JP7432783B1 - Information processing device, information processing method, and program - Google Patents

Abstract

[Problem] To determine a route through which an operator can visually see a flying object. A point acquisition unit 120 acquires point information including a takeoff point and a landing point of an aircraft. The radio field strength acquisition unit 122 acquires a radio field strength map indicating the strength of radio waves for communication in the flight target airspace, which is the airspace including the takeoff point and the landing point. The flyable airspace specifying unit 123 refers to the radio wave intensity map and identifies a flyable airspace, which is an airspace in which the aircraft can fly while being communicatively connected, among the flight target airspaces. The route specifying unit 125 identifies a route that is included in the flightable airspace and is a route that an aircraft takes off from a takeoff point and passes through before landing at a landing site. The setting unit 129 sets observation points on the route. The map acquisition unit 121 acquires three-dimensional map information of the airspace including the route. The visible area identification unit 130 refers to the three-dimensional map information and identifies a visible ground area that is an area on the ground where no obstruction exists between the observation target point and the observed point. [Selection diagram] Figure 10

Description

The present invention relates to an information processing device, an information processing method, and a program.

In recent years, small unmanned aerial vehicles (so-called "drones") that can be remotely controlled by radio have rapidly become popular. In this regard, the Civil Aeronautics Act (Act No. 231 of 1950) stipulates as a rule that ``unmanned aircraft and their surroundings must be constantly monitored visually before flying.'' (See Article 132-86, Paragraph 2, Item 2 of the Civil Aeronautics Act, Non-Patent Document 1).

Aviation Law [searched on March 10, 2020], Internet <URL: https://elaws.e-gov.go.jp/document?lawid=327AC0000000231>

In order to comply with the above rules, an operator of a small unmanned aircraft (hereinafter simply referred to as a "flying object" in this specification) must It would be useful if a visible route could be determined.

The present invention has been made in view of these points, and it is an object of the present invention to provide a technique for determining a route that allows an operator to visually see a flying object.

A first aspect of the present invention is an information processing device. This device includes a point acquisition unit that acquires point information including a takeoff point and a landing point of an aircraft, and a point acquisition unit that indicates the strength of radio waves for communication in a flight target airspace that includes the takeoff point and the landing point. a radio field strength acquisition unit that acquires a radio field strength map; and a flight that refers to the radio field strength map to identify a flightable airspace, which is an airspace in which the aircraft can fly while being connected for communication, among the flight target airspaces. a possible airspace identification unit; a route identification unit that identifies a route that is included in the flightable airspace and is a route that the aircraft takes off from the takeoff point before landing at the landing point; a setting unit that sets one or more observation target points on the route; a map acquisition unit that acquires three-dimensional map information of the airspace including the route; and a visible area specifying unit that specifies a visible ground area that is a ground area where there is no obstruction between the point and the ground point.

The visually visible area specifying unit may specify, for each observation target point, a visually visible ground area that is an area on the ground where no obstruction exists between the observation target point and the observation target point.

The three-dimensional map information may include prohibited area information that specifies a no-go area, which is an area where setting of the visually visible ground area is prohibited, and the visible area specifying unit is configured to identify the one or more observation target points. The visually visible ground area may be an area on the ground where there is no obstruction between the ground and the area outside the prohibited area.

The three-dimensional map information may include no-flight airspace information that specifies a no-flight airspace that is an airspace in which flight of the aircraft is prohibited, and the route identification unit may include information on a no-flight airspace that specifies a no-flight airspace that is an airspace in which flight of the aircraft is prohibited. The route may be specified.

The information processing device includes a solar radiation direction acquisition unit that acquires solar position information indicating a solar azimuth and a solar altitude at each of a plurality of times, and a flight unit that acquires flight vehicle information including takeoff time and flight speed of the flight vehicle. and a body information acquisition unit, and the visible area identification unit determines when the aircraft takes off from the takeoff point at the takeoff time and flies along the route identified by the route identification unit. Furthermore, the visible ground area may be specified by excluding a predetermined ground area including a point where a straight line connecting the sun and the flying object intersects with the ground from the visible ground area.

The information processing device includes a flight object information acquisition unit that acquires flight object information including a takeoff time and a flight speed of the flight object; a position calculation unit that calculates the position of the flying object at each of a plurality of times until it lands at the landing site, the position of the flying object at each of the plurality of times, and each position of the visually visible ground area; and an output unit that outputs each position of the visually visible ground area in a different manner depending on the distance for each of the plurality of times.

The information processing device includes a flight object information acquisition unit that acquires flight object information including a takeoff time and a flight speed of the flight object; and a position calculation unit that calculates the position of the flying object at each of a plurality of times before landing at the landing site, and the visible area specifying unit calculates the position of the flying object at each of the plurality of times. A visually visible ground area that is an area on the ground where there is no obstruction between the position of the aircraft and the position of the aircraft may be specified.

The visible area specifying unit may refer to the radio field intensity map to specify, as the visible ground area, an area where the radio field intensity is a predetermined intensity among the visible ground areas.

The visually visible area specifying unit may specify, as the visually visible ground area, an area on the ground where no obstruction exists between the route and any point on the route.

A second aspect of the present invention is an information processing method. In this method, the processor acquires point information including a takeoff point and landing point of the aircraft, and determines the strength of radio waves for communication in a flight target airspace that includes the takeoff point and the landing point. and identifying a flightable airspace, which is an airspace in which the aircraft can fly while being communicatively connected, among the flight target airspaces, by referring to the radio wave intensity map. a step of identifying a route that is included in the flightable airspace and is a route that the aircraft that takes off from the takeoff point passes before landing at the landing site; and one or more observation points on the route. a step of obtaining three-dimensional map information of an area including the route; and a step of determining a location on the ground where there are no obstructions between the one or more observation target points by referring to the three-dimensional map information. identifying a visually visible ground area that is an area of .

