JP2007237873A - Control device and control method for flying machine and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To obtain a flight area limiting device for designating the area to prohibit the flight and limiting the travel of unmanned aircraft in the area as the security measure to prevent an autonomically flying unmanned aircraft from being used for the antisocial purpose such as terror or the like. <P>SOLUTION: When making the unmanned aircraft autonomically flies toward the destination, the positional information of the area where the flight is prohibited is entered into the database, and when a previously set flying route rests on the flight prohibition area, an unmanned aircraft control computer 4 stops the motion of the unmanned aircraft 1 or prohibits the position input. When the unmanned aircraft intrudes into the flight prohibition area during flight, or there is the possibility that the unmanned aircraft intrudes into the flight prohibition area, the unmanned aircraft control computer 4 forcibly lands the unmanned aircraft 1 or performs the route change. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a flight region restriction technique that prevents malicious use of an unmanned aerial vehicle that performs autonomous flight based on, for example, GPS (Global Positioning System) information.

  It goes without saying that safety measures such as accident prevention and security are indispensable in the real world operation of a small unmanned aerial vehicle equipped with GPS and capable of autonomous flight along a specified flight path.

As an example of safety measures for preventing accidents, a conventional technique related to an unmanned aerial vehicle capable of automatically avoiding a collision with an approaching moving body (for example, another aircraft) is known (for example, Patent Document 1).
Japanese Patent Laid-Open No. 2002-200309 (page 7, FIG. 1)

  The autonomous flight route can be freely specified by the user based on information such as latitude and longitude. Therefore, there is a possibility that a malicious user may input target point information for attacking a specific target that is used for anti-social purposes such as terrorism. Therefore, not only the above accident prevention measures but also security measures to prevent malicious use are necessary.

  The present invention has been made as one of the main objects to solve such problems, and prevents an unmanned aircraft from entering a flight prohibited area set by an administrator, and also prohibits the flight. The main objective is to obtain a flight area limiting device that prohibits users from tampering the area and prevents the use of drones for malicious purposes.

The mobile device control device according to the present invention is:
A mobile device control device for controlling an autonomous mobile device that can autonomously move along a set movement route,
An entry prohibition area information storage unit for storing entry prohibition area information indicating an entry prohibition area where entry of the autonomous mobile device is prohibited;
A moving route candidate information input unit for inputting moving route candidate information indicating a moving route candidate of the autonomous mobile device;
The movement route candidate information input by the movement route candidate information input unit is compared with the entry prohibited region information stored in the entry prohibited region information storage unit, and the candidate of the movement route indicated in the movement route candidate information is obtained. A travel route candidate determination unit that determines whether or not an entry prohibition area is included;
An entry prohibition that performs an entry prohibition measure for prohibiting entry of the autonomous mobile device into the entry prohibition area when the movement route candidate determination unit determines that a movement route candidate includes an entry prohibition area. And a measure section.

  As described above, according to the present invention, it is possible to prevent an autonomous mobile device from entering the prohibited entry area by collating the movement route candidate information with the prohibited entry area information. It is possible to prevent the use of an autonomous mobile device for malicious purposes, such as attacking.

Embodiment 1 FIG.
In this embodiment, as a security measure to prevent the use of unmanned aerial vehicles that fly autonomously for anti-social purposes such as terrorism, an area where flight should be prohibited is designated and the operation of the drone within that area is specified. Get a flight area limiting device that limits
Specifically, when the drone is autonomously flying toward the destination, the location information of the area where the flight should be prohibited is created as a database. The control computer 4 stops the operation of the drone 1 or prohibits position input.
Embodiment 1 according to the present invention will be described below with reference to the drawings.

FIG. 1 shows the configuration of an apparatus according to Embodiment 1 of the present invention.
FIG. 1 shows a state in which an unmanned aircraft control computer 4 (mobile device control device) is mounted on an unmanned aircraft 1 capable of autonomous flight.
In addition to the devices shown in the figure, the drone 1 shown in the figure includes various devices (for example, a gyro sensor for estimating the attitude at the time of flight, a GPS antenna for receiving the current position and autonomous flight, and GPS reception) However, only the part which is the gist of the present embodiment will be described here.

  The unmanned aerial vehicle control computer 4 in FIG. 1 controls the flight of the unmanned aerial vehicle 1, outputs a steering signal to the control rudder 7 arranged on the main wing and the tail wing, and supplies power to the power source 8. The drone is controlled by outputting a control signal. The power source 8 is, for example, an engine or a motor.

