each of the multiple wheels 225 of the running gear 220 may be individually steerable. That is, each of the multiple wheels 225 can face a different direction. Each of the multiple wheels 225 is, for example, a caster.

[0089] Each of the multiple wheels 225 is connected to, for example, an actuator. The actuator controls each of the multiple wheels 225 individually. The actuator controls, for example, the orientation of each of the multiple wheels 225 individually.

[0090] According to the unmanned vehicle 200 shown in Figure 2, the driving unit 220 has a plurality of wheels 225 that can be individually controlled, such as casters. As a result, the unmanned vehicle 200 shown in Figure 2 can arbitrarily control the orientation of the unmanned vehicle with respect to the direction in which it is traveling.

[0091] The mounting section 260 may function as a mounting function for the unmanned vehicle 200. The mounting section 260 includes, for example, a base 262, a mount 264, and a distance measuring sensor 266. Here, the surface on which the unmanned vehicle 100 is mounted is assumed to be the upper surface of the mounting section 260.

[0092] The base 262 places the object to be placed. For example, the base 262 places the object to be placed on the upper surface of the base 262.

[0093] The base 262 is where, for example, the mount 264 is placed. The base 262 is where, for example, the distance measuring sensor 266 is placed.

[0094] Mount 264 mounts the airframe of the unmanned aerial vehicle 100. The unmanned vehicle 200 carries the unmanned aerial vehicle 100, for example, by mounting the airframe of the unmanned aerial vehicle 100 onto the mount 264.

[0095] Mount 264 mounts, for example, the main body 122 of the unmanned aerial vehicle 100. Mount 264 mounts, for example, the adjustment unit 126 of the unmanned aerial vehicle 100.

[0096] The unmanned vehicle 200 can carry the unmanned aircraft 100 if, for example, the total number of main body parts 122 and adjustment parts 126 of the unmanned aircraft 100 matches the number of mounts 264. The unmanned vehicle 200 can carry the unmanned aircraft 100 if, for example, the total number of main body parts 122 and adjustment parts 126 of the unmanned aircraft 100 matches the number of mounts 264, and the spacing error between the mounting targets of two adjacent mounts 264 and the spacing between two adjacent mounts 264 is smaller than a predetermined allowable spacing error. The main body parts 122 and adjustment parts 126 of the unmanned aircraft 100 may be the mounting targets of the mounts 264.

[0097] The spacing error is, for example, the I between the main body 122 and the adjustment unit 126. Ａ１ The distance I between the mount 264 that mounts the main body 122 and the mount 264 adjacent to the said mount 264 that mounts the adjustment unit 126. Ｍ１ Interval error between | I Ａ１ -I Ｍ１ |Includes. The spacing error is, for example, the spacing I between two adjacent adjustment parts 126. Ａ２ The distance I between the two adjacent mounts 264 that mount the adjustment unit 126. Ｍ２ Interval error between | I Ａ２ -I Ｍ２ | Includes.

[0098] The distance measuring sensor 266 may serve as the distance measuring function for the unmanned vehicle 200. The distance measuring sensor 266 is positioned, for example, between two adjacent mounts 264.

[0099] The number of mounts 264 on the mounting unit 260 is not limited to the five example shown in Figure 2. The mounting unit 260 may have four or fewer mounts 264, or six or more mounts 264, as long as it matches the total number of main body parts 122 and adjustment parts 126 of the unmanned aircraft 100 on which the unmanned vehicle 200 is mounted.

[0100] The arrangement of the mount 264 is not limited to the example shown in FIG. 2. The mount 264 may be arranged at any position different from the arrangement shown in FIG. 2.

[0101] The number of the distance measurement sensors 266 included in the mounting portion 260 is not limited to the example of three shown in FIG. 2. The mounting portion 260 may have two or less distance measurement sensors 266, or may have four or more distance measurement sensors 266.

[0102] The arrangement of the distance measurement sensors 266 is not limited to the example shown in FIG. 2. The distance measurement sensors 266 may be arranged at any position different from the arrangement shown in FIG. 2.

[0103] In FIG. 2, an example in the case where the controller 250 is built in the mounting part 260 is shown. The controller 250 does not have to be built in the mounting part 260.

[0104] The unmanned vehicle 200 may further include a housing portion that houses the controller 250. In that case, the housing portion may be arranged at an arbitrary position of the unmanned vehicle 200.

[0105] The lower diagram of FIG. 2 is an explanatory diagram for explaining an example between the unmanned aerial vehicle 100 and the unmanned vehicle 200 in a state where the unmanned aerial vehicle 100 is mounted on the unmanned vehicle 200. As shown in the lower diagram of FIG. 2, the unmanned vehicle 200 mounts the unmanned aerial vehicle 100 by mounting the main body portion 122 and the adjustment portion 126 of the unmanned aerial vehicle 100 on each mount 264 of the mounting portion 260.

[0106] For example, in a state where the unmanned vehicle 200 mounts the unmanned aerial vehicle 100, the number and shape of the mounts 264 may be designed so that the camera 160, the distance measurement sensor 180, the mounts 264, and the distance measurement sensors 266 do not contact each other. Thereby, the possibility of damage caused by the unmanned vehicle mounting the unmanned aerial vehicle can be reduced.

[0107] FIG. 3 is an explanatory diagram for explaining an example in which the unmanned vehicle 200 travels. Here, the relationship between the direction in which the unmanned vehicle 200 travels and the orientation of the unmanned vehicle 200 will be mainly described.

[0108] e Ｒl is a direction vector indicating the direction in which the unmanned vehicle 200 travels. Ｒ This is a straight line parallel to the direction in which the unmanned vehicle 200 travels.

[0109] e Ｄ l is a direction vector indicating the orientation of the unmanned vehicle 200. Ｄ This is a straight line parallel to the direction of the unmanned vehicle 200.

[0110] In Figure 3, l Ｒ and l Ｄ An example is shown where the angle with respect to is θ. Here, the control device 300 is l Ｒ and l Ｄ An example of controlling the unmanned vehicle 200 so that it travels along the runway 50 while maintaining an angle of θ is described below. Note that θ may sometimes be referred to as the first angle.

[0111] For example, the control device 300 will determine the orientation of the unmanned vehicle 200 when the unmanned vehicle 200 is not traveling on the runway 50. Ｄ The control device 300 controls the unmanned vehicle 200 so that when the unmanned vehicle 200 is not traveling on the runway 50, the orientation of the unmanned vehicle 200 is e Ｄ The control device 300 is controlled to achieve the desired result. The control device 300 rotates the unmanned vehicle 200 by, for example, controlling each of the multiple wheels 225 of the unmanned vehicle 200.

[0112] For example, the control device 300 determines the orientation of the unmanned vehicle 200 to be e Ｄ After controlling the unmanned vehicle 200 so that the direction of each wheel 225 is e when the unmanned vehicle 200 is not traveling on the runway 50 Ｒ The unmanned vehicle 200 is controlled in such a manner. That is, the control device 300 individually controls the orientation of the unmanned vehicle 200 and the orientation of each wheel 225.

[0113] For example, the control device 300 controls the orientation of the unmanned vehicle 200 and the orientation of each wheel 225, respectively. Ｄ and e ＲAfter controlling the unmanned vehicle 200 to such a state, the control device 300 controls the unmanned vehicle 200 so that it begins to travel on the runway 50. Ｒ and l Ｄ The unmanned vehicle 200 can be controlled to move while maintaining an angle of θ with respect to the object.

[0114] The orientation of the unmanned vehicle 200 is, for example, perpendicular to the vertical direction. The orientation of the unmanned vehicle 200 is, for example, perpendicular to the runway 50.

[0115] The orientation of the unmanned vehicle 200 is such that, for example, when the orientation of the unmanned vehicle 200 coincides with the direction in which the unmanned vehicle 200 travels, a straight line parallel to the orientation of the unmanned vehicle 200 is parallel to a straight line parallel to the direction in which the unmanned vehicle 200 travels. The orientation of the unmanned vehicle 200 is such that, for example, when the orientation of the unmanned vehicle 200 coincides with the direction in which the unmanned vehicle 200 travels, θ = 0°.

[0116] The orientation of the unmanned vehicle 200 is, for example, perpendicular to the long axis of the base 262. The long axis of the base 262 may be perpendicular to the vertical direction, or perpendicular to the runway 50.

[0117] The orientation of the unmanned vehicle 200 is, for example, parallel to the minor axis of the base 262. The minor axis of the base 262 may be perpendicular to the vertical direction, or perpendicular to the runway 50.

[0118] Figure 4 is an explanatory diagram illustrating an example of the landing of the unmanned aerial vehicle 100. Here, the relationship between the unmanned aerial vehicle 100 and the unmanned vehicle 200 during landing will be mainly explained.

[0119] e Ｗ l is a directional vector indicating the wind direction. Ｗ It is a straight line parallel to the wind direction.