The third aspect of the present invention is a program. This program provides a computer with a function to acquire point information including the takeoff point and landing point of an aircraft, as well as the strength of radio waves for communication in the flight target airspace, which is the airspace including the takeoff point and landing point. a function of obtaining a radio field strength map indicating the radio field strength map; and a function of identifying a flightable airspace, which is an airspace in which the aircraft can fly while being connected for communication, among the flight target airspaces, by referring to the radio field strength map; A function for identifying a route that is included in the flightable airspace and that is a route that the aircraft takes off from the takeoff point before landing at the landing point, and one or more observation points on the route. a function to obtain three-dimensional map information of the area including the route, and a function to refer to the three-dimensional map information to find a location on the ground where there are no obstructions between the one or more observation target points. A function for specifying a visually visible ground area, which is an area, is realized.

In order to provide this program or to update a part of the program, a computer-readable recording medium recording this program may be provided, and this program may be transmitted over a communication line.

Note that arbitrary combinations of the above components and expressions of the present invention converted between methods, apparatuses, systems, computer programs, data structures, recording media, etc. are also effective as aspects of the present invention.

According to the present invention, it is possible to provide a technique for determining a route through which an operator can visually see a flying object.

FIG. 2 is a diagram for explaining an overview of processing executed by the information processing device according to the first embodiment. FIG. 1 is a diagram schematically showing a functional configuration of an information processing device according to a first embodiment. FIG. 3 is a diagram schematically showing an example of a radio field intensity map. FIG. 2 is a diagram schematically showing the position of a specified viewpoint on a map. FIG. 3 is a diagram schematically showing viewpoint setting disable information. FIG. 3 is a diagram for explaining sun position information. FIG. 2 is a diagram schematically showing the direction of the sun during retrograde time. FIG. 2 is a diagram schematically showing a no-flight airspace. 3 is a flowchart for explaining the flow of information processing executed by the information processing apparatus according to the first embodiment. FIG. 2 is a diagram schematically showing the functional configuration of an information processing device according to a second embodiment. 7 is a flowchart for explaining the flow of information processing executed by the information processing apparatus according to the second embodiment.

<Overview of the first embodiment>
FIG. 1 is a diagram for explaining an overview of processing executed by an information processing apparatus according to a first embodiment. Hereinafter, with reference to FIG. 1, an overview of the processing executed by the information processing apparatus according to the first embodiment will be described.

The information processing device according to the first embodiment is a device for specifying a route R from a takeoff point S to a landing point G of an aircraft. Here, the information processing device according to the first embodiment makes it a condition for setting the route R that the route is visible from a viewpoint determined as the position of the user U who is the sender/receiver who operates the flying object D. In addition, in this specification, "visible from the viewpoint" means that there are no obstructions such as buildings or mountains between the viewpoint and such airspace is referred to as "visible airspace". shall be. That is, the information processing device according to the first embodiment sets the route R within the visible airspace.

The lower diagram in FIG. 1 is a diagram schematically showing the scenery when looking in the west direction from the viewpoint P in the upper diagram. Further, the upper diagram in FIG. 1 shows a takeoff point S and a landing point G, a route R from the takeoff point S to the landing point G, and a visible airspace V at a viewpoint P. The lower diagram in FIG. 1 shows that when the user U operates the flying object D to fly, the flying object D is eventually blocked by a hill H and becomes invisible.

The information processing device according to the first embodiment first acquires point information including the takeoff point S of the flying object D, the landing point G, and the positions of one or more viewpoints P for observing the flying object D. do. Based on the point information, the information processing device acquires three-dimensional map information of the airspace including the point information and a radio field intensity map indicating the strength of radio waves for communication.

The information processing device specifies a route R that is included in both an airspace in which the flying object D can communicate in the airspace that includes the point information and an airspace that is visible from the viewpoint included in the point information. Thereby, the information processing device according to the first embodiment can determine a route R that allows the user U to operate the flying object D via the communication line and allows the flying object D to be seen from the viewpoint.

<Functional configuration of information processing device 1 according to the first embodiment>
FIG. 2 is a diagram schematically showing the functional configuration of the information processing device 1 according to the first embodiment. The information processing device 1 includes a storage section 10, a communication section 11, and a control section 12. In FIG. 2, arrows indicate main data flows, and there may be data flows that are not shown in FIG. In FIG. 2, each functional block shows the configuration of a functional unit, not the configuration of a hardware (device) unit. Therefore, the functional blocks shown in FIG. 2 may be implemented within a single device, or may be implemented separately within multiple devices. Data may be exchanged between functional blocks via any means such as a data bus, a network, or a portable storage medium.

The storage unit 10 includes a ROM (Read Only Memory) that stores the BIOS (Basic Input Output System) of a computer that implements the information processing device 1, a RAM (Random Access Memory) that serves as a work area of the information processing device 1, and an OS (OS). It is a large-capacity storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive) that stores a variety of information that is referred to during the execution of the operating system (Operating System), application programs, and the application programs.

The communication unit 11 is a communication interface for the information processing device 1 to communicate with an external device, and is realized by a known communication module such as a LAN (Local Area Network) module or a Wi-Fi (registered trademark) module. . Hereinafter, in this specification, description of the communication unit 11 may be omitted on the premise that when the information processing device 1 communicates with an external device, the communication unit 11 is used.

The control unit 12 is a processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit) of the information processing device 1, and controls the point acquisition unit 120 and the map acquisition unit by executing a program stored in the storage unit 10. 121 , functions as a radio wave intensity acquisition unit 122 , a flightable airspace identification unit 123 , a visible airspace identification unit 124 , a route identification unit 125 , a solar radiation direction acquisition unit 126 , an aircraft information acquisition unit 127 , and an output unit 128 .

Note that FIG. 2 shows an example in which the information processing device 1 is configured as a single device. However, the information processing device 1 may be realized by calculation resources such as a plurality of processors and memories, such as a cloud computing system, for example. In this case, each unit constituting the control unit 12 is realized by executing a program by at least one of a plurality of different processors.

