Control system, control method, and program

Abstract

This control system comprises: an acquisition unit which acquires, from a management device via external communication, a flight plan for a plurality of aircraft flying in a formation; a setting unit which, if a communication quality level with the management device becomes less than a threshold, sets at least one aircraft as a leading machine which leads the flight of the formation; and an instruction information generation unit which generates instruction information based on the flight plan such that the leading machine can transmit the instruction information to the aircraft constituting the formation via formation intra-group communication. In this way, the present invention provides a control system, a control method, and a program with which it is possible to stably continue flight even if communication with a flight management unit becomes unstable.

Description

Control System, Control Method, and Program

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

[0002] The popularity of aircraft such as drones is progressing. Further, as the popularity of aircraft progresses, it is considered that the opportunity for multiple aircraft to be operated in a mutually related state will increase. In such a situation, technologies for suitably operating aircraft have been proposed.

[0003] According to Patent Document 1, an unmanned aircraft flies along a flight path within an area, acquires radio wave information including the radio wave intensity of a user terminal through a radio device, calculates the presence position of the user terminal using the GPS position information of the unmanned aircraft, and analyzes user attribute information based on map information.

[0004] According to Patent Document 2, a system for managing the operation of a moving body has a plurality of operation management devices sharing flight information of the moving body with each other, and when communication with an autonomous moving body is interrupted, calculates the currently predicted existence range of the moving body and transmits this as flight information to other operation management devices.

[0005] According to Patent Document 3, a control device mounted on an aircraft has a communication device for communicating with a ground management device, a communication device for communicating between aircraft, and controls flight means and sets a channel for transferring information between aircraft grouped by the management device in the communication device.

[0006] Japanese Unexamined Patent Application Publication No. 2017 - 228178, Japanese Unexamined Patent Application Publication No. 2022 - 055493, International Publication No. 2021 / 039135 [[ID=~]]

[0007] However, when communication between the operation management unit of a plurality of adjacent aircraft and the aircraft is interrupted, the overall operation of the plurality of adjacent aircraft becomes unstable, which is not preferable.

[0008] An object of the present disclosure is to provide a control system or the like that can continue to operate stably even when communication with an operation management unit becomes unstable in view of the above-described problems.

[0009] The control system disclosed herein comprises an acquisition unit, a setting unit, and an instruction information generation unit. The acquisition unit acquires the flight plans of multiple aircraft flying in formation from a management device via external communication. The setting unit sets at least one aircraft as the lead aircraft to lead the formation's flight when the communication quality level with the management device falls below a threshold. The instruction information generation unit generates instruction information based on the flight plan so that the lead aircraft can transmit it to the aircraft constituting the formation via intra-group communication within the formation.

[0010] The control method disclosed herein involves multiple aircraft flying in formation performing the following processes: The aircraft obtain the flight plans of the multiple aircraft flying in formation from a management device via external communication. When the communication quality level with the management device falls below a threshold, the aircraft designates at least one of the aircraft as the lead aircraft to lead the operation of the formation. The aircraft generate instruction information based on the flight plan so that the lead aircraft can transmit it to the aircraft constituting the formation via intra-group communication of the formation.

[0011] The program of this disclosure causes multiple aircraft flying in formation according to a flight plan to perform the following processes: The aircraft obtain the flight plans of the multiple aircraft flying in formation from a management device via external communication. When the communication quality level with the management device falls below a threshold, the aircraft designates at least one of the aircraft as the lead aircraft to lead the operation of the formation. The aircraft generate instruction information based on the flight plan so that the lead aircraft can transmit it to the aircraft constituting the formation via group communication within the formation.

[0012] According to this disclosure, it is possible to provide a control system, control method, and program that can continue stable operations even when communication with the flight operations management department becomes unstable.

[0013] This is a first block diagram of the control system relating to this disclosure. This is a first flowchart showing the control method relating to this disclosure. This is a block diagram of the aircraft operation system relating to this disclosure. This is a hardware configuration diagram of the aircraft relating to this disclosure. This is a block diagram of the aircraft relating to this disclosure. This is a block diagram of the control device. This is a second flowchart showing the control method relating to this disclosure. This is a third flowchart showing the control method relating to this disclosure. This is a diagram showing data relating to the settings of the lead aircraft. This is a fourth flowchart showing the control method relating to this disclosure. This is a first diagram showing an example of operation by a lead aircraft. This is a second diagram showing an example of operation by a lead aircraft. This is a block diagram showing an example of the hardware configuration of a computer.

[0014] The present invention will be described below through embodiments of the invention, but the invention claimed is not limited to the following embodiments. Furthermore, not all of the configurations described in the embodiments are necessarily essential as means of solving the problem. For clarity of explanation, the following descriptions and drawings have been omitted and simplified as appropriate. In each drawing, the same elements are denoted by the same reference numerals, and redundant explanations have been omitted where necessary.