FIG. 2 is a diagram showing a configuration example of the drone control computer 4 according to the present embodiment.
In the figure, both the input unit 401 and the receiving unit 402 input flight route candidate information (moving route candidate information) indicating candidates for the flight route (moving route) of the drone. The input unit 401 inputs flight path candidate information before the drone 1 starts flying, and the receiving unit 402 inputs the flight path candidate information by wireless communication after the drone starts flying. These input unit 401 and receiving unit 402 are examples of moving route candidate information input units.
The flight prohibition area database 403 stores flight prohibition area information (entry prohibition area information) indicating a flight prohibition area (entrance prohibition area) where the flight (entrance) of the drone 1 is prohibited. The flight prohibited area database 403 is an example of an entry prohibited area information storage unit.
The flight path candidate determination unit 404 is the flight path candidate information input by the input unit 401 or the reception unit 402 and the flight stored in the flight prohibited area database 403 before or after the drone starts flying. The prohibited area information is collated, and it is determined whether or not the flight prohibited area is included in the flight path candidates indicated in the flight path candidate information. The flight route candidate determination unit 404 is an example of a movement route candidate determination unit.
When the flight path candidate determination unit 404 determines that the flight path candidate includes a flight prohibited area before or after the drone starts flying, the control instruction unit 405 The entry prohibition measures are taken to prohibit entry into the prohibited areas. As the entry prohibition measure, for example, there is a measure not to set the flight route candidate indicated in the flight route candidate information input by the input unit 401 or the reception unit 402 as the flight route of the drone. As another approach prohibition measure, for example, there is a measure to instruct the flight control unit 408 to stop the operation of the drone. The control instruction unit 405 is an example of an entry prohibition measure unit.
The flight path setting unit 406 receives an instruction from the control instruction unit 405 when the flight path candidate determination unit 404 determines that the flight path candidate indicated in the flight path candidate information does not include the flight prohibited area. The flight path candidate is set as the official flight path.
The flight path storage unit 407 stores the flight path set by the flight path setting unit 406.
The flight control unit 408 performs flight control of the drone based on the flight path stored in the flight path storage unit 407. The flight control is performed, for example, by outputting a power control signal or a steering signal. In addition, when the flight path candidate determination unit 404 determines that the flight path candidate includes a flight prohibited area, the operation of the drone is stopped or the drone is forced by an instruction from the control instruction unit 405. Land, etc.

FIG. 3 shows an example of the flight prohibited area information (entry prohibited area information) stored in the flight prohibited area database 403.
In FIG. 3, the example which manages the flight prohibition area | region for every predetermined area is shown. Moreover, the position of the flight prohibition area is specified by specifying the coordinates of each flight prohibition area. The coordinates of the flight prohibition area may be indicated by absolute coordinates such as latitude and longitude, or may be indicated by system-specific relative coordinates.

FIG. 4 shows an example of flight route candidate information input by the input unit 401 or the receiving unit 402.
The flight path candidate information is information indicating candidates for the flight path of the drone, and indicates the coordinates of each point of the planned flight route.

FIG. 5 is a conceptual diagram of the determination of the presence or absence of entry into the flight prohibited area performed by the flight path candidate determination unit 404.
FIG. 5 shows an example in which the flight prohibited area information of FIG. 3 and the flight path candidate information of FIG. 4 are collated.
In FIG. 5, a curve is a locus in which each point of a flight path candidate is plotted, and a rectangle indicates a flight prohibited area.
In the example of FIG. 5, the vehicle has entered a flight prohibited area (area surrounded by AA11, AA22, AA33, and AA44) at a point AA25.
FIG. 5 conceptually shows the determination process in the flight path candidate determination unit 404, and it is conceivable that the determination is performed with a more detailed granularity in actual operation.

FIG. 6 is a flowchart showing the operation process of the drone control computer 4 in the drone according to the first embodiment.
Hereinafter, the operation of the unmanned aircraft control computer 4 according to the first embodiment will be described in detail with reference to FIGS.