The location acquisition unit 120 acquires location information including the takeoff point S, the landing location G of the aircraft D, and the positions of one or more viewpoints P for observing the aircraft D in flight. Specifically, the point acquisition unit 120 acquires the positions of the takeoff point S, landing point G, and viewpoint P as longitude and latitude information, respectively.

The map acquisition unit 121 acquires three-dimensional map information of the flight target airspace, which is an airspace including point information. Specifically, the flight target airspace is a three-time area on the ground surface and the sky above the ground surface that includes at least a takeoff point S, a landing point G, and one or more viewpoints P. The three-dimensional map information includes map information of the ground surface included in the flight target airspace, and information on the shapes and heights of man-made structures such as houses, buildings, and bridges, and natural objects such as forests and mountains. The map acquisition unit 121 may acquire known three-dimensional data such as PLATEAU as three-dimensional map information. The three-dimensional map information may be stored in advance in the storage unit 10, or the map acquisition unit 121 may acquire it each time from another database via a communication line.

The radio field strength acquisition unit 122 acquires a radio field strength map indicating the strength of communication radio waves in the flight target airspace. FIG. 3 is a diagram schematically showing an example of a radio field intensity map. The radio field strength map is information that stores information indicating the strength of communication radio waves in association with altitude. The example shown in FIG. 3 shows an example of a radio field intensity map in the vicinity of 100 meters from the ground surface. The radio field intensity map may be measured in advance and stored in the storage unit 10, or may be obtained from another database via a communication line. Since the radio field strength map is information associated with altitude, it is three-dimensional information that covers the flight target airspace.

The flightable airspace identifying unit 123 refers to the radio field intensity map acquired by the radio field strength acquisition unit 122 and identifies a flightable airspace, which is an airspace in which the aircraft D can fly while being connected for communication, out of the flight target airspace. do. The flying object D flies by receiving an operation from the user U via the communication line. For this reason, the flyable airspace specifying unit 123 acquires a radio wave intensity map and identifies an airspace in which sufficiently strong communication radio waves are guaranteed as a flyable airspace.

The visible airspace identification unit 124 refers to the three-dimensional map information acquired by the map acquisition unit 121 and determines that there is no obstruction between the flight target airspace and at least one of the one or more viewpoints. Identify visible airspace that is airspace. In the upper diagram of FIG. 1, a shaded region indicated by the symbol V is shown as a visible airspace V, which is an airspace where there is no obstruction between the viewpoint P and the viewpoint P. The area other than the visible airspace V is not visible from the viewpoint P due to the influence of some kind of shield. Although only one viewpoint P is illustrated in the upper diagram of FIG. 1, by setting the viewpoints P at different points, the visible airspace V specified by the visible airspace specifying unit 124 becomes wider.

In the upper diagram of FIG. 1, the white circle indicated by the symbol W is one of the waypoints W provided on the route R. Since this waypoint W is not included in the visible airspace V of the viewpoint P, this indicates that in order to move the aircraft D to this waypoint W, the user U needs to move to another viewpoint P. ing. Note that, although they are not attached to all of them to avoid complication, in the upper diagram of FIG. 1, white circles that are the same as waypoints W indicate waypoints provided on route R.

The route identifying unit 125 identifies a route R that is included in both the flightable airspace and the visible airspace V, which is a route that the aircraft D that takes off from the takeoff point S passes before landing at the landing site. Thereby, the information processing device 1 can determine a route R that allows the user U to operate the aircraft D while visually viewing the aircraft D via the communication line. Note that if a plurality of viewpoints P are required to make the route R visible, the user U also moves his own position (that is, the viewpoint P) in accordance with the movement of the flying object D.

Therefore, the user U may operate the flying object D while moving, for example in a car or the like. In this case, the user U determines a plurality of viewpoints P on the map in advance along the travel route. The point acquisition unit 120 acquires, as a viewpoint P, a position specified on a map specified by three-dimensional map information.

FIG. 4 is a diagram schematically showing the position of the viewpoint P designated on the map. In FIG. 4, positions on the map indicated by numbers (1) to (4) each represent four viewpoints P. In the example shown in FIG. 4, viewpoints P indicated by numbers (1) to (4) are respectively attached to land adjacent to a road where parking is possible. In this way, by the user U setting a plurality of viewpoints P, the visible airspace specifying unit 124 can specify the visible airspace V that is visible from any one of the plurality of viewpoints P. A wider airspace can be specified as the visible airspace V compared to the case where there is only one viewpoint P.

By the way, there are off-limits areas, such as private land and airports, where people and vehicles are prohibited from entering without special permission. Furthermore, since the user U cannot enter the sea unless he uses a ship or the like, the user U is generally not allowed to enter the sea. Even if the user U sets a viewpoint P in such a prohibited area, it is difficult for the user U to enter, so the viewpoint P does not substantially function. Therefore, it is preferable that the point acquisition unit 120 not accept viewpoints P that are set as prohibited areas.

In order to realize this, the three-dimensional map information includes viewpoint setting prohibition information that specifies a prohibited area, which is an area in which setting of the viewpoint P is prohibited. FIG. 5 is a diagram schematically showing viewpoint setting additional information. In FIG. 5, the area indicated by the hatched grid labeled F is the off-limits area F. The point acquisition unit 120 performs the following on the condition that the position specified by the user U on the map specified by the three-dimensional map information is outside the area where setting of a viewpoint is prohibited (i.e., the prohibited area F). Obtain the specified position as the viewpoint P. Thereby, the point acquisition unit 120 can prevent a point that the user U cannot enter from being set as the viewpoint P. As a result, the accuracy with which the visible airspace V is specified by the visible airspace identification unit 124 can be improved.

As described above, the user U may operate the flying object D while moving from one viewpoint P to another viewpoint P. Specifically, if the user U moves from a viewpoint P near the takeoff point S of the aircraft D toward a viewpoint P near the landing point G, the distance between the viewpoint P and the aircraft D will become shorter. It becomes easier to operate D. Viewpoints P from (1) to (4) shown in FIG. 4 indicate that the user U moves in the order of these numbers.