[0015] <Embodiment 1> This embodiment will be described below with reference to the drawings. Figure 1 is a block diagram of the control system 10. The control system 10 is responsible for controlling multiple aircraft moving in formation along a predetermined movement path.

[0016] In this disclosure, “flying object” refers to an unmanned aerial vehicle, such as a drone, UAV (Unmanned Aerial Vehicle), or UAS (Unmanned Aircraft System). The flying object flies by remote control or autopilot. The flying object may be capable of carrying cargo. The flying object may be capable of carrying passengers. In that case, the flying object may be an aircraft referred to as a “flying car.” In this disclosure, “movement” refers to the flying object moving through the air. However, if the flying object travels on the ground in addition to moving through the air, then travel on the ground may be included in the definition of movement.

[0017] The control system 10 is, for example, a computer owned by multiple aircraft constituting a formation. In this case, the control system 10 may be part of the hardware or software that constitutes the aircraft. The control system 10 may also be a computer used while connected to the aircraft. The control system 10 mainly consists of an acquisition unit 110, a setting unit 120, and an instruction information generation unit 130.

[0018] The acquisition unit 110 acquires the flight plans of multiple aircraft flying in formation from the management device via external communication. External communication refers to communication with the management device located outside the control system 10. The management device manages the operation of the aircraft constituting the control system 10 in accordance with the flight plan. The acquisition unit 110 acquires the flight plan executed by the management device. As a result, the acquisition unit 110 can operate in accordance with the flight plan even if communication with the management device is interrupted.

[0019] The setting unit 120 sets at least one aircraft as the lead aircraft to lead the formation's operation when the communication quality level with the management device falls below a threshold. The communication quality level is an indicator of whether external communication, which is communication with the management device, can be performed without problems. The communication quality level is, for example, the signal strength of the external communication. The communication quality level may also include the signal-to-noise ratio (SNR).

[0020] The instruction information generation unit 130 generates instruction information based on the flight plan so that the lead aircraft can transmit it to the aircraft constituting the formation via intra-group communication within the formation. Intra-group communication refers to communication between multiple aircraft constituting the formation.

[0021] With the above configuration, the control system 10 can continue stable operation as a formation even if communication with the management device is interrupted.

[0022] Next, with reference to Figure 2, the processes performed by the control system 10 will be described. Figure 2 is a first flowchart showing the control method according to this disclosure. The control system 10 performs the following processes on multiple aircraft flying in formation.

[0023] First, the acquisition unit 110 acquires the flight plans of multiple aircraft flying in formation from the management device via external communication (step S11).

[0024] Next, the setting unit 120 sets at least one aircraft as the lead aircraft to lead the formation's operation when the communication quality level with the management device falls below a threshold (step S12).

[0025] Next, the instruction information generation unit 130 issues instructions based on the flight plan to the aircraft constituting the formation via group communication from the lead aircraft (step S13).

[0026] The processes performed by the control system 10 have been described above. Through these processes, the control system 10 can provide a control system, control method, and program that can efficiently control an aircraft according to the environment.

[0027] The control system 10 may also include a processor and a memory device, although these are not shown in the diagram. The memory device of the control system 10 may include, for example, a non-volatile memory such as flash memory or an SSD (Solid State Drive). In this case, the memory device of the control system 10 stores a computer program (hereinafter also referred to simply as "the program") for executing the image processing method described above. The processor loads the computer program from the memory device into a buffer memory such as DRAM (Dynamic Random Access Memory) and executes the program.

[0028] Each component of the control system 10 may be implemented with dedicated hardware. Furthermore, some or all of each component may be implemented by general-purpose or dedicated circuits, processors, etc., or combinations thereof. These may be implemented by a single chip or by multiple chips connected via a bus. Some or all of each component of each device may be implemented by a combination of the aforementioned circuits, etc., and programs. Furthermore, a CPU (Central Processing Unit), GPU (Graphics Processing Unit), FPGA (field-programmable gate array), etc., can be used as the processor. Note that the descriptions of the configurations described herein may also apply to other devices or systems described below in this disclosure.

[0029] As described above, this embodiment provides a control system, control method, and program that can continue stable operations even when communication with the flight management unit becomes unstable.

[0030] <Embodiment 2> Next, Embodiment 2 will be described. Figure 3 is a block diagram of the aircraft operation system 1. The aircraft operation system 1 shown in Figure 3 includes a control system 20, a base station 300, and a management device 400.

[0031] The control system 20 includes aircraft 200A, aircraft 200B, aircraft 200C, and aircraft 200D. In the following description, aircraft 200A, aircraft 200B, aircraft 200C, and aircraft 200D may be collectively referred to as "multiple aircraft 200" or simply "aircraft 200." The multiple aircraft 200 form a single formation and move as a formation.

[0032] In this disclosure, a formation refers to a group of multiple aircraft 200 capable of communicating with each other via short-range radio communication, moving from the same departure point to the same destination according to a single flight plan. Short-range radio communication is, for example, Wi-Fi or Bluetooth®. In the following description, communication between the multiple aircraft 200 constituting the formation will be referred to as intra-group communication.