[0120] e Ｆ l is a direction vector indicating the direction of the flight attitude of the unmanned aerial vehicle 100. Ｆ This is a straight line parallel to the direction of the flight attitude of the unmanned aerial vehicle 100.

[0121] The control device 300 controls the unmanned aerial vehicle 100 so that, for example, the nose of the unmanned aerial vehicle 100 is facing into the wind while it is flying. Ｆ The direction is e Ｗ The unmanned aircraft 100 is controlled so that it moves in the opposite direction to the direction indicated.

[0122] The control device 300 controls the unmanned aerial vehicle 100 so that it flies in a crab-like manner. In the crab-like manner, the unmanned aerial vehicle 100 flies diagonally forward relative to the ground like a crab.

[0123] Here, we will describe an example in which the control device 300 controls the unmanned vehicle 200 so that it loads the unmanned aircraft 100, which is flying along the runway 50, onto the loading unit 260. Here, we assume that the control device 300 controls the unmanned aircraft 100 so that the nose of the aircraft is facing into the wind.

[0124] The control device 300 acquires, for example, flight information of the unmanned aerial vehicle 100. The flight information of the unmanned aerial vehicle 100 includes, for example, flight position information indicating the flight position of the unmanned aerial vehicle 100. The flight information of the unmanned aerial vehicle 100 also includes, for example, flight speed information indicating the flight speed of the unmanned aerial vehicle 100. Speed ​​may be a parameter having a velocity component and a directional component. Speed ​​may be represented as a vector. The flight information of the unmanned aerial vehicle 100 also includes, for example, flight attitude information indicating the flight attitude of the unmanned aerial vehicle.

[0125] The control device 300 acquires, for example, driving information of the unmanned vehicle 200. The driving information of the unmanned vehicle 200 includes, for example, driving position information indicating the driving position of the unmanned vehicle 200. The driving information of the unmanned vehicle 200 includes, for example, driving speed information indicating the driving speed of the unmanned vehicle 200. The driving information of the unmanned vehicle 200 includes, for example, direction information indicating the orientation of the unmanned vehicle 200.

[0126] The control device 300 determines a first angle based, for example, on weather information between the flight position of the unmanned aerial vehicle 100 and the airfield where the unmanned aerial vehicle 100 will land, and on flight information of the unmanned aerial vehicle 100. The control device 300 determines a first angle based, for example, l Ｄ and l Ｆ Determine the first angle such that the angle with is smaller. Ｄ and l Ｆ The angle between the first and second angles may be referred to as the second angle. The control device 300 determines the first angle such that the second angle becomes smaller when, for example, the unmanned aircraft 100 in flight is mounted on the mounting section 260 of the unmanned vehicle 200.

[0127] The control device 300 controls the unmanned vehicle 200 to load the unmanned aircraft 100, which is flying along the runway 50, onto the loading unit 260 based on a first angle. The control device 300 controls the unmanned vehicle 200 to travel along the runway 50 while maintaining the first angle, for example.

[0128] The control device 300 controls the unmanned vehicle 200, for example, based on the vehicle's travel information, to load the unmanned aircraft 100, which is flying along the runway 50, onto the loading unit 260. The control device 300 controls the vehicle's travel speed, for example, to reduce the relative speed between the unmanned aircraft 100 and the unmanned vehicle 200 when the unmanned aircraft 100 is loaded onto the loading unit 260 while in flight.

[0129] The upper part of Figure 4 shows the time t = t １ An example of the unmanned aerial vehicle 100 and unmanned vehicle 200 at time t is schematically shown. １ In this case, the unmanned aircraft 100 is e Ｆ It is descending in this flight attitude, and the unmanned vehicle 200 maintains θ while e Ｒ It is traveling in that direction.

[0130] The middle diagram in Figure 4 shows t = t ２ An example of the unmanned aerial vehicle 100 and unmanned vehicle 200 in this case is schematically shown. ２ is, t ２ >t １ It shall satisfy the following conditions.

[0131] Time t ２ The relative distance between the unmanned aerial vehicle 100 and the unmanned vehicle 200 at time t １ The relative distance between the unmanned aerial vehicle 100 and the unmanned vehicle 200 is shorter than the relative distance at time t. ２ In this case, the unmanned aircraft 100 is e Ｆ The unmanned vehicle 200 continues to descend in this flight attitude, maintaining θ while e Ｒ It continues to travel in that direction.

[0132] The lower part of Figure 4 shows t = t ３ An example of the unmanned aerial vehicle 100 and unmanned vehicle 200 in this case is schematically shown. ３ is, t ３ >t ２ It shall satisfy the following conditions.

[0133] Time t ３ In this sequence, the unmanned aerial vehicle 100 lands on the loading section 260 of the unmanned vehicle 200. Subsequently, the unmanned vehicle 200 decelerates and comes to a stop within the runway 50. This allows the unmanned aerial vehicle 100 to land at the airfield.

[0134] As mentioned above, there have been proposals to eliminate landing gear such as landing pods from unmanned aerial vehicles by using unmanned vehicles such as dollies. On the other hand, unmanned aerial vehicles are structurally vulnerable to crosswinds. In particular, HAPS, which flies in the stratosphere for several months, is structurally very vulnerable to crosswinds. Therefore, in order to avoid drift caused by crosswinds and to fly safely, it is important for unmanned aerial vehicles to fly in a way that keeps the nose of the vehicle facing into the wind, such as by using a crab maneuver. In particular, when an unmanned aerial vehicle is landing, if it is blown over by a crosswind and drifts, there is a risk that the unmanned aerial vehicle will fail to land and cause a major accident, so it is extremely important for the nose of the unmanned aerial vehicle to face into the wind when landing. However, if landing gear is simply eliminated from an unmanned aerial vehicle by using an unmanned vehicle capable of carrying an unmanned vehicle, a circular piece of land would be essential for the unmanned aerial vehicle to land with its nose facing into the wind under any wind direction, making it impossible to use existing runways. Therefore, a dedicated landing field would have to be constructed. Constructing a dedicated landing field incurs enormous costs. Furthermore, since a vast amount of land is required to construct a dedicated landing field, the area where a new dedicated landing field can be constructed is limited. For these reasons, if the proposal to eliminate landing gear from an unmanned aerial vehicle by using an unmanned vehicle is adopted, it is desirable that existing runways can be used.

[0135] In contrast, according to the system 10 of this embodiment, the unmanned vehicle 200 has a structure that allows for the individual control of the orientation of the unmanned vehicle 200 and the direction in which the unmanned vehicle 200 travels. The control device 300 determines a first angle based on weather information and flight information of the unmanned aircraft 100, and controls the unmanned vehicle 200 to load the unmanned aircraft 100, which is in flight and traveling along the runway 50, onto the loading unit 260 based on the first angle. By controlling the unmanned vehicle 200, which has a structure that allows for the individual control of the orientation of the unmanned vehicle 200 and the direction in which the unmanned vehicle 200 travels, based on weather information and flight information of the unmanned aircraft 100, the system 10 of this embodiment can safely land a lightweight unmanned aircraft, which has been made lighter by eliminating the landing gear, using an existing runway. In particular, when the unmanned aircraft is a HAPS, the system 10 of this embodiment can safely land the lightweight HAPS using an existing runway. This expands the area where wireless communication services can be provided using lightweight HAPS, and therefore, the system 10 according to this embodiment can contribute to improving the service quality of wireless communication services using HAPS.

[0136] Figure 5 is an explanatory diagram illustrating an example of when the unmanned aerial vehicle 100 begins its descent. Here, we mainly explain an example in which the control device 300 controls the unmanned aerial vehicle 100 to begin its descent based on weather information between the flight position of the unmanned aerial vehicle 100 and the airfield where the unmanned aerial vehicle 100 will land. Note that the airfield where the unmanned aerial vehicle 100 will land may be referred to as the landing airfield.

[0137] The control device 300 selects, for example, an unmanned vehicle 200 that carries the unmanned aircraft 100 in flight from among a plurality of unmanned vehicles 200 waiting at the landing airfield. The control device 300 selects, for example, an unmanned vehicle 200 that carries the unmanned aircraft 100 in flight from among a plurality of unmanned vehicles 200 waiting at the landing airfield, based on the aircraft information of the unmanned aircraft 100.

[0138] The aircraft information of the unmanned aerial vehicle 100 includes, for example, adjustment unit number information indicating the number of adjustment units 126 provided by the unmanned aerial vehicle 100. The aircraft information of the unmanned aerial vehicle 100 also includes, for example, spacing information indicating the distance between the mounting targets of two adjacent mounts 264. The spacing information is, for example, I Ａ１ This indicates the interval information, for example, I Ａ２ This indicates.