Therefore, the point acquisition unit 120 may acquire the expected location of the operator of the flying object D at one or more times as one or more viewpoints P. In the example shown in FIG. 4, the user U determines in advance the estimated arrival time of the viewpoint P indicated by numbers (1) to (4). The visible airspace specifying unit 124 identifies, for each time, a visible airspace V, which is an airspace where no obstruction exists between the flight target airspace and the viewpoint P corresponding to each time, for one or more times. . Thereby, the visible airspace specifying unit 124 can specify the visible airspace V for each existing time of each viewpoint P, in accordance with the movement of the viewpoint P as the user U moves.

Since the user U operates the flying object D while looking at it from the ground, the user U looks up to see the flying object D. Therefore, even if there is no obstruction between the user U and the flying object D, the visibility of the flying object D may deteriorate if the sun is present in the line of sight of the user U.

Therefore, the solar radiation direction acquisition unit 126 acquires solar position information indicating the solar azimuth and solar altitude at each of a plurality of times. The solar position information is stored in advance in the storage unit 10, and the solar radiation direction acquisition unit 126 reads and acquires the solar position information from the storage unit 10.

FIGS. 6(a) and 6(b) are diagrams for explaining solar position information. Specifically, FIG. 6(a) is a diagram for explaining solar altitude and solar azimuth, and FIG. 6(b) is a diagram schematically showing the data structure of a database that stores solar position information. be.

Although a detailed explanation will be omitted since it is already known, as shown in Fig. 6(a), the solar altitude is calculated by dividing the line segment starting from the viewpoint P toward the sun and the line segment orthogonally projecting that line segment onto the earth's surface. defined as the angle formed by Therefore, the solar altitude can take values from 0 degrees to 90 degrees. In addition, the solar azimuth angle and the solar altitude are defined as the angle between a line segment obtained by orthogonally projecting a line segment starting from the viewpoint P toward the sun onto the earth's surface, and the south direction. At this time, the solar altitude is defined as 0 degrees when the line segment starting from viewpoint P and heading toward the sun points due south, +90 degrees when pointing due west, and -90 degrees when pointing due east. Ru. Therefore, the solar azimuth angle can take values from -90 degrees to +90 degrees.

As shown in FIG. 6(b), the solar position information stores solar altitude and solar azimuth in association with multiple times from sunrise to sunset for each date and location. In the example shown in Figure 6(b), the solar altitude and solar azimuth from sunrise to sunset on March 8, 2023 at a point at X degrees east longitude and Y degrees north latitude are stored at 15 minute intervals. An example is shown.

The flight object information acquisition unit 127 acquires flight object information including the takeoff time and flight speed of the flight object D. The aircraft information acquisition unit 127 may acquire the aircraft information from a server that manages the operation of the aircraft D, for example. The visible airspace identification unit 124 determines the direction of the aircraft D as seen from the viewpoint P when the aircraft D takes off from the takeoff point S at the takeoff time and flies along the route R identified by the route identification unit 125. A backlight time is specified, which is a time period in which the angle formed by the sunlight direction at the time when the aircraft D flies is less than or equal to a predetermined threshold angle.

FIG. 7 is a diagram schematically showing the direction of the sun during retrograde time. In FIG. 7, the flying object D exists at a certain position on the route R at the time c:d on month a, b, 2023. This date and time is evening, and the sun is in the western sky. Therefore, in the example shown in FIG. 7, if the viewpoint P exists in the area B indicated by the diagonal grid, the aircraft D will be backlit when viewed from the viewpoint P. In FIG. 7, since the viewpoint P indicated by (2) is within the region B, the viewpoint P indicated by (2) is at the backlight time at month a month b day c hour d minute in 2023.

The output unit 128 outputs the backlight time. Specifically, the output unit 128 outputs the time period corresponding to the backlight time for each of the plurality of viewpoints P. Further, the output unit 128 may output map information including the area B shown in FIG. 7 for each time period for each of the plurality of viewpoints P. Thereby, the user U outputted by the output unit 128 can determine a moving location for operating the flying object D, taking into account the time period when the light will be backlit.

Just as people and vehicles are prohibited from entering private land or airports without special permission, Aircraft D is also prohibited from flying near airports or over private land. In addition, it is prohibited to fly less than 30 meters above buildings and over places where large numbers of people are holding events. Therefore, even if these locations are communicable and visible airspaces, the route specifying unit 125 should not determine the route R of the aircraft D.

Therefore, the three-dimensional map information includes no-flight airspace information that specifies a no-flight airspace, which is an airspace where flight of the flying object D is prohibited. FIG. 8 is a diagram schematically showing the no-flight airspace A. The no-fly area A shown in FIG. 8 partially overlaps with the no-go area F shown in FIG. 5. This is because the user U cannot enter facilities such as airports, and the aircraft D cannot fly above them. However, since the aircraft D can also fly over the sea, the sea area is not a no-flight airspace A.

The route specifying unit 125 identifies a route R that is included in both the flyable airspace and the visible airspace V and is not included in the non-flyable airspace A. Although not shown in FIG. 8, the airspace A in which the flying object D cannot fly is less than 30 meters above buildings, etc. For this reason, the route identification unit 125 also refers to the three-dimensional map information acquired by the map acquisition unit 121, and identifies the route R as an airspace A where flight is prohibited, even if the airspace is less than 30 meters above buildings. The route specifying unit 125 acquires event information to be held at a specific date and time and location, and also sets the airspace above that location as a no-fly zone A at that date and time. Thereby, the route specifying unit 125 can prevent the route R from being set in an airspace where flight of the flying object D is prohibited.

<Processing flow of the information processing method executed by the information processing device 1 according to the first embodiment>
FIG. 9 is a flowchart for explaining the flow of information processing executed by the information processing device 1 according to the first embodiment. The processing in this flowchart starts, for example, when the information processing device 1 is started up.