[0033] A formation consists of multiple aircraft 200 located within a single, unified area. Therefore, a formation is generally treated as existing in the same environment. For example, wind direction and speed data along the planned path are applied similarly to all aircraft 200 constituting the formation 400. Also, for example, when a control device 400 controls a formation, the control device 400 controls the formation assuming that multiple aircraft 200 are located in the same airspace.

[0034] The aircraft 200, which constitutes the control system 20, is connected to the base station 300 via wireless communication. In the following description, the communication between the aircraft 200 and the base station 300 will be referred to as external communication.

[0035] The base station 300 is connected to the management device 400 via the network N1 in a communicative manner. That is, the control system 20 is connected to the management device 400 in a communicative manner via the base station 300 and the network N1. The control system 20 moves along the planned route in accordance with the instructions supplied to the control system 20 by the management device 400.

[0036] In this case, each of the multiple aircraft 200 constituting the formation communicates separately with the management device 400. However, at least one representative aircraft 200 among the multiple aircraft 200 constituting the formation may communicate with the management device 400, while the other aircraft 200 communicate with the management device 41 via the representative aircraft 200 using short-range radio.

[0037] Base station 300 is a relay device in the wireless communication network. Base station 300 can communicate wirelessly with mobile stations located in its vicinity. That is, base station 300 is directly connected to the aircraft 200 for wireless communication. Base station 300 receives control signals from the management device 400 via network N1 to be supplied to the aircraft 200, and transmits the received control signals to the aircraft 200. Base station 300 also receives various information from the aircraft 200 and supplies the received information to the management device 400. The information that base station 300 receives from the aircraft 200 includes, for example, information regarding the position of the aircraft 200 and information regarding the power consumption of the aircraft 200. Information regarding power consumption may include information regarding the remaining battery level.

[0038] The management device 400 is communicatively connected to the base station 300 via the network N1. Communication between the management device 400 and the base station 300 may be wired or wireless. The management device 400 acquires operational data from the aircraft 200 via the network N1. The management device 400 also supplies control signals in accordance with the operational plan to the multiple aircraft 200 that constitute the control system 20 via the network N1 and the base station 300.

[0039] With the above configuration, the aircraft operation system 1 communicates with the aircraft 200 that constitute the control system 20 via the base station 300. Through communication between the base station 300 and the aircraft 200, the management device 400 instructs the multiple aircraft 200 on the operation plan.

[0040] The aircraft operation system 1 may experience a deterioration in communication between the base station 300 and the aircraft 200 depending on the radio wave environment at the location where the control system 20 is flying. The control system 20 can move autonomously if the communication with the base station 300 deteriorates and the communication quality level falls below a predetermined threshold.

[0041] Figure 4 is a hardware configuration diagram of the aircraft 200. The main components of the aircraft 200 include a communication device 210, a positioning sensor 220, a camera 230, a processor 240, a RAM 241, a propulsion device 250, a storage device 260, a battery 270, and an input / output interface 280. These components are configured to be communicable as appropriate via a bus 201.

[0042] The communication device 210 includes a communication device for external communication with the base station 300. The communication device 210 also includes a communication device for in-group communication between the aircrafts 200 forming a formation.

[0043] The positioning sensor 220 includes an antenna for satellite positioning using GNSS (Global Navigation Satellite System). The camera 230 includes an objective lens and an imaging device capable of photographing the scenery outside the aircraft 200. The processor 240 is an arithmetic unit that controls each component of the aircraft 200.

[0044] The processor 240 is a circuit including, for example, a CPU. The RAM 241 is a volatile memory in which a program for operating the processor 240 is deployed. The propulsion device 250 includes a propeller for moving the aircraft 200 and a motor for rotating the propeller. The storage device 260 includes a non-volatile memory such as a flash memory. The battery 270 functions as a power source for operating the aircraft 200. The battery 270 is preferably a rechargeable secondary battery, for example. The input / output interface 280 includes a power button as an input interface. The input / output interface 280 also includes a lamp or the like for externally indicating the state of the aircraft 200.

[0045] Next, referring to FIG. 5, the functions of the aircraft 200 will be described. FIG. 5 is a block diagram of the aircraft 200. Similar to the main configuration of the control system 10, the main functional blocks of the aircraft 200 include an acquisition unit 110, a setting unit 120, and an instruction information generation unit 130.

[0046] The acquisition unit 110 acquires the operation plan of the formation from the management device 400 via the base station 300 through external communication. The acquisition unit 110 supplies the acquired operation plan to the storage device 260 possessed by the aircraft 200.

[0047] When there is a change in the operation plan while the acquisition unit 110 is in a state where communication with the management device 400 is possible, the acquisition unit 110 acquires the updated operation plan from the management device 400. Thereby, when the communication quality level with the management device 400 becomes less than the threshold value, the control system 20 can move in accordance with the updated operation plan.