When operating the drone, the user needs to set the flight path in advance or during flight.
In the drone control computer 4, the input unit 401 or the receiving unit 402 inputs flight route candidate information from the user (S601) (movement route candidate information input step). As described above, the input unit 401 inputs the flight path candidate information before the flight, and the reception unit 402 receives the flight path candidate information by wireless communication when the flight is in progress.
Next, in the drone control computer 4, the flight path candidate determination unit 404 includes a flight prohibited area registered in the flight prohibited area database 403 in the flight path candidate indicated in the input flight path candidate information. Whether or not the drone enters the flight prohibited area (S602) (movement path candidate determination step),
If the flight path candidate does not overlap the flight prohibited area, that is, if the drone 1 does not enter the flight prohibited area, the control instruction unit 405 instructs a normal operation (S603). For example, the control instruction unit 405 instructs the flight path setting unit 406 to set the input flight path candidate as a flight path. Further, when in flight, the control instruction unit 405 does not give any control instruction to the flight control unit 408, and allows the flight control unit 408 to transmit normal steering signals and power control signals to perform normal operation. .
On the other hand, when the flight path candidate overlaps the flight prohibited area, that is, when the drone 1 enters the flight prohibited area, the control instruction unit 405 instructs an exceptional operation (S604) (entry prohibition step). As an exception operation, for example, the control instruction unit 405 does not output the input flight path candidate information to the flight path setting unit 406 and does not set the flight path candidate indicated in the flight path candidate information as a flight path. . In addition, before the start of flight, the flight control unit 408 is instructed to perform control such that the power source 8 is locked, such as locking the power source 8, and the flight is stopped. Further, after the start of flight, for example, the control instruction unit 405 instructs the flight control unit 408 to forcibly land, and also instructs to stop the operation such as locking the power source 8 after the forced landing.
Then, the flight control unit 408 outputs a power control signal and a steering signal in accordance with an instruction from the control instruction unit 405, and performs control for locking the power source 8 and forced landing.

  As described above, according to the present embodiment, when the flight path candidate information is input before the start of the flight or after the start of the flight, by comparing with the flight prohibited area, the unmanned aircraft can enter the flight prohibited area. It is possible to prevent entry, and it is possible to prevent use of the drone for malicious purposes such as attacking a specific target.

As described above, in the present embodiment,
When operating an unmanned aerial vehicle,
A control device that realizes autonomous flight based on sensor information and the like;
A database of prohibited areas,
And when the flight area input from the operator in advance falls into the flight prohibition area recorded in the database, it has a function of performing processing such as stopping the operation or prohibiting position input. The drone control device has been described.

Embodiment 2. FIG.
FIG. 7 shows a configuration example of the drone 1 according to the present embodiment.
Compared to the configuration of FIG. 1 of the first embodiment, a GPS antenna 2 and a GPS receiver 3 for receiving GPS signals from GPS satellites are added. Other components are the same as those shown in FIG.
Also in FIG. 7, the drone 1 is equipped with various devices (for example, a gyro sensor for estimating the attitude at the time of flight) in addition to the devices shown in FIG. Only the gist of this will be described.

FIG. 8 shows a configuration example of the unmanned aircraft control computer 4 according to the present embodiment.
FIG. 8 has the same configuration as FIG. 1 except that a position determination unit 409 is added.
The position determination unit 409 determines the current position of the drone 1 based on the positioning information from the GPS receiver 3.
In the present embodiment, the flight path candidate determination unit 404 collates the current position of the drone 1 determined by the position determination unit 409 with the flight prohibited area information stored in the flight prohibited area database 403, The possibility that the drone enters the prohibited flight area is determined. In the present embodiment, the flight path candidate determination unit 404 corresponds to an example of an approach possibility determination unit.
Then, the control instruction unit 405 determines that the unmanned aircraft flight prohibited area when the possibility that the unmanned aircraft 1 enters the flight prohibited area is determined to be a certain level or higher by the flight path candidate determining unit 404 serving as an approach possibility determining unit. Take entry prohibition measures to prohibit entry into Examples of the entry prohibition measures include changing the flight path of the drone 1 to a path where the drone 1 does not enter the flight prohibited area, or stopping the flight of the drone 1.