[0139] The control device 300 determines, for example, whether the weather conditions between the flight position of the unmanned aircraft 100 and the landing airfield meet predetermined descent start conditions. For example, if the control device 300 determines that the weather conditions meet the descent start conditions, it controls the unmanned aircraft 100 to begin descending. On the other hand, if the control device 300 determines that the weather conditions do not meet the descent start conditions, it does not control the unmanned aircraft 100 to begin descending.

[0140] The conditions for initiating a descent include, for example, that the weather conditions meet the requirements for good weather. The requirements for good weather include, for example, that the wind speed between the flight position of the unmanned aerial vehicle 100 and the landing airfield is slower than a predetermined wind speed threshold. The requirements for good weather include, for example, that the amount of rainfall between the flight position of the unmanned aerial vehicle 100 and the landing airfield is less than a predetermined rainfall threshold. The requirements for good weather include, for example, that the amount of snowfall between the flight position of the unmanned aerial vehicle 100 and the landing airfield is less than a predetermined snowfall threshold. The requirements for good weather include, for example, that there is no thunderstorm between the flight position of the unmanned aerial vehicle 100 and the landing airfield. The requirements for good weather include, for example, that there is no fog between the flight position of the unmanned aerial vehicle 100 and the landing airfield. The requirements for good weather include, for example, that there is no hail between the flight position of the unmanned aerial vehicle 100 and the landing airfield. The requirements for good weather include, for example, that there is no hail between the flight position of the unmanned aerial vehicle 100 and the landing airfield. Favorable weather conditions include, for example, the absence of hail between the flight position of the unmanned aircraft 100 and the landing airfield. Furthermore, favorable weather conditions may include two or more of the aforementioned favorable weather conditions.

[0141] The upper diagram of Figure 5 schematically shows an example where the weather conditions between the flight position of the unmanned aircraft 100 and the landing airfield meet the conditions for initiating a descent. In this case, the control device 300 controls the unmanned aircraft 100 so that it begins to descend.

[0142] The lower diagram of Figure 5 schematically shows an example where the weather conditions between the flight position of the unmanned aircraft 100 and the landing airfield do not meet the conditions for initiating a descent. In this case, the control device 300 does not control the unmanned aircraft 100 to initiate a descent.

[0143] Figure 6 is an explanatory diagram illustrating an example of the descent of the unmanned aerial vehicle 100. Here, we mainly explain an example in which the control device 300 controls the descent of the unmanned aerial vehicle 100 based on flight performance information indicating the flight performance of the unmanned aerial vehicle 100 and flight path information indicating the flight path until the unmanned aerial vehicle 100 lands at the airfield.

[0144] The flight performance information of the unmanned aerial vehicle 100 includes, for example, maximum descent speed information indicating the maximum descent speed of the unmanned aerial vehicle 100. The flight performance information of the unmanned aerial vehicle 100 also includes, for example, allowable bank angle information indicating the allowable bank angle of the unmanned aerial vehicle 100.

[0145] The control device 300 controls the descent of the unmanned aerial vehicle 100, for example. The control device 300 controls the descent of the unmanned aerial vehicle 100 by controlling the descent speed of the unmanned aerial vehicle 100, for example. The control device 300 controls the descent of the unmanned aerial vehicle 100 by controlling the bank angle of the unmanned aerial vehicle 100, for example.

[0146] The control device 300 determines, for example, the scheduled landing time for the unmanned aircraft 100 to land at the landing airport. The control device 300 determines the scheduled landing time for the unmanned aircraft 100 based, for example, the flight performance information and the flight path information of the unmanned aircraft 100.

[0147] The control device 300 periodically determines, for example, the scheduled landing time of the unmanned aerial vehicle 100. The control device 300 also determines the scheduled landing time of the unmanned aerial vehicle 100 when, for example, the flight path of the unmanned aerial vehicle 100 is changed.

[0148] The upper diagram of Figure 6 schematically shows an example of an unmanned aerial vehicle 100 descending. In Figure 6, it is assumed that the weather conditions between the flight position of the unmanned aerial vehicle 100 and the landing airfield are favorable.

[0149] The control device 300 controls the unmanned vehicle 200, for example, based on the scheduled landing time of the unmanned aircraft 100. The control device 300 controls the unmanned vehicle 200 by determining, for example, whether the time until the scheduled landing time of the unmanned aircraft 100 is shorter than a predetermined time T. Examples of T include 5 minutes, 10 minutes, 30 minutes, 60 minutes, etc.

[0150] For example, if the control device 300 determines that the time until the scheduled landing time of the unmanned aircraft 100 is shorter than T, it controls the unmanned vehicle 200 to travel to the runway 50 and have the unmanned aircraft 100 wait on the runway 50. While the unmanned vehicle 200 is waiting on the runway 50, the control device 300 may determine a first angle and control the orientation of the unmanned vehicle 200 and each of its multiple wheels 225 based on the determined first angle. On the other hand, if the control device 300 determines that the time until the scheduled landing time of the unmanned aircraft 100 is longer than T, it does not control the unmanned vehicle 200.

[0151] The lower diagram of Figure 6 schematically shows another example of the unmanned aerial vehicle 100 descending. The flight altitude of the unmanned aerial vehicle 100 in the lower diagram of Figure 6 is assumed to be lower than the flight altitude of the unmanned aerial vehicle 100 in the upper diagram of Figure 6. Also, it is assumed that the unmanned vehicle 200 is waiting for the unmanned aerial vehicle 100 on runway 50.

[0152] The control device 300 controls the unmanned vehicle 200, for example, based on the flight altitude of the unmanned aerial vehicle 100. The control device 300 controls the unmanned vehicle 200 by determining, for example, whether the unmanned aerial vehicle 100 has descended to a flight altitude at which direct wireless communication can be established between the unmanned aerial vehicle 100 and the unmanned vehicle 200.

[0153] For example, if the control device 300 determines that the unmanned aerial vehicle 100 has descended to a flight altitude where direct wireless communication can be established between the unmanned aerial vehicle 100 and the unmanned vehicle 200, it controls the unmanned vehicle 200 to establish direct wireless communication between the unmanned aerial vehicle 100 and the unmanned vehicle 200. In this case, the unmanned vehicle 200 establishes direct wireless communication with the unmanned aerial vehicle 100 according to the control of the control device 300 and receives flight information of the unmanned aerial vehicle 100 from the unmanned aerial vehicle 100 via the direct wireless communication connection. On the other hand, if the control device 300 determines that the unmanned aerial vehicle 100 has not descended to a flight altitude where direct wireless communication can be established between the unmanned aerial vehicle 100 and the unmanned vehicle 200, it does not control the unmanned vehicle 200.

[0154] Figure 7 is an explanatory diagram illustrating an example of how to determine whether or not the unmanned vehicle 200 can land. The flight altitude of the unmanned aircraft 100 in Figure 7 is assumed to be lower than the flight altitude of the unmanned aircraft 100 in the lower diagram of Figure 6. Furthermore, it is assumed that the unmanned vehicle 200 is waiting for the unmanned aircraft 100 on runway 50 with direct wireless communication established between the two.

[0155] The control device 300, for example, controls the aircraft at a predetermined flight altitude h ＴＨ Determine whether the unmanned aircraft 100 has descended to [a certain point]. ＴＨ The altitude at which direct wireless communication can be established between the unmanned aerial vehicle 100 and the unmanned vehicle 200 may be lower than the flight altitude at which direct wireless communication can be established.

[0156] For example, the control device 300 is h ＴＨ If it is determined that the unmanned aircraft 100 has descended to a certain point, the unmanned vehicle 200, which is waiting on the runway 50 of the landing airport, controls the unmanned vehicle 200 to load the unmanned aircraft 100, which is in flight, into the loading unit 260 while the vehicle is moving along the runway 50 of the landing airport. Meanwhile, the control device 300 controls h ＴＨ If it is determined that the unmanned aircraft 100 has not yet descended, the unmanned aircraft 100 will not be controlled by the unmanned vehicle 200 waiting on the runway 50.

[0157] The control device 300, for example, controls the unmanned aircraft 100 when h ＴＨAt the time when the unmanned aircraft 100 has descended to h, the scheduled landing time for the unmanned aircraft 100 to land at the landing airfield is determined. ＴＨ The time when the aircraft has descended to a certain point is sometimes referred to as the start time of landing.

[0158] The control device 300, for example, controls the unmanned aircraft 100 when h ＴＨ When the aircraft has descended to a certain point, the control device 300 determines whether the unmanned aircraft 100 can land at the landing airport at the scheduled landing time. The control device 300 determines, for example, at the start of landing whether the unmanned aircraft 100 can land at the landing airport at the scheduled landing time. The control device 300 determines, for example, during the landing time between the start of landing and the scheduled landing time whether the unmanned aircraft 100 can land at the landing airport at the scheduled landing time. Here, "the unmanned aircraft 100 landing at the landing airport at the scheduled landing time" may mean that at the scheduled landing time, the unmanned vehicle 200 is driving along the runway 50 of the landing airport and loading the flying unmanned aircraft 100 onto the loading unit 260.