The point acquisition unit 120 acquires point information including the takeoff point S, the landing point G, and the positions of one or more viewpoints P for observing the flying object D (S2). The map acquisition unit 121 acquires three-dimensional map information of the flight target airspace, which is an airspace including point information (S4).

The radio field intensity acquisition unit 122 obtains a radio field strength map indicating the strength of communication radio waves in the flight target airspace (S6). The flyable airspace specifying unit 123 refers to the radio wave intensity map and identifies a flyable airspace, which is an airspace in which the aircraft can fly while being communicatively connected, among the flight target airspaces (S8).

The visible airspace specifying unit 124 refers to the three-dimensional map information to identify a visible airspace V, which is an airspace where there is no obstruction between the flight target airspace and at least one of the one or more viewpoints. (S10). The route identification unit 125 identifies a route R that is included in both the flightable airspace and the visible airspace V, which the aircraft D that takes off from the takeoff point S passes through before landing at the landing point G. (S12). When the route identification unit 125 identifies the route R, the processing in this flowchart ends.

<Effects achieved by the information processing device 1 according to the first embodiment>
As explained above, according to the information processing device 1 according to the first embodiment, the user U who is the operator of the flying object D can determine a route in which the flying object D can be visually seen.

<Summary of second embodiment>
The information processing device 1 according to the first embodiment has set a route R that is visible from a viewpoint P set by the user U. In contrast, the information processing device according to the second embodiment first identifies the route R, and then identifies the ground area where the observation target point set on the route R by the user U can be seen. This is different from the information processing device 1 according to the embodiment. The information processing apparatus according to the second embodiment will be described below with reference to the drawings, but parts that overlap with the information processing apparatus according to the first embodiment will be omitted or simplified as appropriate.

FIG. 10 is a diagram schematically showing the functional configuration of the information processing device 1 according to the second embodiment. The information processing device 1 includes a storage section 10, a communication section 11, and a control section 12. In FIG. 10, arrows indicate main data flows, and there may be data flows that are not shown in FIG. In FIG. 10, each functional block shows the configuration of a functional unit, not the configuration of a hardware (device) unit. Therefore, the functional blocks shown in FIG. 10 may be implemented within a single device, or may be implemented separately within a plurality of devices. Data may be exchanged between functional blocks via any means such as a data bus, a network, or a portable storage medium.

The storage unit 10 stores a ROM that stores the BIOS, etc. of a computer that implements the information processing device 1, a RAM that serves as a work area of the information processing device 1, an OS, an application program, and various information that is referenced when the application program is executed. This is a large capacity storage device such as an HDD or SSD for storing data.

The communication unit 11 is a communication interface for the information processing device 1 to communicate with an external device, and is realized by a known communication module such as a LAN module or a Wi-Fi module. Hereinafter, in this specification, description of the communication unit 11 may be omitted on the premise that when the information processing device 1 communicates with an external device, the communication unit 11 is used.

The control unit 12 is a processor such as a CPU or a GPU of the information processing device 1, and by executing a program stored in the storage unit 10, the point acquisition unit 120, the map acquisition unit 121, the radio field strength acquisition unit 122, and the flight-enabled Functions as an airspace identification unit 123, a route identification unit 125, a solar radiation direction acquisition unit 126, an aircraft information acquisition unit 127, an output unit 128, a setting unit 129, a visible area identification unit 130, a position calculation unit 131, and a distance calculation unit 132 do.

Note that FIG. 10 shows an example in which the information processing device 1 is configured as a single device. However, the information processing device 1 may be realized by calculation resources such as a plurality of processors and memories, such as a cloud computing system, for example. In this case, each unit constituting the control unit 12 is realized by executing a program by at least one of a plurality of different processors.

The location acquisition unit 120 acquires location information including the takeoff location S and the landing location G of the aircraft D. The radio field strength acquisition unit 122 acquires a radio field strength map indicating the strength of radio waves for communication in the flight target airspace, which is the airspace including the takeoff point S and the landing point G. The flightable airspace identifying unit 123 refers to the radio field intensity map acquired by the radio field strength acquisition unit 122 and identifies a flightable airspace, which is an airspace in which the aircraft D can fly while being connected for communication, out of the flight target airspace. do. The route specifying unit 125 identifies a route R that is included in the flightable airspace and is a route R that the aircraft D that takes off from the takeoff point S passes through before landing at the landing site G.

The setting unit 129 sets one or more observation target points on the route R specified by the route specifying unit 125. Specifically, the setting unit 129 determines observation target points for each distance obtained by dividing the distance along the route R from the takeoff point S to the landing point G by a predetermined number of divisions. Alternatively, the setting unit 129 may set observation target points at predetermined intervals along the route R from the takeoff point S to the landing point G. As another example, the setting unit 129 presents the route R from the takeoff point S to the landing point G on a terminal (not shown) operated by the user U, and the observation target point set on the route R by the user U. It is also possible to obtain and set P.

The map acquisition unit 121 acquires three-dimensional map information of the airspace including the route R. The visible area identification unit 130 refers to the three-dimensional map information acquired by the map acquisition unit 121 and determines that there is no obstruction between the one or more observation target points set on the route R by the setting unit 129. Identify a visually visible ground area that is an area on the ground. Thereby, the information processing device 1 according to the second embodiment can determine a route in which the user U, who is the operator of the flying object D, can visually see the flying object D.

Here, the visible area specifying unit 130 may sequentially specify, for each of the plurality of observation target points, a visible ground area, which is an area on the ground where no obstruction exists between the observation target point and the observation target point. Thereby, it is possible to grasp the location to which the aircraft D should be moved in order to operate it according to the progress of the aircraft D.

Similar to the information processing device 1 according to the first embodiment, the three-dimensional map information held by the information processing device 1 according to the second embodiment is an area where the setting of a visually visible ground area is prohibited. Contains prohibited area information that specifies prohibited areas. The visible area specifying unit 130 specifies an area on the ground where no obstruction exists between one or more observation target points and which is outside the restricted area as a visible ground area. Thereby, the visible area specifying unit 130 can prevent identifying a place where the user U cannot enter as a visible area even if the observation target point can be observed.

