Notification method, notification device, and terminal

0001The present disclosure relates to a notification method, a notification device, and a terminal for notifying the timing of visually recognizing an unmanned aircraft.

0002In recent years, small unmanned vehicles that are remotely controlled by a remote controller have become widespread. This unmanned vehicle is equipped with a plurality of propellers, and can fly freely in the air by controlling the rotation speed of each of the plurality of propellers.

0003As mentioned above, since unmanned aerial vehicles can fly freely in the air, regulations on the flight of various unmanned aerial vehicles are being studied. For example, regulations are being considered to allow an unmanned vehicle to fly only within the visible field of view of the operator.

0004Patent Document 1 discloses a telescope-type radio-controlled aircraft capable of visually recognizing a radio-controlled airplane by holding a telescope by hand and simultaneously manipulating the controller with fingers.

0005However, with the technique of Patent Document 1, the radio-controlled aircraft can be flown only within the visible range of the operator, and it is difficult to fly the radio-controlled aircraft beyond the visible range of the operator. ..

0006Therefore, for example, apart from the operator, a person who visually recognizes the unmanned aircraft, called a visual observer (hereinafter, also referred to as VO), which supports the operator's visibility of the unmanned aircraft, is always placed, and the operator and the VO always place a person. Regulations are under consideration to allow unmanned vehicles to fly only within the visible range.

<p num="0007"><patcit num="1"><text>Japanese Patent Application Laid-Open No. 63-302694</text></patcit></p>

<p num="0008"> However, in the above-mentioned conventional technique, further improvement is required.</p>

<p num="0009"> The notification method according to one aspect of the present disclosure is a notification method of a plurality of terminals carried by each of the position information of the unmanned vehicle and one or more visual observers who operate the unmanned vehicle or visually recognize the unmanned vehicle. Based on the position information, the area in charge of visual recognition indicating each area for visually recognizing the unmanned aircraft of the operator or the one or more visual observers, and the unmanned aircraft of the operator or the one or more visual observers. At least one of the visually recognizable hours indicating the respective responsibilities for visual recognition is determined, and at least one of the visual observing area and the visual observing time is notified to the plurality of terminals.</p>

<p num="0010"> According to the present disclosure, the area in charge of visual recognition indicating each area for visually recognizing an unmanned aircraft of a driver or one or more visual observers and the time in charge of visually recognizing an unmanned aircraft of a driver or one or more visual observers are respectively defined. Since at least one of the indicated viewing time is notified to the plurality of terminals, the operator or one or more visual observers can be made aware of when to visually recognize the unmanned aircraft.</p>