[0159] The control device 300 determines whether the unmanned aircraft 100 can land at the landing airport at the scheduled landing time by, for example, determining whether predetermined landing completion conditions are met at the scheduled landing time. For example, if the control device 300 determines that the landing completion conditions are met at the scheduled landing time, it determines that the unmanned aircraft 100 can land at the landing airport at the scheduled landing time. On the other hand, if the control device 300 determines that the landing completion conditions are not met at the scheduled landing time, it determines that the unmanned aircraft 100 cannot land at the landing airport at the scheduled landing time.

[0160] The landing completion conditions include, for example, that during the landing time, the wind speed between the flight position of the unmanned aircraft 100 and the landing airfield is slower than a predetermined wind speed threshold. Another landing completion condition is that during the landing time, the second angle is smaller than a predetermined angle threshold. Another landing completion condition is that during the landing time, the bank angle of the unmanned aircraft 100 is smaller than the allowable bank angle. Another landing completion condition is that at the scheduled landing time, the relative speed between the unmanned aircraft 100 and the unmanned vehicle 200 is smaller than a predetermined relative speed threshold. Another landing completion condition is that, for example, after the loading unit 260 of the unmanned vehicle 200 has loaded the unmanned aircraft 100, the unmanned vehicle 200 can come to a stop within the runway 50. Note that the landing completion conditions may include two or more of the aforementioned landing completion conditions.

[0161] The upper part of Figure 7 schematically shows an example in which the unmanned aircraft 100 begins landing at the landing start time. As shown in the upper part of Figure 7, the unmanned aircraft 100 is h ＴＨ Having descended to a certain point, the unmanned aircraft 100 begins its landing at the airfield. Here, we will continue the explanation assuming that the control device 300 has determined that the unmanned aircraft 100 is ready to land at the airfield at the time the landing begins.

[0162] The middle diagram in Figure 7 schematically shows an example where the landing completion conditions are met during the landing time. Since the landing completion conditions are met during the landing time, the unmanned aircraft 100 successfully lands at the landing airfield, as shown in the middle diagram in Figure 7.

[0163] The lower diagram of Figure 7 schematically shows an example of a case where the landing completion conditions are not met during the landing time. As shown in the lower diagram of Figure 7, a strong crosswind is blowing while the unmanned aircraft 100 is landing at the landing field. In this case, the control device 300 controls the unmanned aircraft 100 to ascend. For example, the control device 300 controls the unmanned aircraft 100 when its flight altitude is h ＴＨ The control device 300 controls the unmanned aerial vehicle 100 to increase its altitude. Subsequently, the control device 300 controls the flight altitude of the unmanned aerial vehicle 100 to h ＴＨ The unmanned aircraft 100 may be controlled to descend to a lower altitude, and the landing of the unmanned aircraft 100 at the landing airfield may be retried.

[0164] Figure 8 schematically shows an example of the functional configuration of the control device 300. The control device 300 includes a storage unit 302, a weather information acquisition unit 304, a flight information acquisition unit 306, a driving information acquisition unit 307, a decision unit 308, a control unit 312, a selection unit 314, and a determination unit 316. However, it is not necessarily required that the control device 300 include all of these components.

[0165] The storage unit 302 stores various types of information. For example, the storage unit 302 stores information about the unmanned aerial vehicle 100. For example, the storage unit 302 stores information about the flight performance of the unmanned aerial vehicle 100. For example, the storage unit 302 stores information about the flight path of the unmanned aerial vehicle 100.

[0166] The weather information acquisition unit 304 acquires weather information. For example, the weather information acquisition unit 304 acquires weather information indicating the weather between the flight position of the unmanned aircraft 100 and the landing airport. The weather information acquisition unit 304 may store the acquired weather information in the storage unit 302.

[0167] The weather information acquisition unit 304 may acquire weather information by, for example, receiving weather information via the network 20. The weather information acquisition unit 304 may also acquire weather information by receiving weather information via a direct wireless communication connection. The weather information acquisition unit 304 may also acquire weather information by taking measurements using the measurement functions provided by the unmanned vehicle 200.

[0168] The weather information acquisition unit 304 acquires weather information from, for example, a weather server 500. The weather information acquisition unit 304 acquires weather information from, for example, a weather server 500 by sending an acquisition request to the weather server 500. The weather information acquisition unit 304 acquires weather information from, for example, an unmanned aerial vehicle 100. The weather information acquisition unit 304 acquires weather information from, for example, an unmanned vehicle 200.

[0169] The flight information acquisition unit 306 acquires flight information of the unmanned aerial vehicle 100. The flight information acquisition unit 306 acquires flight information of the unmanned aerial vehicle 100 by receiving the flight information of the unmanned aerial vehicle 100 via the network 20, for example. The flight information acquisition unit 306 may also acquire flight information of the unmanned aerial vehicle 100 by receiving the flight information of the unmanned aerial vehicle 100 via a direct wireless communication connection. The flight information acquisition unit 306 may store the acquired flight information of the unmanned aerial vehicle 100 in the storage unit 302.

[0170] The flight information acquisition unit 306 acquires, for example, flight information of the unmanned aerial vehicle 100 from the unmanned aerial vehicle 100. The flight information acquisition unit 306 may also acquire flight information of the unmanned aerial vehicle 100 from the unmanned vehicle 200 that has acquired the flight information of the unmanned aerial vehicle 100.

[0171] The driving information acquisition unit 307 acquires driving information of the unmanned vehicle 200. The driving information acquisition unit 307 acquires driving information of the unmanned vehicle 200 by, for example, receiving driving information of the unmanned vehicle 200 via the network 20. The driving information acquisition unit 307 may also acquire driving information of the unmanned vehicle 200 by taking measurements using the measurement functions provided by the unmanned vehicle 200. The driving information acquisition unit 307 may store the acquired driving information of the unmanned vehicle 200 in the storage unit 302.

[0172] The driving information acquisition unit 307 acquires, for example, driving information of the unmanned vehicle 200 from the unmanned vehicle 200. The driving information acquisition unit 307 may also acquire driving information of the unmanned vehicle 200 from the unmanned aircraft 100 that has acquired the driving information of the unmanned vehicle 200.

[0173] The driving information acquisition unit 307 acquires relative position information, for example, indicating the relative positions of the unmanned aircraft 100 and the unmanned vehicle 200. The driving information acquisition unit 307 may store the acquired relative position information of the unmanned aircraft 100 and the unmanned vehicle 200 in the storage unit 302.

[0174] The driving information acquisition unit 307 acquires relative position information of the unmanned aerial vehicle 100 and the unmanned vehicle 200 based, for example, on the flight position information of the unmanned aerial vehicle 100 included in the flight information of the unmanned aerial vehicle 100 and the driving position information of the unmanned vehicle 200 included in the driving information of the unmanned vehicle 200. In this case, the driving information acquisition unit 307 acquires relative position information of the unmanned aerial vehicle 100 and the unmanned vehicle 200 by calculating the difference between the flight position of the unmanned aerial vehicle 100 indicated by the flight position information of the unmanned aerial vehicle 100 and the driving position of the unmanned vehicle 200 indicated by the driving position information of the unmanned vehicle 200.

[0175] The driving information acquisition unit 307 acquires relative position information of the unmanned aerial vehicle 100 and the unmanned vehicle 200 by, for example, acquiring distance measurement data measured by the distance measurement function of the unmanned aerial vehicle 100. The driving information acquisition unit 307 acquires relative position information of the unmanned aerial vehicle 100 and the unmanned vehicle 200 by, for example, receiving distance measurement data of the unmanned aerial vehicle 100 via the network 20. The driving information acquisition unit 307 acquires relative position information of the unmanned aerial vehicle 100 and the unmanned vehicle 200 by receiving distance measurement data of the unmanned aerial vehicle 100 via a direct wireless communication connection.

[0176] The driving information acquisition unit 307 acquires, for example, distance measurement data of the unmanned aerial vehicle 100 from the unmanned aerial vehicle 100. The driving information acquisition unit 307 may also acquire distance measurement data of the unmanned aerial vehicle 100 from the unmanned vehicle 200 that has acquired the distance measurement data of the unmanned aerial vehicle 100.

[0177] The driving information acquisition unit 307 acquires relative position information of the unmanned aircraft 100 and the unmanned vehicle 200 by, for example, acquiring distance measurement data measured by the distance measurement function of the unmanned vehicle 200. The driving information acquisition unit 307 acquires relative position information of the unmanned vehicle 100 and the unmanned vehicle 200 by, for example, receiving distance measurement data of the unmanned vehicle 200 via the network 20. The driving information acquisition unit 307 acquires relative position information of the unmanned vehicle 100 and the unmanned vehicle 200 by measuring using the distance measurement function of the unmanned vehicle 200.