Similar to the information processing device 1 according to the first embodiment, the three-dimensional map information held by the information processing device 1 according to the second embodiment is a flight map that is an airspace where flight of the flying object D is prohibited. Contains no-flight airspace information that identifies prohibited airspaces. The route identification unit 125 identifies the route R so that it is not included in the no-flight airspace. Thereby, the route specifying unit 125 can prevent the route R from being set in an airspace where flight of the flying object D is prohibited.

Similar to the solar radiation direction acquisition unit 126 according to the first embodiment, the solar radiation direction acquisition unit 126 according to the second embodiment also acquires solar position information indicating the solar azimuth and solar altitude at each of a plurality of times. get. Further, the flight object information acquisition unit 127 acquires flight object information including the takeoff time and flight speed of the flight object D.

The visible area specifying unit 130 determines that when the aircraft D takes off from the takeoff point S at the takeoff time and flies along the route R specified by the route specifying unit 125, the straight line connecting the sun and the aircraft D is on the ground. The visually visible ground area is specified by excluding a predetermined ground area including a point that intersects with the visible ground area. Thereby, the visible area specifying unit 130 can exclude from the visible ground area a state in which the sun is present in the direction in which the user U observes the flying object D, a so-called backlit state.

As described above, the visible area identification unit 130 identifies a visible ground area that is an area on the ground where no obstruction exists between one or more observation target points set on the route R. Therefore, if the user U exists in the visible ground area, the user U can observe the observation target point. However, when the distance between the user U and the observation target point is long, it is considered that it becomes more difficult for the user U to observe the flying object D near the observation target point P than when the distance is short.

Therefore, the position calculation section 131 refers to the flight object information acquired by the flight object information acquisition section 127, and determines that the flight object D takes off from the takeoff point S at the takeoff time, flies along the route R, and lands at the landing point G. The position of the flying object D at each of a plurality of times until then is calculated. The distance calculation unit 132 calculates the position of the flying object D at each of a plurality of times, and the positions and distances of the visually visible ground area. The output unit 128 outputs each position of the visually visible ground area in a different manner depending on the distance.

Specifically, the output unit 128 produces a so-called heat map in which a visible ground area that is far away from the aircraft D has low saturation, and a visible ground area that is close to the aircraft D has high saturation. The visually visible ground area is output in a manner (not shown). Thereby, the user U who has confirmed the visually visible ground area can make a plan to move to a place where the distance to the flying object D becomes closer in order to operate the flying object D at each of a plurality of times.

The visible area identifying unit 130 may also specify a visible ground area that is an area on the ground where no obstruction exists between the position of the aircraft D at each of the plurality of times calculated by the position calculating unit 131. good. The output unit 128 outputs each of the plurality of times in association with the visually visible ground area at that time. As a result, the user U can grasp the visually visible ground area that changes according to the progress of the aircraft D according to the time, and can use this to formulate a movement plan for operating the aircraft D. .

By the way, the user U transmits a control signal to the flying object D via a communication line to control the flight of the flying object D. Therefore, even if the user U can see the flying object D, the user U will not be able to control the flight of the flying object D if the communication radio waves do not reach that location.

Therefore, the visible area identification unit 130 refers to the radio wave intensity map and identifies, as a visible ground area, an area where the radio wave intensity reaches a predetermined intensity that enables flight control of the aircraft D, out of the visible ground area. do. Thereby, the visible area specifying unit 130 can specify an area where user U's communication is guaranteed and where the flying object D can be seen as the visible ground area.

If the distance between the takeoff point S and the landing point G is short, or if the route R identified by the route identification unit 125 is in an open airspace with good visibility, the user U can visually see the aircraft D from one location. There may be cases. In such a case, since the user U can omit the movement to operate the flying object D, the burden of operating the flying object D can be reduced.

Therefore, if there is an area on the ground where no obstruction exists between the route R and any point on the route R, the visible area specifying unit 130 may specify that area as the visible area on the ground. Thereby, the user U can grasp the area in which the flying object D can be operated without moving.

<Processing flow of the information processing method executed by the information processing device 1 according to the second embodiment>
FIG. 11 is a flowchart for explaining the flow of information processing executed by the information processing device 1 according to the second embodiment. The processing in this flowchart starts, for example, when the information processing device 1 is started up.

The location acquisition unit 120 acquires location information including the takeoff location S and the landing location G of the aircraft D (S20). The radio field intensity acquisition unit 122 obtains a radio field strength map indicating the strength of radio waves for communication in the flight target airspace, which is the airspace including the takeoff point S and the landing point G (S22). The flyable airspace specifying unit 123 refers to the radio wave intensity map and identifies a flyable airspace, which is an airspace in which the flying object D can fly while being communicatively connected, among the flight target airspaces (S24).

The route identification unit 125 identifies a route R that is included in the flightable airspace and is a route R that the aircraft D that takes off from the takeoff point S passes before landing at the landing point G (S26). The setting unit 129 sets one or more observation target points on the route R (S28).

The map acquisition unit 121 acquires three-dimensional map information of the airspace including the route R (S30). The visible area identification unit 130 refers to the three-dimensional map information and identifies a visible ground area that is an area on the ground where no obstruction exists between one or more observation target points (S32). When the visible area specifying unit specifies the visible ground area, the processing in this flowchart ends.

<Effects achieved by the information processing device 1 according to the second embodiment>
As described above, according to the information processing device 1 according to the second embodiment, the user U who is the operator of the flying object D can determine a route in which the flying object D can be visually seen.

Furthermore, the present invention makes it possible to contribute to Goal 9 of the Sustainable Development Goals (SDGs) led by the United Nations, "Create a foundation for industry and technological innovation."

Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes can be made within the scope of the gist. be. For example, all or part of the device can be functionally or physically distributed and integrated into arbitrary units. In addition, new embodiments created by arbitrary combinations of multiple embodiments are also included in the embodiments of the present invention. The effects of the new embodiment resulting from the combination have the effects of the original embodiment.