[0048] When the communication quality level with the management device 400 becomes less than the threshold value, the setting unit 120 sets at least one aircraft 200 as the leader. The leader leads the operation of the formation. More specifically, the setting unit 120 compares at least any one of the state of the computing processing ability, the remaining battery level, and the stability of group communication possessed by each of the aircraft 200, and based on the result, sets one or more leaders that satisfy a predetermined setting condition from the plurality of aircraft 200. Thereby, the control system 20 can perform stable operation by the leader.

[0049] The setting unit 120 may set a plurality of aircraft 200 that satisfy the setting conditions as leaders for dispersing the processing for the operation of the formation. Thereby, the control system 20 can suppress the load on the leader.

[0050] Further, the setting unit 120 monitors the state of the leader, and when the leader no longer satisfies the setting conditions, sets to share at least a part of the processing executed as the leader to other aircraft 200 that satisfy the setting conditions. Thereby, the control system 20 can suppress the load on the leader.

[0051] The instruction information generation unit 130 generates instruction information that can be transmitted to the aircraft 200 constituting the formation. The instruction information generated by the instruction information generation unit 130 is transmitted by the leader to the aircraft 200 constituting the formation through in-group communication.

[0052] Furthermore, the instruction information generation unit 130 acquires identifiers and position information from the aircraft 200 constituting the formation via group communication, and generates instruction information that allows movement according to the formation determined by the lead aircraft. This enables the control system 20 to operate the formation efficiently.

[0053] The setting unit 120 may monitor the status of the lead aircraft and, if the lead aircraft no longer meets the setting conditions, set another aircraft 200 that meets the setting conditions as the new lead aircraft. This allows the control system 20 to suppress the decline in the performance of the lead aircraft during formation flight.

[0054] The aircraft 200 includes a first communication unit 211 and a second communication unit 212. The first communication unit 211 is a communication device for multiple aircraft flying in formation according to the flight plan to communicate with the management device 400 via the base station 300. The second communication unit 212 is a communication device for the aircraft 200 constituting the formation to communicate within the group.

[0055] Furthermore, the aircraft 200 includes a position information acquisition unit 221, a camera control unit 231, an aircraft control unit 242, a propulsion system control unit 251, a storage device 260, and a battery management unit 271. The position information acquisition unit 221 acquires position information from signals acquired by the positioning sensor 220 and supplies it to the aircraft control unit 242. The camera control unit 231 supplies image data of images taken by the camera 230 to the aircraft control unit 242. The aircraft control unit 242 has the function of controlling each component of the aircraft 200. When the aircraft 200 becomes the lead aircraft, the aircraft control unit 242 performs various information processing. The propulsion system control unit 251 includes a driver for driving the propulsion system 250. The propulsion system control unit 251 drives the propulsion system 250 according to the instructions of the aircraft control unit 242.

[0056] The storage device 260 stores aircraft information 261. The aircraft information 261 includes information about the aircraft 200, such as the aircraft's unique identifier. The storage device 260 may also store flight plans 262. Flight plans 262 are information supplied by the management device 400 to the aircraft 200 via the base station 300. The battery management unit 271 manages the status of the battery 270, for example, the remaining battery charge.

[0057] The functions of the aircraft 200 have been described above. At least one aircraft 200 belonging to the control system 20 may have the above configuration. However, the aircraft 200 is not necessarily required to have the above configuration. Multiple aircraft 200 may have the functions of the control system 20 in a distributed manner. Also, multiple aircraft 200 may have the functions of the control system 20 in a superposition. For example, aircraft 200A to 200D may all have the above configuration. In that case, any of the four aircraft 200 described above can be the lead aircraft.

[0058] Next, the management device 400 will be described with reference to Figure 6. Figure 6 is a block diagram of the management device 400. The management device 400 is, for example, a computer or a server. The management device 400 is used by the operator of the aircraft 200. The main components of the management device 400 are a communication unit 410, an operation data acquisition unit 420, a control unit 430, and a storage unit 450.

[0059] The communication unit 410 is a communication device for connecting to the network N1. The communication unit 410 transmits control signals for controlling the aircraft 200 to the base station 300 via the network N1. The communication unit 410 also transmits the flight plan 451 stored in the memory unit 450 to the base station 300. The communication unit 410 also receives various signals transmitted by the aircraft 200 from the base station 300.

[0060] The flight data acquisition unit 420 acquires flight data from signals received by the communication unit 410 from the aircraft 200. The flight data acquisition unit 420 supplies the received flight data to the control unit 430.

[0061] The control unit 430 controls each component of the management device 400 using a computing device. For example, if there is a change in the flight plan of the aircraft 200, the control unit 430 updates the flight plan and supplies the updated flight plan to the aircraft 200. The storage unit 450 is a storage device including non-volatile memory and stores the flight plan 451.

[0062] The management device 400 may also have a function to acquire weather information or wind direction and speed data along the planned route of the aircraft 200. In this case, the management device 400 may also be responsible for modifying the flight plan of the aircraft 200 based on the acquired weather information, etc.