[0178] The driving information acquisition unit 307 acquires, for example, distance measurement data of the unmanned vehicle 200 from the unmanned vehicle 200. The driving information acquisition unit 307 may also acquire distance measurement data of the unmanned vehicle 200 from the unmanned aircraft 100 that has acquired the distance measurement data of the unmanned vehicle 200.

[0179] The driving information acquisition unit 307 acquires relative speed information, for example, that shows the relative speed of the unmanned aircraft 100 and the unmanned vehicle 200. The driving information acquisition unit 307 may store the acquired relative speed information of the unmanned aircraft 100 and the unmanned vehicle 200 in the storage unit 302.

[0180] The driving information acquisition unit 307 acquires relative speed information of the unmanned aerial vehicle 100 and the unmanned vehicle 200 based, for example, on the flight speed information of the unmanned aerial vehicle 100 included in the flight information of the unmanned aerial vehicle 100 and the driving speed information of the unmanned vehicle 200 included in the driving information of the unmanned vehicle 200. In this case, the driving information acquisition unit 307 acquires relative speed information of the unmanned aerial vehicle 100 and the unmanned vehicle 200 by calculating the difference between the flight speed of the unmanned aerial vehicle 100 indicated by the flight speed information of the unmanned aerial vehicle 100 and the driving speed of the unmanned vehicle 200 indicated by the driving speed information of the unmanned vehicle 200.

[0181] The driving information acquisition unit 307 acquires relative speed information of the unmanned aerial vehicle 100 and the unmanned vehicle 200 by, for example, acquiring distance measurement data obtained by the distance measurement function of the unmanned aerial vehicle 100 that measures the unmanned vehicle 200. The driving information acquisition unit 307 acquires relative speed information of the unmanned aerial vehicle 100 and the unmanned vehicle 200 by, for example, acquiring distance measurement data obtained by the distance measurement function of the unmanned vehicle 200 that measures the unmanned aerial vehicle 100.

[0182] The determination unit 308 determines the first angle. The determination unit 308 determines the first angle based on various information stored in the storage unit 302, for example. The determination unit 308 determines the first angle based on weather information and flight information of the unmanned aerial vehicle 100, for example. The determination unit 308 determines the first angle such that the second angle becomes smaller, for example.

[0183] The control unit 312 controls the controlled object. The control unit 312 controls the controlled object based on various information stored in the storage unit 302, for example.

[0184] The control unit 312 controls, for example, the unmanned aerial vehicle 100. The control unit 312 also controls, for example, the unmanned vehicle 200.

[0185] The control unit 312 may, for example, generate various control signals and control the controlled object based on the generated control signals. The control unit 312 may also receive various control signals and control the controlled object based on the received control signals.

[0186] The control signals include, for example, an aircraft control signal for controlling the unmanned aircraft 100. The aircraft control signals include, for example, a flight position control signal for controlling the flight position of the unmanned aircraft 100. The aircraft control signals include, for example, a flight speed control signal for controlling the flight speed of the unmanned aircraft 100. The aircraft control signals include, for example, a flight attitude control signal for controlling the flight attitude of the unmanned aircraft 100. The flight attitude control signal is, for example, a signal for controlling at least one of the roll angle, pitch angle, and yaw angle of the unmanned aircraft 100.

[0187] The control signals include, for example, a vehicle control signal for controlling the unmanned vehicle 200. The vehicle control signals include, for example, a vehicle position control signal for controlling the vehicle's position. The vehicle control signals include, for example, a vehicle speed control signal for controlling the vehicle's speed. The vehicle control signals include, for example, a direction control signal for controlling the orientation of the unmanned vehicle 200. The direction control signal is, for example, a signal for controlling at least one of the roll angle, pitch angle, and yaw angle of the unmanned vehicle 200. The vehicle control signals include, for example, a direction control signal for controlling the direction in which the unmanned vehicle 200 travels. The direction control signal is, for example, a signal for controlling each of the multiple wheels 225 of the unmanned vehicle 200.

[0188] The control unit 312 controls, for example, the orientation of the unmanned vehicle 200. The control unit 312 controls, for example, the orientation of the unmanned vehicle 200 when e ＤThe orientation of the unmanned vehicle 200 is controlled so that it becomes e. Ｄ The orientation of the control device 300 is controlled to achieve this. The control unit 312 rotates the unmanned vehicle 200 by, for example, controlling each of the multiple wheels 225 of the unmanned vehicle 200.

[0189] The control unit 312 controls, for example, the direction in which the unmanned vehicle 200 travels. The control unit 312 controls, for example, the direction in which the unmanned vehicle 200 travels e Ｒ The orientation of the unmanned vehicle 200 is controlled so that, for example, the orientation of each of the multiple wheels 225 is e Ｒ By controlling each wheel 225 so that the direction of travel of the unmanned vehicle 200 is e Ｒ The direction in which the unmanned vehicle 200 travels is controlled accordingly.

[0190] The control unit 312 controls, for example, the movement of the unmanned vehicle 200. The control unit 312 controls, for example, the direction of the unmanned vehicle 200. Ｄ Furthermore, the direction in which the unmanned vehicle 200 travels is e Ｒ The movement of the unmanned vehicle 200 is controlled so that it continues to move while maintaining that state.

[0191] The control unit 312 controls, for example, the travel position of the unmanned vehicle 200. The control unit 312 controls the travel position of the unmanned vehicle 200 based on, for example, relative position information stored in the storage unit 302. The control unit 312 controls the travel position of the unmanned vehicle 200 so that the relative distance between the unmanned aircraft 100 and the unmanned vehicle 200 becomes shorter.

[0192] The control unit 312 controls, for example, the travel speed of the unmanned vehicle 200. The control unit 312 controls the travel speed of the unmanned vehicle 200 based, for example, on relative speed information stored in the storage unit 302.

[0193] The control unit 312 controls the flight of the unmanned aerial vehicle 100, for example. The control unit 312 controls the flight of the unmanned aerial vehicle 100 so that the nose of the aircraft is facing into the wind.

[0194] The control unit 312 controls, for example, the flight position of the unmanned aerial vehicle 100. The control unit 312 controls the flight position of the unmanned aerial vehicle 100 based on, for example, relative position information stored in the storage unit 302. The control unit 312 controls the flight position of the unmanned aerial vehicle 100 so that the relative distance between the unmanned aerial vehicle 100 and the unmanned vehicle 200 becomes shorter.

[0195] The control unit 312 controls the flight speed of the unmanned aerial vehicle 100, for example. The control unit 312 controls the flight speed of the unmanned aerial vehicle 100 based on relative speed information stored in the storage unit 302, for example.

[0196] The control unit 312 controls, for example, the landing of the unmanned aerial vehicle 100. The control unit 312 controls the landing of the unmanned aerial vehicle 100 so that, for example, the nose of the unmanned aerial vehicle 100 is facing into the wind when it lands.

[0197] The control unit 312 controls the unmanned vehicle 200 to load the unmanned aircraft 100, which is flying along the runway 50 of the landing airport, onto the loading unit 260 of the unmanned vehicle 200, based on the first angle determined by the determination unit 308. The control unit 312 further controls the unmanned aircraft 100 to load the unmanned aircraft 100, which is flying along the runway 50, onto the loading unit 260, based on the first angle determined by the determination unit 308.

[0198] The control unit 312 controls the driving speed of the unmanned vehicle 200, for example, based on the driving information of the unmanned vehicle 200 stored in the storage unit 302, so that the relative speed between the unmanned vehicle 100 and the unmanned vehicle 200 becomes smaller when the unmanned vehicle 100 is mounted on the loading unit 260 while in flight. The control unit 312 further controls the driving speed of the unmanned vehicle 100, for example, based on the driving information of the unmanned vehicle 200, so that the relative speed becomes even smaller.

[0199] The selection unit 314 selects an unmanned vehicle 200 to carry the unmanned aircraft 100 in flight. The selection unit 314 selects an unmanned vehicle 200 from, for example, a plurality of unmanned vehicles 200 waiting at a landing airport. The control unit 312 may control the unmanned vehicle 200 selected by the selection unit 314 so as to load the unmanned aircraft 100, which is in flight, onto the loading unit 260 while it is traveling along the runway 50 of the landing airport.

[0200] The selection unit 314 selects an unmanned vehicle 200 based, for example, on the aircraft information of the unmanned aerial vehicle 100 stored in the storage unit 302. The selection unit 314 selects an unmanned vehicle 200 in which, for example, the number of mounts 264 matches the sum of the number of main body units 122 and the number of adjustment units 126 indicated by the adjustment unit number information included in the aircraft information of the unmanned aerial vehicle 100. The selection unit 314 selects an unmanned vehicle 200 in which the number of mounts 264 matches the sum, and in which the spacing error between the mounting targets of two adjacent mounts 264 and the spacing between two adjacent mounts 264, indicated by the spacing information included in the aircraft information of the unmanned aerial vehicle 100, is smaller than a predetermined tolerance error.