1 Information processing device 10 Storage unit 11 Communication unit 12 Control unit 120 Point acquisition unit 121 Map acquisition unit 122 Radio field strength acquisition unit 123 Flightable airspace identification unit 124 Visual airspace identification unit 125 Route identification unit 126 Solar radiation direction acquisition unit 127 Aircraft Information acquisition section 128 Output section 129 Setting section 130 Visually visible area specification section 131 Position calculation section 132 Distance calculation section

Claims (14)

a point acquisition unit that acquires point information including a takeoff point and a landing point of the aircraft;
a radio field strength acquisition unit that obtains a radio field strength map indicating the strength of radio waves for communication in a flight target airspace that includes the takeoff point and the landing point;
a flightable airspace identification unit that refers to the radio wave intensity map to identify a flightable airspace in the flight target airspace that is an airspace in which the aircraft can fly while being connected for communication;
a route identification unit that identifies a route that is included in the flightable airspace and is a route that the aircraft takes off from the takeoff point before landing at the landing point;
a setting unit that sets one or more observation target points on the route;
a map acquisition unit that acquires three-dimensional map information of the airspace including the route;
a visible area identification unit that refers to the three-dimensional map information to identify a visible ground area that is a ground area where no obstruction exists between the one or more observation target points;
a solar radiation direction acquisition unit that acquires solar position information indicating solar azimuth and solar altitude at each of a plurality of times;
an aircraft information acquisition unit that acquires aircraft information including takeoff time and flight speed of the aircraft ,
The visible area specifying unit is configured to determine that when the aircraft takes off from the takeoff point at the takeoff time and flies along the route specified by the route specifying unit, a straight line connecting the sun and the aircraft is on the ground. identifying the visually visible ground area by excluding a predetermined ground area including a point that intersects with the visible ground area ;
Information processing device. a point acquisition unit that acquires point information including a takeoff point and a landing point of the aircraft;
a radio field strength acquisition unit that obtains a radio field strength map indicating the strength of radio waves for communication in a flight target airspace that includes the takeoff point and the landing point;
a flightable airspace identification unit that refers to the radio wave intensity map to identify a flightable airspace in the flight target airspace that is an airspace in which the aircraft can fly while being connected for communication;
a route identification unit that identifies a route that is included in the flightable airspace and is a route that the aircraft takes off from the takeoff point before landing at the landing point;
a setting unit that sets one or more observation target points on the route;
a map acquisition unit that acquires three-dimensional map information of an airspace including the route;
a visible area identification unit that refers to the three-dimensional map information to identify a visible ground area that is a ground area where no obstruction exists between the one or more observation target points;
an aircraft information acquisition unit that acquires aircraft information including takeoff time and flight speed of the aircraft;
a position calculation unit that calculates the position of the flying object at each of a plurality of times during the time when the flying object takes off from the takeoff point at the takeoff time, flies the route, and lands at the landing point;
a distance calculation unit that calculates the position of the flying object at each of the plurality of times, and each position and distance of the visually visible ground area;
an output unit that outputs each position of the visually visible ground area in a different manner depending on the distance for each of the plurality of times ;
Information processing device. a point acquisition unit that acquires point information including a takeoff point and a landing point of the aircraft;
a radio field strength acquisition unit that obtains a radio field strength map indicating the strength of radio waves for communication in a flight target airspace that includes the takeoff point and the landing point;
a flightable airspace identification unit that refers to the radio wave intensity map to identify a flightable airspace in the flight target airspace that is an airspace in which the aircraft can fly while being connected for communication;
a route identification unit that identifies a route that is included in the flightable airspace and is a route that the aircraft takes off from the takeoff point before landing at the landing point;
a setting unit that sets one or more observation target points on the route;
a map acquisition unit that acquires three-dimensional map information of the airspace including the route;
a visually visible area identifying unit that refers to the three-dimensional map information to identify a visible ground area that is a ground area where no obstruction exists between the one or more observation target points ;
The visible area specifying unit refers to the radio field intensity map and specifies, as the visible ground area, an area where the radio field intensity is a predetermined intensity among the visible ground areas.
Information processing device. The visually visible area specifying unit identifies, for each observation target point, a visually visible ground area that is an area on the ground where no obstruction exists between the observation target point and the observation target point.
The information processing device according to any one of claims 1 to 3 . The three-dimensional map information includes prohibited area information that specifies a prohibited area that is an area in which setting of the visually visible ground area is prohibited,
The visible area specifying unit specifies, as the visible ground area, an area on the ground where no obstruction exists between the one or more observation target points and which is outside the range of the inaccessible area. ,
The information processing device according to any one of claims 1 to 3 . The three-dimensional map information includes no-fly zone information that specifies a no-fly zone that is an air zone where flight of the aircraft is prohibited;
The route identification unit identifies the route so as not to be included in the no-fly zone;
The information processing device according to any one of claims 1 to 3 . an aircraft information acquisition unit that acquires aircraft information including takeoff time and flight speed of the aircraft;
a position calculation unit that calculates the position of the aircraft at each of a plurality of times during which the aircraft takes off from the takeoff point at the takeoff time, flies the route, and lands at the landing site; More prepared,
The visually visible area specifying unit specifies a visually visible ground area that is an area on the ground where no obstruction exists between the position of the flying object at each of the plurality of times,
The information processing device according to any one of claims 1 to 3 . The visible area specifying unit specifies an area on the ground where there is no obstruction between the route and any point on the route as the visible ground area.
The information processing device according to any one of claims 1 to 3 . The processor
obtaining point information including a takeoff point and a landing point of the aircraft;
obtaining a radio field intensity map indicating the strength of radio waves for communication in a flight target airspace that includes the takeoff point and the landing point;
identifying a flightable airspace, which is an airspace in which the aircraft can fly while connected for communication, out of the flight target airspace with reference to the radio field intensity map;
identifying a route that is included in the flightable airspace and is a route that the aircraft that takes off from the takeoff point passes before landing at the landing site;
setting one or more observation points on the route;