0011<figref num="1">It is a figure which shows the structure of the flight control system in Embodiment 1 of this disclosure.</figref><figref num="2">It is a block diagram which shows the structure of the notification device in Embodiment 1 of this disclosure.</figref><figref num="3">It is a block diagram which shows the structure of the control unit and VO terminal in Embodiment 1 of this disclosure.</figref><figref num="4">FIG. 5 is an external view of an unmanned aircraft according to the first embodiment of the present disclosure.</figref><figref num="5">It is a block diagram which shows the structure of the unmanned flying body in Embodiment 1 of this disclosure.</figref><figref num="6">It is a schematic diagram for demonstrating the area in charge of visual recognition in Embodiment 1 of this disclosure.</figref><figref num="7">It is a flowchart for demonstrating operation of the notification apparatus in Embodiment 1 of this disclosure.</figref><figref num="8">It is a figure which shows an example of the display screen displayed on the display part of the control unit and the VO terminal in Embodiment 1 of this disclosure.</figref><figref num="9">It is a schematic diagram for demonstrating the visual recognition area and the visual recognition time in Embodiment 2 of this disclosure.</figref><figref num="10">It is a block diagram which shows the structure of the notification device in Embodiment 2 of this disclosure.</figref><figref num="11">It is a flowchart for demonstrating operation of the notification apparatus in Embodiment 2 of this disclosure.</figref><figref num="12">It is a figure which shows an example of the display screen which is displayed on the display part of the control body and VO terminal in Embodiment 2 of this disclosure.</figref><figref num="13">It is a figure which shows the 1st modification of the display screen which is displayed on the display part of the control body and the VO terminal in Embodiment 2 of this disclosure.</figref><figref num="14">It is a figure which shows the 2nd modification of the display screen which is displayed on the display part of the control body and the VO terminal in Embodiment 2 of this disclosure.</figref><figref num="15">It is a schematic diagram for demonstrating the visual recognition area and the visual recognition time in the modified example of Embodiment 2 of this disclosure.</figref><figref num="16">It is a figure which shows an example of the display screen displayed on the display part of the control unit and the VO terminal in the modification of Embodiment 2 of this disclosure.</figref><figref num="17">It is a schematic diagram for demonstrating the arrival direction of the unmanned air vehicle in Embodiment 3 of this disclosure.</figref><figref num="18">It is a block diagram which shows the structure of the notification device in Embodiment 3 of this disclosure.</figref><figref num="19">It is a flowchart for demonstrating operation of the notification apparatus in Embodiment 3 of this disclosure.</figref><figref num="20">It is a figure which shows an example of the display screen which is displayed on the display part of the control body and VO terminal in Embodiment 3 of this disclosure.</figref><figref num="21">It is a schematic diagram for demonstrating the area in charge of visual recognition in Embodiment 4 of this disclosure.</figref><figref num="22">It is a block diagram which shows the structure of the notification device in Embodiment 4 of this disclosure.</figref><figref num="23">It is a flowchart for demonstrating operation of the notification apparatus in Embodiment 4 of this disclosure.</figref><figref num="24">It is a figure which shows an example of the display screen which is displayed on the display part of the control body and VO terminal in Embodiment 4 of this disclosure.</figref><figref num="25">It is a schematic diagram for demonstrating the flight control system which concerns on Embodiment 5 of this disclosure.</figref><figref num="26">It is a block diagram which shows the structure of the notification device in Embodiment 5 of this disclosure.</figref><figref num="27">FIG. 5 is a diagram showing an example of a display screen displayed on the display unit of the pilot and the VO terminal when the person in charge of visual recognition is changed in the fifth embodiment of the present disclosure.</figref><figref num="28">It is a figure which shows an example of the display screen which displays the reason which was selected as the new person in charge of visual recognition in Embodiment 5 of this disclosure.</figref>

0012(Findings underlying this disclosure) As mentioned above, since unmanned aerial vehicles can fly freely in the air, regulations on the flight of various unmanned aerial vehicles are being studied. For example, apart from the operator, a person who visually recognizes the unmanned aircraft, called VO, which supports the operator's visibility of the unmanned aircraft, is always placed, and only within the range where the operator and VO can see the unmanned aircraft. Regulations are under consideration to allow unmanned aircraft to fly.

0013However, when there is a pilot and one or more VOs, there is a problem that each of the pilot and one or more VOs does not know when to visually check the unmanned vehicle.

0014In order to solve such a problem, the notification method according to one aspect of the present disclosure includes the position information of the unmanned vehicle and one or more visual observers who visually recognize the operator who controls the unmanned vehicle or the unmanned vehicle. Based on the position information of a plurality of terminals carried by each of the above, a visual recognition area indicating each area for visually recognizing the unmanned vehicle of the operator or the one or more visual observers, and the operator or the one or more. At least one of the visually recognizing time indicating the time in charge of visually recognizing the unmanned vehicle of the visual observer is determined, and at least one of the visual observing area and the visual observing time is notified to the plurality of terminals.