[0201] The determination unit 316 performs various determination processes. For example, the determination unit 316 performs various determination processes based on the various information stored in the storage unit 302.

[0202] The determination unit 316 determines, for example, whether the weather between the flight position of the unmanned aircraft 100 and the landing airfield, as indicated by the weather information stored in the storage unit 302, satisfies the predetermined conditions for initiating descent.

[0203] For example, the control unit 312 controls the unmanned aerial vehicle 100 to begin descending when the determination unit 316 determines that the weather conditions meet the conditions for initiating a descent. On the other hand, the control unit 312 does not control the unmanned aerial vehicle 100 to begin descending when the determination unit 316 determines that the weather conditions do not meet the conditions for initiating a descent.

[0204] For example, when the unmanned aerial vehicle 100 begins to descend, the determination unit 308 determines the scheduled landing time for the unmanned aerial vehicle 100 to land at the landing airport based on the flight performance information and flight path information of the unmanned aerial vehicle 100 stored in the storage unit 302. For example, when the unmanned aerial vehicle 100 begins to descend, the determination unit 308 determines the scheduled landing position for the unmanned aerial vehicle 100 to land at the landing airport at the scheduled landing time, based on the scheduled landing time, the flight performance information and flight path information of the unmanned aerial vehicle 100.

[0205] The control unit 312 controls the unmanned vehicle 200 so that, for example, at the scheduled landing time of the unmanned aircraft 100, while it is flying along the runway 50 of the landing airport, it will be loaded onto the loading unit 260 of the unmanned vehicle 200. The control unit 312 further controls the unmanned aircraft 100 so that, for example, at the scheduled landing time of the unmanned aircraft 100, while it is flying along the runway 50, it will be loaded onto the loading unit 260.

[0206] The determination unit 316 determines, for example, whether the time until the scheduled landing time of the unmanned aircraft 100 is shorter than T. For example, if the determination unit 316 determines that the time until the scheduled landing time of the unmanned aircraft 100 is shorter than T, the control unit 312 controls the unmanned vehicle 200 to travel to the runway 50 of the landing airport and have the unmanned aircraft 100 wait on the runway 50. The control unit 312 may instruct the determination unit 308 to determine a first angle in response to the unmanned vehicle 200 arriving at the runway 50 and beginning to wait for the unmanned aircraft 100. The determination unit 308 may determine the first angle in accordance with the instructions from the control unit 312. On the other hand, if the determination unit 316 determines that the time until the scheduled landing time of the unmanned aircraft 100 is longer than T, the control unit 312 does not control the unmanned vehicle 200 to travel to the runway 50 and have the unmanned aircraft 100 wait on the runway 50.

[0207] The determination unit 316 determines, for example, whether the unmanned aerial vehicle 100 has descended to a flight altitude where direct wireless communication can be established between the unmanned aerial vehicle 100 and the unmanned vehicle 200. For example, if the determination unit 316 determines that the unmanned aerial vehicle 100 has descended to a flight altitude where direct wireless communication can be established between the unmanned aerial vehicle 100 and the unmanned vehicle 200, the control unit 312 controls the unmanned vehicle 200 to establish a direct wireless communication connection with the unmanned aerial vehicle 100 and to receive flight information of the unmanned aerial vehicle 100 from the unmanned aerial vehicle 100 via the direct wireless communication connection. On the other hand, if the determination unit 316 determines that the unmanned aerial vehicle 100 has not descended to a flight altitude where direct wireless communication can be established between the unmanned aerial vehicle 100 and the unmanned vehicle 200, the control unit 312 does not control the unmanned vehicle 200 to establish a direct wireless communication connection with the unmanned aerial vehicle 100 and to receive flight information of the unmanned aerial vehicle 100 from the unmanned aerial vehicle 100 via the direct wireless communication connection.

[0208] The determination unit 316 determines, for example, if the unmanned aircraft 100 is h ＴＨ It determines whether or not the unmanned aircraft 100 has descended to h ＴＨ When the determination unit 316 determines that the unmanned aircraft 100 has descended to h, it determines the scheduled landing time for the unmanned aircraft 100 to land at the landing airport based on the flight performance information and flight path information of the unmanned aircraft 100 stored in the storage unit 302. The determination unit 308 determines, for example, when the unmanned aircraft 100 is h ＴＨ When the determination unit 316 determines that the unmanned aircraft 100 has descended to h, it determines the planned landing position at which the unmanned aircraft 100 will land at the landing airfield at the planned landing time, based on the planned landing time of the unmanned aircraft 100, the flight performance information of the unmanned aircraft 100, and the flight path information of the unmanned aircraft 100. Meanwhile, the determination unit 308 determines that the unmanned aircraft 100 has descended to h ＴＨ If the determination unit 316 determines that the aircraft has not descended to a certain point, it does not determine the scheduled landing time for the unmanned aircraft 100.

[0209] The determination unit 316 determines, for example, whether the unmanned vehicle 200 can load the unmanned aircraft 100, which is in flight, onto the loading unit 260 while driving on the runway 50 of the landing airport, at the scheduled landing time of the unmanned aircraft 100 determined by the decision unit 308. The determination unit 316 determines, for example, whether the unmanned vehicle 200 can load the unmanned aircraft 100, which is in flight, onto the loading unit 260 while driving on the runway 50 of the landing airport, by determining whether the predetermined landing completion conditions are met at the scheduled landing time of the unmanned aircraft 100.

[0210] For example, if the determination unit 316 determines that the unmanned vehicle 200 can be loaded onto the loading unit 260 while the unmanned vehicle 100 is flying along the runway 50 at the scheduled landing time of the unmanned aerial vehicle 100, the control unit 312 controls the unmanned vehicle 200 so that it loads onto the loading unit 260 while the unmanned vehicle 100 is flying along the runway 50 at the scheduled landing time of the unmanned aerial vehicle 100. The control unit 312 further controls the unmanned aerial vehicle 100 so that it loads onto the loading unit 260 while the unmanned vehicle 100 is flying along the runway 50 at the scheduled landing time of the unmanned aerial vehicle 100.

[0211] The control unit 312 controls the unmanned vehicle 200 so that, for example, at the scheduled landing time and location of the unmanned aerial vehicle 100, the unmanned vehicle 200 is positioned below the unmanned aerial vehicle 100 with the loading unit 260 capable of loading the unmanned aerial vehicle 100. The control unit 312 further controls the unmanned aerial vehicle 100 so that, for example, at the scheduled landing time and location of the unmanned aerial vehicle 100, the unmanned vehicle 200 is positioned below the unmanned aerial vehicle 100 with the loading unit 260 capable of loading the unmanned aerial vehicle 100.

[0212] On the other hand, if the control unit 312 determines that the unmanned aircraft 100 cannot be loaded onto the loading unit 260 while the unmanned vehicle 200 is traveling along the runway 50 at the scheduled landing time of the unmanned aircraft 100, the control unit 312 controls the unmanned aircraft 100 to ascend. In this case, the control unit 312 controls the unmanned aircraft 100 to ascend when the flight altitude of the unmanned aircraft 100 is h ＴＨThe flight altitude of the unmanned aerial vehicle 100 may be controlled to be higher. Subsequently, the control unit 312 controls the flight altitude of the unmanned aerial vehicle 100 to h ＴＨ The flight altitude of the unmanned aircraft 100 may be controlled to descend to a certain point.

[0213] Figure 9 is an explanatory diagram illustrating an example of the processing flow of the control device 300. Here, the starting state is described as the state in which the control device 300 has selected the unmanned vehicle 200 on which the unmanned aircraft 100 in flight is mounted.

[0214] In step 102 (steps may be abbreviated as S), the control device 300 acquires various information. In S104, the determination unit 316 determines whether the weather between the flight position of the unmanned aircraft 100 and the landing airfield, as indicated by the weather information included in the various information acquired by the control device 300 in S102, satisfies the descent start condition. If the determination unit 316 determines that the weather satisfies the descent start condition, the process proceeds to S106. If the determination unit 316 determines that the weather does not satisfy the descent start condition, the control device 300 terminates its processing without landing the unmanned aircraft 100 at the landing airfield.

[0215] In S106, the decision unit 308 determines the scheduled landing time for the unmanned aerial vehicle 100 to land at the landing airfield based on various information acquired by the control device 300 in S102. In S108, the control unit 312 controls the unmanned aerial vehicle 100 to begin descending. The unmanned aerial vehicle 100 begins descending in accordance with the control by the control device 300.