acquiring three-dimensional map information of an area including the route;
Referring to the three-dimensional map information, identifying a visually visible ground area that is a ground area where no obstruction exists between the one or more observation target points;
obtaining solar position information indicating solar azimuth and solar altitude at each of a plurality of times;
acquiring aircraft information including takeoff time and flight speed of the aircraft ;
In the step of specifying the visually visible ground area, when the aircraft takes off from the takeoff point at the takeoff time and flies along the route specified in the step of specifying the route, the sun and the aircraft identifying the visually visible ground area by excluding from the visible ground area a predetermined ground area including a point where a straight line connecting the lines intersects with the ground ;
Information processing method. The processor
obtaining point information including a takeoff point and a landing point of the aircraft;
obtaining a radio wave intensity map indicating the strength of radio waves for communication in a flight target airspace that includes the takeoff point and the landing point;
identifying a flightable airspace, which is an airspace in which the aircraft can fly while connected for communication, among the flight target airspaces, with reference to the radio field intensity map;
identifying a route that is included in the flightable airspace and is a route that the aircraft that takes off from the takeoff point passes before landing at the landing site;
setting one or more observation points on the route;
acquiring three-dimensional map information of an area including the route;
Referring to the three-dimensional map information, identifying a visually visible ground area that is a ground area where no obstruction exists between the one or more observation target points;
acquiring aircraft information including takeoff time and flight speed of the aircraft;
calculating the position of the aircraft at each of a plurality of times during which the aircraft takes off from the takeoff point at the takeoff time, flies the route, and lands at the landing site;
calculating the position of the flying object at each of the plurality of times, and the position and distance of each of the visually visible ground areas;
outputting each position of the visually visible ground area in a different manner depending on the distance for each of the plurality of times ;
Information processing method. The processor
obtaining point information including a takeoff point and a landing point of the aircraft;
obtaining a radio wave intensity map indicating the strength of radio waves for communication in a flight target airspace that includes the takeoff point and the landing point;
identifying a flightable airspace, which is an airspace in which the aircraft can fly while connected for communication, among the flight target airspaces, with reference to the radio field intensity map;
identifying a route that is included in the flightable airspace and is a route that the aircraft that takes off from the takeoff point passes before landing at the landing site;
setting one or more observation points on the route;
acquiring three-dimensional map information of an area including the route;
with reference to the three-dimensional map information, identifying a visually visible ground area that is a ground area where no obstruction exists between the one or more observation target points ;
In the step of identifying the visually visible ground area, referring to the radio field intensity map, identifying an area where the radio field intensity is a predetermined intensity among the visible ground areas as the visible ground area;
Information processing method. to the computer,
A function to obtain point information including the takeoff point and landing point of the aircraft;
a function of acquiring a radio field strength map indicating the strength of radio waves for communication in a flight target airspace that includes the takeoff point and the landing point;
A function of identifying a flightable airspace, which is an airspace in which the aircraft can fly while connected for communication, out of the flight target airspace by referring to the radio field intensity map;
a function of identifying a route that is included in the flightable airspace and is a route that the aircraft takes off from the takeoff point and passes before landing at the landing site;
a function of setting one or more observation points on the route;
a function of acquiring three-dimensional map information of an area including the route;
a function of referring to the three-dimensional map information to identify a visually visible ground area that is a ground area where no obstruction exists between the one or more observation target points;
A function to acquire solar position information indicating the solar azimuth and solar altitude at each of a plurality of times;
A function of acquiring flight vehicle information including takeoff time and flight speed of the flight vehicle ,
The function of specifying the visually visible ground area is such that when the aircraft takes off from the takeoff point at the takeoff time and flies along the route specified by the route specifying function, identifying the visually visible ground area by excluding from the visible ground area a predetermined ground area including a point where a straight line connecting the lines intersects with the ground ;
program. to the computer,
A function to obtain point information including the takeoff point and landing point of the aircraft;
a function of acquiring a radio field strength map indicating the strength of radio waves for communication in a flight target airspace that includes the takeoff point and the landing point;
A function of identifying a flightable airspace, which is an airspace in which the aircraft can fly while connected for communication, out of the flight target airspace by referring to the radio field intensity map;
a function of identifying a route that is included in the flightable airspace and is a route that the aircraft takes off from the takeoff point and passes before landing at the landing site;
a function of setting one or more observation points on the route;
a function of acquiring three-dimensional map information of an area including the route;
a function of referring to the three-dimensional map information to identify a visually visible ground area that is a ground area where no obstruction exists between the one or more observation target points;
a function of acquiring aircraft information including takeoff time and flight speed of the aircraft;
a function of calculating the position of the aircraft at each of a plurality of times during which the aircraft takes off from the takeoff point at the takeoff time, flies the route, and lands at the landing site;
a function of calculating the position of the flying object at each of the plurality of times, and each position and distance of the visually visible ground area;
A function of outputting each position of the visually visible ground area in a different manner depending on the distance for each of the plurality of times ,
program. to the computer,
A function to acquire point information including the takeoff point and landing point of the aircraft;
a function of acquiring a radio field strength map indicating the strength of radio waves for communication in a flight target airspace that includes the takeoff point and the landing point;
A function of identifying a flightable airspace, which is an airspace in which the aircraft can fly while connected for communication, out of the flight target airspace by referring to the radio field intensity map;
a function of identifying a route that is included in the flightable airspace and is a route that the aircraft takes off from the takeoff point and passes before landing at the landing site;
a function of setting one or more observation points on the route;
a function of acquiring three-dimensional map information of an area including the route;
A function of identifying a visually visible ground area that is a ground area where no obstruction exists between the one or more observation target points by referring to the three-dimensional map information ;
The function of specifying the visually visible ground area refers to the radio field intensity map, and specifies, as the visible ground area, an area where the radio field intensity is a predetermined intensity among the visible ground areas.
program.

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