[0063] Next, with reference to Figure 7, the processes performed by the control system 20 will be described. The flowchart shown in Figure 7 illustrates the process when the control system 20 obtains an updated flight plan via the base station 300.

[0064] First, the acquisition unit 110 determines whether or not there has been a change in the flight plan (step S21). In this case, the acquisition unit 110 determines that there has been a change in the flight plan by receiving a notification regarding the update of the flight plan from the management device 400.

[0065] If the acquisition unit 110 does not determine that there has been a change in the flight plan (step S21: NO), the acquisition unit 110 repeats step S21. If the acquisition unit 110 determines that there has been a change in the flight plan (step S21: YES), the acquisition unit 110 acquires the changed flight plan (step S22) and updates the flight plan 262 stored in the storage device 260 with the acquired flight plan (step S23). After completing step S23, the acquisition unit 110 returns to step S21 again.

[0066] Through the above-described process, the control system 20 becomes capable of moving in accordance with the updated flight plan when the communication quality level with the management device 400 falls below a threshold.

[0067] Next, referring to Figure 8, the process by which the control system 20 executes operation by the lead aircraft will be described. Figure 8 is a third flowchart showing the control method.

[0068] First, the acquisition unit 110 acquires the flight plan from the management device 400 (step S31). Next, the setting unit 120 pre-sets the lead aircraft while in a state where communication with the management device 400 is possible (step S32).

[0069] Next, the setting unit 120 determines whether the communication quality level LC with the management device 400 is less than the threshold TH (step S33). If the setting unit 120 does not determine that the communication quality level LC is less than the threshold TH (step S33: NO), the control system 20 repeats step S33. If the setting unit 120 determines that the communication quality level LC is less than the threshold TH (step S33: YES), the setting unit 120 executes operation by the lead aircraft (step S34).

[0070] Next, the instruction information generation unit 130 generates instruction information regarding the flight plan so that one or more lead aircraft can transmit it to the aircraft 200 via group communication (step S35).

[0071] Through the above-described process, the control system 20 can operate the aircraft as the lead aircraft even if communication with the management device 400 becomes impossible.

[0072] Next, with reference to Figure 9, we will further explain the case in which the setting unit 120 sets the lead unit. Figure 9 is a diagram showing data related to the setting of the lead unit. Figure 9 is an example of setting information that the setting unit 120 has in order to set the lead unit.

[0073] The setting information that the setting unit 120 has for setting the dominant aircraft includes, for example, the processing power of the computing device of the aircraft. Specifically, the setting information includes the CPU frequency of aircraft A, which is 2.43 GHz. Similarly, the setting information includes the frequency of aircraft B, aircraft C, which is 2.4 GHz, and aircraft D, which is 5.1 GHz.

[0074] The setting information also includes estimated battery levels as information regarding the relative levels of the battery capacity. The estimated battery level is the battery capacity estimated when the control system 20 executes the flight plan and arrives at the destination. The estimated battery level of aircraft A is 30 percent. The estimated battery level of aircraft B is 50 percent. The estimated battery level of aircraft C is 30 percent. The estimated battery level of aircraft D is 25 percent.

[0075] The configuration information includes the group communication output as a measure of group communication stability. The group communication output is the output of the radio communication used by the aircraft for group communication. The group communication output of aircraft A is 80mW. The group communication output of aircraft B is 60mW. The group communication output of aircraft C is 60mW. The group communication output of aircraft D is 60mW.

[0076] The configuration information includes a score as an indicator for comparing multiple aircraft 200s in order to set the lead aircraft based on the status information of the aircraft 200s described above. The scores of each aircraft 200 shown in Figure 9 are 6 for aircraft A, 8 for aircraft B, 5 for aircraft C, and 4 for aircraft D. The higher the score shown here, the more suitable it is to be the lead aircraft. In other words, an aircraft 200 with a high score will have a relatively lighter load when performing processing as the lead aircraft.

[0077] Therefore, in the example shown here, the setting unit 120 may, for example, set the aircraft B with the highest score as the lead aircraft. Alternatively, the setting unit 120 may set the functions of the lead aircraft to be distributed between aircraft B with the highest score and aircraft A with the next highest score. Or, the setting unit 120 may set the functions of the lead aircraft to be distributed among all aircraft 200. In this case, the setting unit 120 may set the content of the processing to be distributed according to the score level. That is, the setting unit 120 may set the functions of the lead aircraft to be handled more by aircraft with relatively high scores than by aircraft with relatively low scores.

[0078] The setting unit 120 may also set a threshold for the setting conditions. In that case, the setting unit 120 may set multiple aircraft 200 that satisfy the setting conditions as leading aircraft for distributing the processing required for formation flight. This allows the control system 20 to suppress the load on the leading aircraft.

[0079] As described above, by setting the leading aircraft, the control system 20 can perform stable operation using the leading aircraft.

[0080] Next, referring to Figure 10, variations in the processing performed by the control system 20 will be described. Figure 10 is a fourth flowchart showing the control method.