[0216] In S110, the determination unit 316 determines whether the time remaining until the scheduled landing time of the unmanned aircraft 100, as determined by the decision unit 308 in S106, is shorter than T. If the determination unit 316 determines that the time remaining until the scheduled landing time of the unmanned aircraft 100 is shorter than T, the process proceeds to S116. If the determination unit 316 determines that the time remaining until the scheduled landing time of the unmanned aircraft 100 is longer than T, the process proceeds to S112.

[0217] In S112, the control device 300 acquires various information. In S114, the determination unit 308 updates the scheduled landing time of the unmanned aircraft 100 based on the various information acquired by the control device 300 in S112, and returns to S110. In subsequent S110s, the judgment unit 316 determines whether the time remaining until the scheduled landing time of the unmanned aircraft 100, which was updated by the determination unit 308 in S114, is shorter than T.

[0218] In S116, the control unit 312 controls the unmanned vehicle 200 to travel to the runway 50 of the landing airport and have the unmanned aircraft 100 wait on the runway 50. The unmanned vehicle 200 travels to the runway 50 in accordance with the control of the control device 300 and waits for the unmanned aircraft 100 to wait on the runway 50.

[0219] In S118, the control device 300 acquires various information. In S120, the decision unit 308 updates the scheduled landing time of the unmanned aircraft 100 based on the various information acquired by the control device 300 in S118.

[0220] In S122, the determination unit 316 determines that the unmanned aircraft 100 is h ＴＨ It is determined whether or not the unmanned aircraft 100 has descended to h ＴＨ If the determination unit 316 determines that the unmanned aircraft 100 has descended to h, the process proceeds to S124. ＴＨ If the determination unit 316 determines that it has not descended to that point, the process returns to S118.

[0221] In S124, the control unit 312 controls the unmanned aerial vehicle 100 to begin landing. The unmanned aerial vehicle 100 begins landing in accordance with the control of the control device 300.

[0222] In S126, the determination unit 316 determines whether the landing completion conditions are met at the scheduled landing time of the unmanned aircraft 100, which was updated by the decision unit 308 in S120. If the determination unit 316 determines that the landing completion conditions are met at the scheduled landing time of the unmanned aircraft 100, the process proceeds to S128. If the determination unit 316 determines that the landing completion conditions are not met at the scheduled landing time of the unmanned aircraft 100, the process proceeds to S130.

[0223] In S128, the determination unit 316 determines whether or not the unmanned aircraft 100 has landed at the landing airfield. If the determination unit 316 determines that the unmanned aircraft 100 has landed at the landing airfield, the processing of the control device 300 ends thereafter. If the determination unit 316 determines that the unmanned aircraft 100 has not landed at the landing airfield, the process returns to S126.

[0224] In S130, the control unit 312 controls the unmanned aerial vehicle 100 to begin ascending. The unmanned aerial vehicle 100 begins ascending in accordance with the control of the control device 300. Then, the process returns to S118. From here on, steps S118 to S130 may be repeated until the unmanned aerial vehicle 100 lands at the landing airfield.

[0225] Figure 10 schematically shows an example of the hardware configuration of a computer 1200 that functions as a controller 250 or a control device 300. A program installed on the computer 1200 can cause the computer 1200 to function as one or more "parts" of the apparatus according to this embodiment, or to cause the computer 1200 to execute operations associated with the apparatus according to this embodiment or such one or more "parts", and / or to cause the computer 1200 to execute a process or a stage of such process according to this embodiment. Such a program may be executed by the CPU 1212 to cause the computer 1200 to execute specific operations associated with some or all of the blocks in the flowcharts and block diagrams described herein.

[0226] The computer 1200 according to this embodiment includes a CPU 1212, RAM 1214, and a graphics controller 1216, which are interconnected by a host controller 1210. The computer 1200 also includes input / output units such as a communication interface 1222, a storage device 1224, a DVD drive 1226, and an IC card drive, which are connected to the host controller 1210 via an input / output controller 1220. The DVD drive 1226 may be a DVD-ROM drive and a DVD-RAM drive, etc. The storage device 1224 may be a hard disk drive and a solid-state drive, etc. The computer 1200 also includes legacy input / output units such as a ROM 1230 and a keyboard, which are connected to the input / output controller 1220 via an input / output chip 1240.

[0227] The CPU 1212 operates according to the programs stored in the ROM 1230 and RAM 1214, thereby controlling each unit. The graphics controller 1216 acquires the image data generated by the CPU 1212 and stores it in the frame buffer provided in the RAM 1214 or within itself, so that the image data is displayed on the display device 1218.

[0228] The communication interface 1222 communicates with other electronic devices via a network. The storage device 1224 stores programs and data used by the CPU 1212 in the computer 1200. The DVD drive 1226 reads programs or data from the DVD-ROM 1227, etc., and provides them to the storage device 1224. The IC card drive reads programs and data from the IC card and / or writes programs and data to the IC card.

[0229] The ROM 1230 stores boot programs and / or hardware-dependent programs of the computer 1200, which are executed by the computer 1200 when activated. The input / output chip 1240 may also connect various input / output units to the input / output controller 1220 via USB ports, parallel ports, serial ports, keyboard ports, mouse ports, etc.

[0230] The program is provided on a computer-readable storage medium such as a DVD-ROM 1227 or an IC card. The program is read from the computer-readable storage medium and installed on a storage device 1224, RAM 1214, or ROM 1230, which are examples of computer-readable storage media, and executed by the CPU 1212. The information processing described within these programs is read by the computer 1200, resulting in coordination between the program and the various types of hardware resources described above. The apparatus or method may be configured to realize the operation or processing of information in accordance with the use of the computer 1200.

[0231] For example, when communication is performed between a computer 1200 and an external device, the CPU 1212 may execute a communication program loaded into the RAM 1214 and, based on the processing described in the communication program, instruct the communication interface 1222 to perform communication processing. Under the control of the CPU 1212, the communication interface 1222 reads transmission data stored in a transmission buffer area provided in a recording medium such as the RAM 1214, storage device 1224, DVD-ROM 1227, or IC card, transmits the read transmission data to the network, or writes received data received from the network to a reception buffer area or the like provided on the recording medium.

[0232] Furthermore, the CPU 1212 may read all or necessary parts of a file or database stored on an external recording medium such as a storage device 1224, a DVD drive 1226 (DVD-ROM 1227), or an IC card into the RAM 1214, and perform various types of processing on the data in the RAM 1214. The CPU 1212 may then write the processed data back to the external recording medium.

[0233] Various types of information, such as various types of programs, data, tables, and databases, may be stored on the recording medium and subjected to information processing. The CPU 1212 may perform various types of processing on the data read from the RAM 1214, including various types of operations, information processing, conditional judgments, conditional branching, unconditional branching, information retrieval / replacement, etc., as described throughout this disclosure and specified by the program instruction sequence, and write the results back to the RAM 1214. The CPU 1212 may also retrieve information in files, databases, etc., within the recording medium. For example, if a plurality of entries are stored in the recording medium, each having an attribute value of a first attribute associated with an attribute value of a second attribute, the CPU 1212 may search among the plurality of entries for an entry that matches the specified condition for the attribute value of the first attribute, read the attribute value of the second attribute stored in that entry, and thereby obtain the attribute value of the second attribute associated with the first attribute that satisfies a predetermined condition.

[0234] The program or software module described above may be stored on or near the computer 1200 in a computer-readable storage medium. Alternatively, a recording medium such as a hard disk or RAM provided within a server system connected to a dedicated communication network or the Internet can be used as a computer-readable storage medium, thereby providing the program to the computer 1200 via the network.

[0235] In this embodiment, blocks in the flowchart and block diagram may represent a stage in a process in which an operation is performed or a "part" of a device that has the role of performing an operation. A particular stage and "part" may be implemented by a dedicated circuit, a programmable circuit supplied with computer-readable instructions stored on a computer-readable storage medium, and / or a processor supplied with computer-readable instructions stored on a computer-readable storage medium. The dedicated circuit may include digital and / or analog hardware circuits, and may include integrated circuits (ICs) and / or discrete circuits. The programmable circuit may include reconfigurable hardware circuits, such as field-programmable gate arrays (FPGAs) and programmable logic arrays (PLAs), which include logical AND, logical OR, exclusive OR, negated AND, negated OR, and other logical operations, flip-flops, registers, and memory elements.

[0236] Computer-readable media may include any tangible device capable of storing instructions to be executed by a suitable device, and as a result, computer-readable media having instructions stored therein will comprise a product that includes instructions that can be executed to create means for performing operations specified in a flowchart or block diagram. Examples of computer-readable media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. More specific examples of computer-readable media may include floppy disks (registered trademark), diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), compact disk read-only memory (CD-ROM), digital multipurpose disc (DVD), Blu-ray (registered trademark) disc, memory stick, integrated circuit card, etc.

[0237] Computer-readable instructions may include assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk®, Java®, C++, and conventional procedural programming languages ​​such as the C programming language or similar programming languages.