Next, an operation example of the unmanned aircraft control computer 4 according to the present embodiment will be described with reference to FIG.
In the present embodiment, it is assumed that the drone 1 is in flight.
First, the position determination unit 409 inputs positioning information from the GPS receiver 3 (S901).
Next, the position determination unit 409 specifies the current position and the traveling direction of the drone 1 from the positioning information (S902) (position determination step). For example, when the flight prohibition area information in the flight prohibition area database 403 specifies the flight prohibition area based on system-specific relative coordinates, the position determination unit 409 converts the latitude / longitude information from the GPS receiver 3 into relative coordinates. Process. Further, the position determination unit 409 may record the history of the position determination result of the unmanned aerial vehicle 1 so far, and collate this history information with the current position to specify the traveling direction of the unmanned aircraft 1. Further, the position determination unit 409 may determine the flight speed of the drone 1.
Next, based on the flight prohibited area information registered in the flight prohibited area database 403, the unmanned airplane 1 is determined by the flight path candidate determining unit 404 based on the position and traveling direction of the unmanned aircraft 1 determined by the position determining unit 409. The possibility of entering the flight prohibited area is determined (S903) (entry possibility determination step). The determination of the possibility of entering is performed in consideration of, for example, the distance between the current position of the drone 1 and the flight prohibited area, the degree of coincidence of the traveling direction of the drone 1 with respect to the flight prohibited area, and the like.
Then, the flight path candidate determination unit 404 determines whether or not the determined approach possibility is higher than a certain level (a certain threshold) (S904). If the approach possibility is lower than the certain level, the control instruction unit 405 A normal operation is performed (S905). For example, the control instruction unit 405 does not give any control instruction to the flight control unit 408, and allows the flight control unit 408 to transmit a normal steering signal or power control signal to perform normal operation.
On the other hand, when the possibility of entering is above a certain level, or when the drone 1 has already entered the flight prohibited area, the control instruction unit 405 instructs an exceptional operation (S906) (entry prohibition measure step). . As an exceptional operation, for example, the control instruction unit 405 instructs the flight control unit 408 to forcibly change the route, or retreats from the flight prohibition region if it has entered the flight prohibition region. Instruct. Further, the control instruction unit 405 instructs the flight control unit 408 to perform forced landing, and instructs the stop of the operation such as locking of the power source 8 after the forced landing.
Then, the flight control unit 408 outputs a power control signal and a steering signal in accordance with an instruction from the control instruction unit 405, and performs control for forced change of the flight path, withdrawal from the flight prohibited area, and forced landing.

  As described above, according to the present embodiment, when a flight prohibited area is violated or is likely to be violated during flight, the landing or the route change is forcibly performed. It is possible to prevent the drone from entering the aircraft or to move the drone out of the prohibited flight area, and to prevent the drone from being used for malicious purposes such as attacking a specific target.

Thus, in this embodiment,
When operating an unmanned aerial vehicle,
GPS that measures its own position,
A control device that realizes autonomous flight based on GPS information and other sensor information;
A database of prohibited areas,
When the flight position obtained from GPS infringes the no-fly zone recorded in the database during the flight, it has the function of stopping and landing immediately or forcibly changing the route The drone control device has been described.

Embodiment 3 FIG.
FIG. 10 shows a configuration example of the drone control computer 4 in the third embodiment.
In the present embodiment, in addition to the components of the second embodiment, a tampering presence / absence detection unit 410 and an encryption processing unit 411 are provided.
The encryption processing unit 411 encrypts the flight prohibited area information in the flight prohibited area database 403.
For this reason, in the present embodiment, the flight prohibited area database 403 stores encrypted flight prohibited area information.
Further, the tampering presence / absence detection unit 410 detects the presence / absence of tampering with respect to the flight prohibited area information in the flight prohibited area database 403, and prevents flight within the flight prohibited area due to the alteration of the flight prohibited area information.
The control instruction unit 405 according to the present embodiment performs an entry prohibition measure when the falsification presence / absence detection unit 410 detects falsification of the flight prohibited area information.

  FIG. 11 is a flowchart showing the operation process of the drone control computer 4 in the third embodiment. Hereinafter, the operation in the third embodiment will be described in detail with reference to FIGS. 10 and 11.

First, the input unit 401 or the receiving unit 402 inputs flight route candidate information from the user (S1101).
Next, the falsification presence / absence detection unit 410 checks the flight prohibition area information in the flight prohibition area database 403 to determine whether falsification has occurred (S1102).
Here, when confirming whether or not the flight prohibited area information has been tampered with, for example, a checksum for a specific area of the flight prohibited area information, or a consistency value such as a hash value using the checksum value as an input. Confirm the presence / absence of falsification of the prohibited flight area information by carrying out confirmation.

  Examples of a method for generating the hash value include a method for generating a hash key (random source) using a hard key, a method for obtaining the hash key from the outside through wireless or wired communication, and the like.