[0081] First, the setting unit 120 monitors the status of the lead aircraft (step S41). Next, the setting unit 120 determines whether the monitored lead aircraft satisfies predetermined setting conditions (step S42). The predetermined setting conditions may be, for example, the threshold values ​​described above. The predetermined setting conditions may also be the relative score rankings among the multiple aircraft 200.

[0082] If the setting unit 120 determines that the lead unit meets the predetermined setting conditions (step S42: YES), the setting unit 120 returns to step S41 and continues monitoring the lead unit. If the setting unit 120 does not determine that the lead unit meets the predetermined setting conditions (step S42: NO), the setting unit 120 resets the lead unit (step S43).

[0083] After step S43, the control system 20 executes operation using the reset-to-leading aircraft (step S44). In this case, the instruction information generation unit 130 of the control system 20 generates instruction information that can be output from the reset-to-leading aircraft.

[0084] Next, the control system 20 determines whether or not to terminate the series of processes (step S45). The series of processes is terminated when, for example, the operation plan of the control system 20 is completed. Alternatively, the series of processes is terminated when communication with the management device 400 is restored. If the control system 20 does not determine that the series of processes is terminated (step S45: NO), the control system 20 returns to step S41. If the control system 20 determines that the series of processes is terminated (step S45: YES), the control system 20 terminates the process.

[0085] By performing the above-described process, the control system 20 can flexibly change the load on the leading machine.

[0086] Next, with reference to Figure 11, an embodiment of the control system 20 that executes operation by the lead aircraft will be described. Figure 11 is the first diagram showing an example of operation by the lead aircraft. In the control system 20 shown in Figure 11, aircraft 200A is the lead aircraft and is leading aircraft 200B, aircraft 200C, and aircraft 200D.

[0087] The instruction information generation unit 130 of aircraft 200A, which acts as the lead aircraft, acquires the identifiers and position information of aircraft 200B, 200C, and 200D, which constitute the formation, via group communication. The instruction information generation unit 130 of aircraft 200A also generates instruction information regarding the formation determined by the lead aircraft. The instruction information generated by the instruction information generation unit 130 is transmitted by the lead aircraft to aircraft 200B, 200C, and 200D via group communication.

[0088] In this case, the instruction information generation unit 130 may transmit a single formation instruction information to aircraft 200B, aircraft 200C, and aircraft 200D, including the unique identifiers of all aircraft 200 constituting the formation and their relative positions to the lead aircraft. This allows the control system 20 to efficiently operate the formation. Alternatively, the instruction information generation unit 130 may transmit formation instruction information, including their relative positions to the lead aircraft, to each of aircraft 200B, aircraft 200C, and aircraft 200D individually.

[0089] Next, with reference to Figure 12, we will further explain the configuration of the control system 20 that executes operation by the lead aircraft. Figure 12 is a second diagram showing an example of operation by the lead aircraft. In the control system 20 shown in Figure 12, all of the aircraft 200A to 200D are distributing the role of the lead aircraft. In other words, in the control system 20 shown in Figure 12, multiple lead aircraft are responsible for the operation of the formation.

[0090] In the above-described scenario, the multiple lead aircraft, aircraft 200A to 200D, share their operational information with each other through group communication. In this case, the instruction information generation unit 130, which is located in one of the predetermined aircraft 200s set by the setting unit 120 (i.e., aircraft 200A to 200D), transmits a single formation instruction piece to all the aircraft 200s that make up the formation. This single formation instruction piece contains the unique identifiers of all the aircraft 200s that make up the formation, along with their relative positions. This allows the control system 20 to efficiently operate the formation.

[0091] Embodiment 2 has been described above. According to the embodiment described above, it is possible to provide a control system, control method, and program that can continue stable operation even when communication with the flight management unit becomes unstable.

[0092] Although the present disclosure has been described above with reference to embodiments, the present disclosure is not limited to the embodiments described above. Various modifications to the structure and details of the present disclosure can be made as can be understood by those skilled in the art within the scope of the present disclosure. Furthermore, each embodiment can be combined with other embodiments as appropriate.

[0093] Each drawing is merely illustrative to illustrate one or more embodiments. Each drawing may be associated with one or more other embodiments, rather than being associated with only one specific embodiment. As those skilled in the art will understand, various features or steps described with reference to any one drawing can be combined with features or steps shown in one or more other drawings, for example, to create embodiments not explicitly shown or described. Not all features or steps shown in any one drawing to illustrate an exemplary embodiment are necessarily required, and some features or steps may be omitted. The order of steps described in any of the drawings may be changed as appropriate.

[0094] <Examples of Hardware Configurations> The following describes examples of how each functional configuration of the control system in this disclosure can be realized through a combination of hardware and software.

[0095] Figure 13 is a block diagram illustrating the hardware configuration of a computer. The device or system in this disclosure (e.g., a management device) can realize the above-described functions using a computer 500 including the hardware configuration shown in the figure. The computer 500 may be a portable computer such as a smartphone or tablet terminal, or a stationary computer such as a PC. The computer 500 may be a dedicated computer designed to realize each device, or it may be a general-purpose computer. The computer 500 can realize the desired functions by installing a predetermined application.