[0238] Computer-readable instructions are provided locally or via a wide area network (WAN) such as a local area network (LAN) or the internet to the processor or programmable circuit of a programmable data processing device such as a computer, and may be executed to create means for performing operations specified in a flowchart or block diagram. Here, the computer may be a PC (personal computer), tablet computer, smartphone, workstation, server computer, general-purpose computer, or special-purpose computer, and may also be a computer system in which multiple computers are connected. Such a computer system in which multiple computers are connected is also called a distributed computing system and is a computer in a broad sense. In a distributed computing system, multiple computers execute a program by having each computer execute a part of the program and by passing data during program execution between computers as needed.

[0239] Examples of processors include computer processors, central processing units (CPUs), processing units, microprocessors, digital signal processors, controllers, and microcontrollers. A computer may have one or more processors. In a multiprocessor system with multiple processors, each processor executes a portion of the program, and the processors collectively execute the program by passing program execution data between them as needed. For example, in the execution of multitasks, each of the multiple processors may execute a portion of each task in small chunks by switching tasks at each time slice. In this case, which part of a program each processor executes changes dynamically. Which part of a program each of the multiple processors executes may also be statically determined by multiprocessor-aware programming.

[0240] This invention can contribute to improving the service quality of wireless communication services using HAPS, and therefore can contribute to achieving Sustainable Development Goal (SDG) 9, "Build resilient infrastructure, promote inclusive and sustainable industrialization and foster innovation."

[0241] Although the present invention has been described above using embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications or improvements can be made to the above embodiments. It will be clear from the claims that such modified or improved forms may also be included in the technical scope of the present invention.

[0242] It should be noted that the execution order of operations, procedures, steps, and stages in the devices, systems, programs, and methods shown in the claims, specifications, and drawings is not explicitly stated as "before" or "prior to," and that these can be performed in any order unless the output of a previous operation is used in a later operation. Even if the operation flow in the claims, specifications, and drawings is described using phrases such as "first," and "next," for convenience, this does not mean that it is mandatory to perform the operations in that order.

[0243] 10 System, 20 Network, 40 Gateway, 50 Runway, 100 Unmanned aerial vehicle, 121 Main wing section, 122 Body section, 124 Propeller, 126 Adjustment section, 130 Solar panel, 132 SL antenna, 134 FL antenna, 142 Wireless communication area, 150 Management device, 160 Camera, 180 Range sensor, 200 Unmanned vehicle, 220 Driving section, 225 Wheels, 250 Controller, 260 Mounting section, 262 Base, 264 Mount, 266 Range sensor, 300 Control device, 302 Storage section, 304 Weather information acquisition section, 306 Flight information acquisition section, 307 Driving information acquisition section, 308 Decision section, 312 Control unit, 314 Selection section, 316 Judgment section, 400 Communication terminal, 500 Weather server, 1200 Computer, 1210 Host controller, 1212 CPU, 1214 RAM, 1216 Graphics controller, 1218 Display device, 1220 Input / Output controller, 1222 Communication interface, 1224 Storage device, 1226 DVD drive, 1227 DVD-ROM, 1230 ROM, 1240 Input / Output chip

Claims

1. A control device for controlling an unmanned vehicle having a carrying unit for carrying an unmanned aerial vehicle, comprising: a weather information acquisition unit that acquires weather information indicating the weather between the flight position of the unmanned aerial vehicle and an airport where the unmanned aerial vehicle will land; a flight information acquisition unit that acquires flight information of the unmanned aerial vehicle, including flight position information indicating the flight position of the unmanned aerial vehicle, flight speed information indicating the flight speed of the unmanned aerial vehicle, and flight attitude information indicating the flight attitude of the unmanned aerial vehicle; a determination unit that determines a first angle between a straight line parallel to the direction in which the unmanned vehicle travels and a straight line parallel to the orientation of the unmanned vehicle, based on the weather information and the flight information; and a control unit that controls the unmanned vehicle so as to load the unmanned aerial vehicle, which is in flight while traveling on the runway of the airport, into the carrying unit, based on the first angle.

2. The control device according to claim 1, wherein the determination unit determines the first angle such that the second angle between a straight line parallel to the orientation of the unmanned vehicle and a straight line parallel to the direction of the flight attitude of the unmanned aircraft when it is mounted on the mounting unit during flight becomes smaller.

3. The control device according to claim 1 or 2, further comprising a running information acquisition unit that acquires running information of the unmanned vehicle, the unit including running position information indicating the running position of the unmanned vehicle and running speed information indicating the running speed of the unmanned vehicle, wherein the control unit controls the running speed of the unmanned vehicle based on the running information such that the relative speed between the unmanned aircraft and the unmanned vehicle becomes smaller when the unmanned aircraft is mounted on the mounting unit while in flight.

4. The control device according to claim 3, further comprising: a storage unit for storing aircraft information of the unmanned aerial vehicle; and a selection unit for selecting an unmanned vehicle to carry the unmanned aerial vehicle in flight from among a plurality of unmanned vehicles waiting at the airfield based on the aircraft information, wherein the control unit controls the unmanned vehicle selected by the selection unit to load the unmanned aerial vehicle in flight onto the carrying unit while traveling on the runway of the airfield.

5. The control device according to any one of claims 1 to 4, further comprising a determination unit that determines whether the weather conditions indicated by the weather information meet predetermined descent start conditions, wherein the control unit further controls the unmanned aerial vehicle so that the unmanned aerial vehicle begins to descend when the determination unit determines that the weather conditions meet the descent start conditions.

6. The control device according to claim 5, further comprising a storage unit for storing flight performance information indicating the flight performance of the unmanned aerial vehicle and flight path information indicating the flight path of the unmanned aerial vehicle until it lands at the airport, wherein the determination unit determines the scheduled landing time for the unmanned aerial vehicle to land at the airport based on the flight performance information and the flight path information when the unmanned aerial vehicle begins to descend, and the control unit controls the unmanned vehicle to load the unmanned vehicle, which is flying while traveling on the runway of the airport, into the loading unit at the scheduled landing time.

7. The control device according to claim 5 or 6, wherein the determination unit further determines whether the unmanned aircraft has descended to a flight altitude at which direct wireless communication can be established between the unmanned aircraft and the unmanned vehicle, and the control unit, when the determination unit determines that the unmanned aircraft has descended to a flight altitude at which direct wireless communication can be established between the unmanned aircraft and the unmanned vehicle, establishes a direct wireless communication connection with the unmanned aircraft and controls the unmanned vehicle to receive the flight information directly from the unmanned aircraft via the wireless communication connection.

8. The system further comprises a storage unit for storing flight performance information indicating the flight performance of the unmanned aircraft and flight path information indicating the flight path of the unmanned aircraft until it lands at the airport, the determination unit further determines whether the unmanned aircraft has descended to a predetermined flight altitude lower than the flight altitude at which direct wireless communication can be established between the unmanned aircraft and the unmanned vehicle, the decision unit, if the determination unit determines that the unmanned aircraft has descended to the predetermined flight altitude, determines the scheduled landing time for the unmanned aircraft to land at the airport based on the flight performance information and the flight path information, and the determination unit further determines whether the unmanned vehicle can load the flying unmanned aircraft into the loading unit while traveling on the runway of the airport at the scheduled landing time. The control device according to claim 7, wherein the control unit further controls the unmanned aircraft to ascend if the determination unit determines that the unmanned vehicle is unable to load the unmanned aircraft, which is in flight while traveling along the runway of the airport, onto the loading unit at the scheduled landing time.

9. The control device according to any one of claims 1 to 8, wherein the control device is mounted on the unmanned vehicle.

10. A program for causing a control device for controlling an unmanned vehicle having a carrying unit for carrying an unmanned aerial vehicle to execute: a weather information acquisition procedure for acquiring weather information indicating the weather between the flight position of the unmanned aerial vehicle and the airport where the unmanned aerial vehicle will land; a flight information acquisition procedure for acquiring flight information of the unmanned aerial vehicle, including flight position information indicating the flight position of the unmanned aerial vehicle, flight speed information indicating the flight speed of the unmanned aerial vehicle, and flight attitude information indicating the flight attitude of the unmanned aerial vehicle; a determination procedure for determining the angle between a straight line parallel to the direction in which the unmanned vehicle is traveling and a straight line parallel to the orientation of the unmanned vehicle, based on the weather information and the flight information; and a control procedure for controlling the unmanned vehicle to load the unmanned aerial vehicle, which is in flight while traveling on the runway of the airport, into the carrying unit, based on the angle.

11. An unmanned vehicle equipped with the control device described in any one of claims 1 to 9.

12. The unmanned vehicle according to claim 11, wherein the mounting section functions as a stratospheric platform and mounts the unmanned aerial vehicle which forms a wireless communication area by irradiating a beam and provides wireless communication services to communication terminals within the wireless communication area.

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