If it is confirmed in step S1102 that falsification has been confirmed, an exceptional operation is performed (S1105). The exceptional operation is the same as that described in the first and second embodiments.
If no alteration is confirmed in S1102, the flight path candidate determination unit 404 collates the flight path candidate information with the flight prohibited area information, and unmanned the flight prohibited area as in the first embodiment. It is determined whether or not the aircraft 1 enters (S1103). If the aircraft 1 does not enter, the control instruction unit 405 performs a normal operation (S1104), and if it enters, performs an exceptional operation (S1105).

  Further, as described above, by encrypting the coordinate data related to the flight prohibited area, it is possible to have a function of preventing the analysis of the data related to the flight prohibited area by reverse engineering.

As described above, according to the present embodiment, when tampering with the prohibited flight area information is detected, the entry prohibition measure is taken, so that a malicious user uses the drone in the prohibited area. It is possible to prevent tampering.
Also, by encrypting the flight prohibited area information, it is possible to prevent a malicious third party from analyzing the information of the flight prohibited area.

  As described above, in the present embodiment, for example, by providing a function for confirming the consistency by a hash value or the like for a specific area of firmware at the time of start-up, forcing data related to the flight prohibited area by the user The example which prevents a typical change was demonstrated.

  In addition, an example has been described in which the position coordinates of the flight prohibition area in the database are encrypted to prevent the analysis of the coordinate data related to the flight prohibition area by reverse engineering.

  The unmanned aerial vehicle control computer 4 shown in Embodiment 1-3 is a computer device, and has hardware resources as exemplified in FIG.

FIG. 12 is a diagram showing an example of hardware resources of the drone control computer 4 shown in the embodiment 1-3.
In FIG. 12, the drone control computer 4 includes a CPU 911 (also referred to as a central processing unit, a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, and a processor) that executes a program. The CPU 911 is connected to, for example, a ROM (Read Only Memory) 913, a RAM (Random Access Memory) 914, a magnetic disk device 920, and a communication board 915 via a bus 912.
The CPU 911 may be connected to a keyboard 902 and a mouse 903 for the user to input flight path candidate information and the like before the start of flight. Further, the CPU 911 may be connected to an FDD 904 (Flexible Disk Drive) or a compact disk device 905 (CDD) for inputting the flight prohibited area information and the like.
Further, the CPU 911 may be connected to a display device 901 for displaying the setting contents set by the user before the start of flight to the user.
Furthermore, instead of the magnetic disk device 920, a storage device such as an optical disk device, a flash memory, or a memory card read / write device may be used.
The RAM 914 is an example of a volatile memory. The storage media of the ROM 913, the FDD 904, the CDD 905, and the magnetic disk device 920 are an example of a nonvolatile memory. These are examples of the flight prohibited area database and the flight path storage unit.
The communication board 915, the keyboard 902, the FDD 904, and the like are examples of an input unit and a reception unit.

The communication board 915 can perform wireless communication with a ground communication station.
The magnetic disk device 920 stores an operating system 921 (OS), a window system 922, a program group 923, and a file group 924. The programs in the program group 923 are executed by the CPU 911, the operating system 921, and the window system 922.

The program group 923 stores programs that execute the functions described as “˜units” in the above description. The program is read and executed by the CPU 911.
In the file group 924, information, data, signal values, variable values, and parameters described as “determination results of”, “calculation results of”, “processing results of”, etc. It is stored as each item of “file” and “˜database”. The “˜file” and “˜database” are stored in a recording medium such as a disk or a memory. Information, data, signal values, variable values, and parameters stored in a storage medium such as a disk or memory are read out to the main memory or cache memory by the CPU 911 via a read / write circuit, and extracted, searched, referenced, compared, Used for CPU operations such as calculation, calculation, processing, output, printing, and display. Information, data, signal values, variable values, and parameters are stored in the main memory, cache memory, and buffer memory during the CPU operations of extraction, search, reference, comparison, operation, calculation, processing, output, printing, display, and extraction. Temporarily stored.
The arrows in the flowchart described above mainly indicate input and output of data and signals. The data and signal values are the RAM 914 memory, FDD904 flexible disk, CDD905 compact disk, magnetic disk device 920 magnetic disk, In addition, it is recorded on a recording medium such as an optical disc, a mini disc, or a DVD. Data and signals are transmitted online via a bus 912, signal lines, cables, or other transmission media.