[0096] The computer 500 includes a bus 502, a processor 504, a memory 506, a storage device 508, an input / output interface (I / F) 510, and a network interface (I / F) 512. The bus 502 is a data transmission path for the processor 504, memory 506, storage device 508, input / output interface 510, and network interface 512 to send and receive data to and from each other. However, the method of connecting the processor 504 and the other components to each other is not limited to bus connection.

[0097] The processor 504 is a variety of processor such as a CPU, GPU, or FPGA. The memory 506 is a main memory implemented using RAM (Random Access Memory) or the like.

[0098] The storage device 508 is an auxiliary storage device implemented using a hard disk, SSD, memory card, or ROM (Read Only Memory). The storage device 508 stores a program for realizing a desired function. The processor 504 reads this program into memory 506 and executes it to realize each functional component of each device.

[0099] The input / output interface 510 is an interface for connecting the computer 500 with input / output devices. For example, input devices such as keyboards and output devices such as display devices are connected to the input / output interface 510. The network interface 512 is an interface for connecting the computer 500 to a network.

[0100] Although the present disclosure has been described above with reference to embodiments, the present disclosure is not limited to the embodiments described above. Various modifications to the structure and details of the present disclosure can be made as can be understood by those skilled in the art within the scope of the present disclosure. Furthermore, each embodiment can be combined with other embodiments as appropriate.

[0101] Each drawing is merely illustrative to illustrate one or more embodiments. Each drawing may be associated with one or more other embodiments, rather than being associated with only one specific embodiment. As those skilled in the art will understand, various features or steps described with reference to any one drawing can be combined with features or steps shown in one or more other drawings, for example, to create embodiments not explicitly shown or described. Not all features or steps shown in any one drawing to illustrate an exemplary embodiment are necessarily required, and some features or steps may be omitted. The order of steps described in any of the drawings may be changed as appropriate.

[0102] Some or all of the above embodiments may also be described as follows, but are not limited to the following: (Note 1) A control system comprising: an acquisition unit that acquires flight plans of multiple aircraft flying as a formation from a management device via external communication; a setting unit that, when the communication quality level with the management device falls below a threshold, sets at least one of the aircraft as the lead aircraft that leads the operation of the formation; and an instruction information generation unit that generates instruction information based on the flight plan so that the lead aircraft can transmit it to the aircraft constituting the formation via group communication of the formation. (Note 2) The control system according to Note 1, wherein the acquisition unit acquires the updated flight plan from the management device when there is a change in the flight plan while communication with the management device is possible. (Note 3) The control system according to Note 1, wherein the setting unit sets one or more of the lead aircraft that satisfy predetermined setting conditions from a plurality of aircraft based on the result of comparing at least one of the following states of the computing power of each aircraft, the amount of remaining battery power, and the stability of group communication. (Note 4) The control system according to Note 3, wherein the setting unit sets a plurality of aircraft that satisfy the setting conditions as the lead aircraft for distributing the processing for operating the formation. (Note 5) The control system according to Note 3, wherein the setting unit sets the lead aircraft in advance when communication with the management device is possible, and the instruction information generation unit generates instruction information regarding the flight plan so that one or more of the lead aircraft can transmit it to the aircraft via the group communication when the communication quality level with the management device falls below a threshold. (Note 6) The control system according to any one of Notes 1 to 5, wherein the instruction information generation unit obtains identifiers and position information from the aircraft constituting the formation via the group communication, and generates instruction information that can move according to the formation determined by the lead aircraft. (Note 7) The control system according to Note 3, wherein the setting unit monitors the status of the lead aircraft, and when the lead aircraft no longer satisfies the setting conditions, sets another aircraft that satisfies the setting conditions as the new lead aircraft.(Note 8) The control system according to Note 3, wherein the setting unit monitors the status of the lead aircraft and, when the lead aircraft no longer satisfies the setting conditions, sets the control system to delegate at least a portion of the processing to be performed by the lead aircraft to another aircraft that satisfies the setting conditions. (Note 9) The control system according to Note 4, wherein when multiple lead aircraft operate the formation, the multiple lead aircraft share information received from the aircraft through group communication. (Note 10) The control system according to Note 6, wherein the instruction information generation unit transmits to all aircraft constituting the formation one formation instruction piece, including the unique identifier of each aircraft constituting the formation and its relative position to the lead aircraft. (Note 11) A control method comprising: multiple aircraft flying in formation obtaining flight plans for multiple aircraft flying in formation from a management device via external communication; setting at least one of the aircraft as the lead aircraft to lead the operation of the formation when the communication quality level with the management device falls below a threshold; and generating instruction information based on the flight plan that can be transmitted to the aircraft constituting the formation via group communication of the formation. (Note 12) A program that causes multiple aircraft flying in formation to execute a control method comprising: obtaining flight plans for multiple aircraft flying in formation from a management device via external communication; setting at least one of the aircraft as the lead aircraft to lead the operation of the formation when the communication quality level with the management device falls below a threshold; and generating instruction information based on the flight plan that can be transmitted to the aircraft constituting the formation via group communication of the formation.