  In addition, what has been described as “to part” in the above description may be “to circuit”, “to device”, “to device”, and “means”, and “to step” and “to procedure”. , “To treatment” may be used. In other words, what has been described as “˜unit” may be realized by firmware stored in the ROM 913. Alternatively, it may be implemented only by software, or only by hardware such as elements, devices, substrates, and wirings, by a combination of software and hardware, or by a combination of firmware. Firmware and software are stored as programs in a recording medium such as a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, and a DVD. The program is read by the CPU 911 and executed by the CPU 911. In other words, the program causes the computer to function as the “˜unit” described above. Alternatively, the computer executes the procedures and methods of the above “˜parts”.

  As described above, the unmanned aircraft control computer 4 described in the first to third embodiments has a CPU as a processing device, a memory as a storage device, a magnetic disk, a keyboard as an input device, a mouse, a communication board, etc. as a display as an output device. A computer including a device and the like, and implements the functions indicated as “˜unit” as described above using the processing device, the storage device, the input device, and the output device.

  In Embodiment 1-3, an unmanned airplane that performs unmanned flight is taken as an example. However, the present invention is not limited to an airplane, and may be an unmanned automobile, unmanned ship, or the like as long as it is an autonomous mobile device that can autonomously move on a set movement route. The unmanned aerial vehicle control computer shown in Embodiment 1-3 may control such autonomous mobile devices not to enter the entry prohibition area.

The unmanned aircraft control computer (mobile device control device) shown in Embodiment 1-3 is an unmanned aircraft control computer that controls an autonomous mobile device that can autonomously move along a set movement route.
An entry prohibition area information storage unit that stores entry prohibition area information indicating an entry prohibition area where entry of the autonomous mobile device is prohibited, and a movement route that inputs movement route candidate information indicating a candidate of the movement route of the autonomous mobile device The candidate information input unit, the movement route candidate information input by the movement route candidate information input unit, and the entry prohibited area information stored in the entry prohibited area information storage unit are collated and indicated in the movement route candidate information. A travel route candidate determination unit that determines whether or not the travel route candidate includes an entry prohibition region, and the travel route candidate determination unit determines that the travel route candidate includes an entry prohibition region. An entry prohibition measure unit that performs an entry prohibition measure for prohibiting entry of the autonomous mobile device into the entry prohibition region.

  In addition, the moving route candidate information input unit inputs moving route candidate information before the autonomous mobile device starts moving, and the moving route candidate determination unit before the autonomous mobile device starts moving. And determining whether or not an entry prohibition area is included in the movement route candidate indicated in the movement route candidate information, and the entry prohibition measure unit determines that the movement route candidate determination unit includes an entry prohibition area. When the autonomous mobile device starts moving, an entry prohibition measure for prohibiting the autonomous mobile device from entering the entry prohibited area is performed.

  The movement route candidate information input unit inputs movement route candidate information after the autonomous mobile device starts moving, and the movement route candidate determination unit moves after the autonomous mobile device starts moving. It is determined whether or not an entry prohibition area is included in the movement route candidate indicated in the route candidate information, and the entry prohibition measure unit includes an entry prohibition area in the movement route candidate by the movement route candidate determination unit. If it is determined that the autonomous mobile device has started to move, an entry prohibition measure for prohibiting the autonomous mobile device from entering the entry prohibited area is performed.

  Moreover, the said entry prohibition measure part does not set the candidate of the movement route shown by the movement route candidate information input by the said movement route candidate information input part as a movement route of the said autonomous mobile apparatus as the said entry prohibition measure.

  The entry prohibition measure unit stops the operation of the autonomous mobile device as the entry prohibition measure.

  The unmanned aerial vehicle control computer (mobile device control device) shown in the embodiment 1-3 is an unmanned aerial vehicle control computer that controls an autonomous mobile device that can autonomously move on a set movement route. An entry prohibition area information storage unit that stores entry prohibition area information indicating an entry prohibition area in which entry of the aircraft is prohibited, a position determination unit that determines a current position of the autonomous mobile device, and the position determination unit An entry possibility determination unit that compares the current position of the autonomous mobile device with the entry prohibition region information stored in the entry prohibition region information storage unit and determines the possibility that the autonomous mobile device enters the entry prohibition region And an entry for prohibiting entry of the autonomous mobile device into the entry prohibited area when the possibility of the autonomous mobile device entering the entry prohibited region is determined to be a certain level or more by the entry possibility determining unit. Ban And an entry ban unit that performs a location.

  Moreover, the said entry prohibition measure part changes the movement path | route of the said autonomous mobile device to the path | route which the said autonomous mobile device does not enter into an entry prohibition area | region as an entry prohibition measure.

  The entry prohibition measure unit stops the movement of the autonomous mobile device as an entry prohibition measure.

  The drone control computer further includes a falsification presence / absence detection unit that detects whether or not the entry prohibition region information stored in the entry prohibition region information storage unit is falsified, and the entry prohibition measure unit includes: When the falsification presence / absence detection unit detects falsification of the entry prohibition area information, an entry prohibition measure is performed.

  The entry prohibition area information storage unit stores encrypted entry prohibition area information.

It is a figure which shows the structural example of Embodiment 1 of this invention. It is a figure which shows the structural example of the unmanned aircraft control computer of Embodiment 1 of this invention. It is a figure which shows the example of the flight prohibition area | region information of Embodiment 1 of this invention. It is a figure which shows the example of the flight path candidate information of Embodiment 1 of this invention. It is a conceptual diagram which shows the example of the flight path | route candidate determination process of Embodiment 1 of this invention. It is a figure which shows the operation example of the unmanned aircraft control computer of Embodiment 1 of this invention. It is a figure which shows the structural example of Embodiment 2 of this invention. It is a figure which shows the structural example of the unmanned aircraft control computer of Embodiment 2 of this invention. It is a figure which shows the operation example of the unmanned aircraft control computer of Embodiment 2 of this invention. It is a figure which shows the structural example of the unmanned aircraft control computer of Embodiment 3 of this invention. It is a figure which shows the operation example of the unmanned aircraft control computer of Embodiment 3 of this invention. It is a figure which shows the hardware structural example of the unmanned aircraft control computer of Embodiment 1-3 of this invention.

Explanation of symbols

  1 unmanned aircraft, 2 GPS antenna, 3 GPS receiver, 4 unmanned aircraft control computer, 7 control rudder, 8 power source, 401 input unit, 402 receiving unit, 403 flight prohibited area database, 404 flight path candidate determination unit, 405 control An instruction unit, 406 flight path setting unit, 407 flight path storage unit, 408 flight control unit, 409 position determination unit, 410 tampering detection unit, and 411 encryption processing unit.

Claims (15)