[0103] Some or all of the elements (e.g., configuration and function) described in Appendices 2 to 10 that are subordinate to Appendice 1 may also be subordinate to Appendices 11 and 12 in the same manner as those described in Appendices 2 to 10. Some or all of the elements described in any appendice may be applied to various hardware, software, recording means, systems, and methods for recording software.

[0104] Although the present invention has been described above with reference to embodiments, the present invention is not limited thereto. Various modifications to the structure and details of the present invention can be made that are understandable to those skilled in the art within the scope of the invention.

[0105] This application claims priority based on Japanese Patent Application No. 2025-016816, filed on 4 February 2025, and incorporates all of its disclosures herein.

[0106] 1. Aircraft Operation System 10. Control System 20. Control System 110. Acquisition Unit 120. Setting Unit 130. Instruction Information Generation Unit 200. Aircraft 201. Bus 210. Communication Device 211. First Communication Unit 212. Second Communication Unit 220. Positioning Sensor 221. Position Information Acquisition Unit 230. Camera 231. Camera Control Unit 240. Processor 241. RAM 242. Aircraft Control Unit 250. Propulsion System 251. Propulsion System Control Unit 260. Storage Device 261. Aircraft Information 262. Flight Plan 270. Battery 271. Battery Management Unit 280. Input / Output Interface 300. Base Station 400. Management Device 410. Communication Unit 420. Flight Data Acquisition Unit 430. Control Unit 450. Memory Unit 451. Flight Plan 500. Computer 502. Bus 504 Processor 506 Memory 508 Storage device 510 Input / Output I / F 512 Network I / F N1 Network

Claims

1. A control system comprising: an acquisition unit that acquires flight plans of multiple aircraft flying as a formation from a management device via external communication; a setting unit that, when the communication quality level with the management device falls below a threshold, sets at least one of the aircraft as the lead aircraft to lead the operation of the formation; and an instruction information generation unit that generates instruction information based on the flight plan so that the lead aircraft can transmit it to the aircraft constituting the formation via group communication within the formation.

2. The control system according to claim 1, wherein the acquisition unit acquires the updated flight plan from the management device when there is a change in the flight plan while communication with the management device is possible.

3. The control system according to claim 1, wherein the setting unit selects one or more of the multiple aircraft that satisfy predetermined setting conditions based on the result of comparing at least one of the following states of each aircraft: the level of computing power, the level of battery charge, and the stability of group communication.

4. The control system according to claim 3, wherein the setting unit sets a plurality of aircraft that satisfy the setting conditions as the leading aircraft for distributing the processing for operating the formation.

5. The control system according to claim 3, wherein the setting unit pre-sets the lead aircraft in a state where communication with the management device is possible, and the instruction information generation unit generates instruction information relating to the flight plan so that one or more of the lead aircraft can transmit it to the aircraft via the group communication when the communication quality level with the management device falls below a threshold.

6. The control system according to any one of claims 1 to 5, wherein the instruction information generation unit obtains identifiers and position information from the aircraft constituting the formation via the group communication, and generates instruction information that can move according to the formation determined by the lead aircraft.

7. The control system according to claim 3, wherein the setting unit monitors the status of the leading aircraft and, when the leading aircraft no longer satisfies the setting conditions, sets another aircraft that satisfies the setting conditions as the new leading aircraft.

8. The control system according to claim 3, wherein the setting unit monitors the status of the leading aircraft and, when the leading aircraft no longer satisfies the setting conditions, sets the system to delegate at least a portion of the processing to be performed by the leading aircraft to another aircraft that satisfies the setting conditions.

9. The control system according to claim 4, wherein, when multiple lead aircraft operate the formation, the multiple lead aircraft share information received from the aircraft via group communication.

10. The control system according to claim 6, wherein the instruction information generation unit transmits to all of the aircraft constituting the formation one formation instruction information including the unique identifier of all of the aircraft constituting the formation and the relative position with respect to the lead aircraft.

11. A control method comprising: multiple aircraft flying in formation obtaining flight plans for multiple aircraft flying in formation from a management device via external communication; setting at least one of the aircraft as the lead aircraft to lead the operation of the formation when the communication quality level with the management device falls below a threshold; and the lead aircraft generating instruction information based on the flight plan so that it can be transmitted to the aircraft constituting the formation via group communication within the formation.

12. A program that causes multiple aircraft flying in formation to execute a control method, which involves obtaining flight plans from a management device via external communication, setting at least one of the aircraft as the lead aircraft to lead the formation's operation when the communication quality level with the management device falls below a threshold, and generating instruction information based on the flight plan that can be transmitted to the aircraft constituting the formation via group communication within the formation.

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