A mobile device control device for controlling an autonomous mobile device that can autonomously move along a set movement route,
An entry prohibition area information storage unit for storing entry prohibition area information indicating an entry prohibition area where entry of the autonomous mobile device is prohibited;
A moving route candidate information input unit for inputting moving route candidate information indicating a moving route candidate of the autonomous mobile device;
The movement route candidate information input by the movement route candidate information input unit is compared with the entry prohibited region information stored in the entry prohibited region information storage unit, and the candidate of the movement route indicated in the movement route candidate information is obtained. A travel route candidate determination unit that determines whether or not an entry prohibition area is included;
An entry prohibition that performs an entry prohibition measure for prohibiting entry of the autonomous mobile device into the entry prohibition area when the movement route candidate determination unit determines that a movement route candidate includes an entry prohibition area. A mobile unit control device comprising a measure unit. The travel route candidate information input unit
Before the autonomous mobile device starts moving, input the moving route candidate information,
The movement route candidate determination unit
Before the autonomous mobile device starts moving, it is determined whether or not an entry prohibited area is included in the moving route candidate indicated in the moving route candidate information,
The entry prohibition section is
When the movement route candidate determination unit determines that a movement route candidate includes an entry prohibited area, the autonomous mobile device enters the entry prohibited area before the autonomous mobile device starts moving. The mobile device control device according to claim 1, wherein an entry prohibition measure for prohibiting the access is performed. The travel route candidate information input unit
After the autonomous mobile device starts moving, input the moving route candidate information,
The movement route candidate determination unit
After the autonomous mobile device starts moving, it is determined whether or not the entry prohibition area is included in the moving route candidate indicated in the moving route candidate information,
The entry prohibition section is
When the movement path candidate determination unit determines that an entry prohibition area is included in a movement path candidate, the autonomous mobile apparatus starts entering the entry prohibition area after the autonomous mobile apparatus starts moving. The mobile device control device according to claim 1, wherein an entry prohibition measure for prohibiting is performed. The entry prohibition section is
2. The travel route candidate indicated in the travel route candidate information input by the travel route candidate information input unit is not set as the travel route of the autonomous mobile device as the entry prohibition measure. Mobile equipment control device. The entry prohibition section is
The mobile device control apparatus according to claim 1, wherein as the entry prohibition measure, the operation of the autonomous mobile device is stopped. A mobile device control device for controlling an autonomous mobile device that can autonomously move along a set movement route,
An entry prohibition area information storage unit for storing entry prohibition area information indicating an entry prohibition area where entry of the autonomous mobile device is prohibited;
A position determination unit for determining a current position of the autonomous mobile device;
The autonomous mobile device may collide with the current location of the autonomous mobile device determined by the position determination unit and the entry prohibited region information stored in the entry prohibited region information storage unit, and the autonomous mobile device may enter the entry prohibited region. An approach possibility determination unit for determining
An entry prohibition measure for prohibiting entry of the autonomous mobile device into the entry prohibition region when the possibility of the autonomous mobile device entering the entry prohibition region is determined to be above a certain level by the entry possibility determination unit. A mobile unit control device comprising an entry prohibition unit for performing The entry prohibition section is
The mobile device control device according to claim 6, wherein as the entry prohibition measure, the movement route of the autonomous mobile device is changed to a route in which the autonomous mobile device does not enter the entry prohibition region. The entry prohibition section is
The mobile device control apparatus according to claim 6, wherein as the entry prohibition measure, the movement of the autonomous mobile device is stopped. The mobile device control device further includes:
A tampering presence / absence detection unit that detects the presence or absence of tampering with respect to the entry prohibition region information stored in the entry prohibition region information storage unit;
The entry prohibition section is
The mobile device control apparatus according to claim 1 or 6, wherein when the falsification presence / absence detection unit detects falsification with respect to the entry prohibition area information, an entry prohibition measure is performed. The entry prohibition area information storage unit is
The mobile device control device according to claim 1 or 6, wherein encrypted access prohibition area information is stored. The mobile device control device includes:
The mobile device control device according to claim 1, wherein the mobile device control device controls an unmanned airplane that can autonomously fly on a set movement route. A mobile device control method for controlling an autonomous mobile device capable of autonomous movement along a set movement route,
A moving route candidate information input step of inputting moving route candidate information indicating a moving route candidate of the autonomous mobile device;
The moving route indicated in the moving route candidate information is collated with the moving route candidate information input in the moving route candidate information input step and the entry prohibited region information indicating the entry prohibited region where entry of the autonomous mobile device is prohibited. A route candidate determination step for determining whether or not the candidate includes an entry prohibition area;
An entry prohibition that performs an entry prohibition measure for prohibiting entry of the autonomous mobile device into the entry prohibited area when it is determined that the movement route candidate includes an entry prohibited area in the movement route candidate determination step. A mobile device control method comprising: a measure step; A mobile device control method for controlling an autonomous mobile device capable of autonomous movement along a set movement route,
A position determination step of determining a current position of the autonomous mobile device;
The autonomous mobile device enters the entry prohibited region by comparing the current position of the autonomous mobile device determined in the position determining step with the entry prohibited region information indicating the entry prohibited region where entry of the autonomous mobile device is prohibited. An approach possibility determination step for determining the possibility of performing,
An entry prohibition measure for prohibiting entry of the autonomous mobile device into the entry prohibited area when the possibility of the autonomous mobile device entering the entry prohibited region is determined to be a certain level or more by the entry possibility determining step. A mobile unit control method, comprising: To a computer that controls an autonomous mobile device that can autonomously move on the set travel route,
Travel route candidate information input processing for inputting travel route candidate information indicating a travel route candidate of the autonomous mobile device;
The movement route indicated by the movement route candidate information is collated with the movement route candidate information input by the movement route candidate information input process and the entry prohibition region information indicating the entry prohibition region where entry of the autonomous mobile device is prohibited. A route candidate determination process for determining whether or not the candidate includes an entry prohibition area;
An entry prohibition for performing an entry prohibition measure for prohibiting entry of the autonomous mobile device into the entry prohibition area when it is determined by the movement route candidate determination process that an entry prohibition area is included in the movement route candidate. A program characterized by causing a measure process to be executed. To a computer that controls an autonomous mobile device that can autonomously move on the set travel route,
A position determination process for determining a current position of the autonomous mobile device;
The autonomous mobile device enters the entry prohibited area by comparing the current position of the autonomous mobile device determined by the position determination process with the entry prohibited region information indicating the entry prohibited region where entry of the autonomous mobile device is prohibited. Entry possibility determination process for determining the possibility of
An entry prohibition measure for prohibiting entry of the autonomous mobile device into the entry prohibited area when the possibility of the autonomous mobile device entering the entry prohibited region is determined to be greater than a certain level by the entry possibility determination process. A program for executing an entry prohibition measure process.

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