0015According to this configuration, based on the position information of the unmanned vehicle and the position information of a plurality of terminals carried by each of the operator who controls the unmanned vehicle or one or more visual observers who visually recognize the unmanned vehicle. Of the area in charge of visual recognition indicating each area for visually recognizing the unmanned aircraft of the operator or one or more visual observers, and the time in charge of visual recognition indicating the time in charge of visually recognizing the unmanned aircraft of the operator or one or more visual observers. At least one is determined. At least one of the viewing area and the viewing time is notified to the plurality of terminals.

0016Therefore, the area in charge of visual recognition indicating each area for visually recognizing the unmanned aircraft of the operator or one or more visual observers, and the time in charge of visual recognition indicating the time in charge of visually recognizing the unmanned aircraft of the operator or one or more visual observers. Since at least one of the above is notified to the plurality of terminals, the operator or one or more visual observers can be made aware of when to visually check the unmanned aircraft.

0017Further, in the above notification method, at least one of the visual recognition area and the visual recognition time is determined by the position information of the unmanned vehicle, the position information of the plurality of terminals, and the flight route to which the unmanned vehicle flies. The plurality of terminals may be notified of at least one of the visual recognition area and the visual recognition time, and the flight route.

0018According to this configuration, at least one of the visibility area and the visibility time is determined based on the position information of the unmanned vehicle, the position information of a plurality of terminals, and the flight route in which the unmanned vehicle flies. .. A plurality of terminals are notified of at least one of the viewing area and the viewing time, and the flight route.

0019Therefore, since the flight route is notified to the plurality of terminals together with at least one of the visibility area and the visibility time, the operator or one or more visual observers can check the flight route of the unmanned aircraft and at what timing the flight route is unmanned. It is possible to confirm whether the flying object should be visually inspected.

0020Further, in the above notification method, the visual recognition time may be determined by calculating the travel period from the entry of the flight route into the visual inspection area to the exit, and the travel period may be the visual recognition time.

0021According to this configuration, the visual recognition time is determined by calculating the travel period from the entry of the flight route into the visual inspection area to the exit, and the travel period is the visual inspection time.

0022Therefore, since the travel period from the entry of the flight route to the exit of the flight route is notified to the area in charge of visual recognition, the operator or one or more visual observers are informed of how long the unmanned aircraft should be visually observed. Can be recognized.

0023Further, in the above notification method, the visual recognition start time may be determined by calculating the visual recognition start time, which is the time when the flight route enters the visual recognition area, and using the visual recognition start time as the visual recognition time.

0024According to this configuration, the visual recognition start time is determined by calculating the visual recognition start time, which is the time when the flight route enters the visual recognition area, and setting the visual recognition start time as the visual recognition time.

0025Therefore, since the visual recognition start time, which is the time when the flight route enters the visual recognition area, is notified, the operator or one or more visual observers should be made aware of when to start visual inspection of the unmanned aircraft. Can be done.

0026Further, in the above notification method, the notification to the plurality of terminals may be performed before the time in charge of visual recognition by a predetermined time.

0027According to this configuration, since the notification to the plurality of terminals is performed before the visual recognition time, the operator or one or more visual observers can be made to recognize the visual observation time in advance.

0028Further, in the above notification method, when the flight route passes through the visual recognition area at least twice, the first visual recognition time is set as the first visual recognition time and the second visual recognition time is set as the second visual recognition time. The first visual recognition start time when the flight route enters the area is calculated, the first visual recognition start time is set as the first visual recognition time, and the second visual recognition start when the flight route enters the visual recognition area. The time may be calculated, the second visual recognition start time may be set as the second visual recognition time, and the first visual recognition time and the second visual recognition time may be notified to the plurality of terminals.

0029According to this configuration, when the flight route passes through the area in charge of visual recognition at least twice, the first time is set as the first time in charge of visual recognition and the second time is set as the second time in charge of visual recognition. The first visual recognition start time when the flight route enters the visual recognition area is calculated, the first visual recognition start time is set as the first visual recognition time, and the second visual recognition start time when the flight route enters the visual recognition area is calculated. Then, the second visual recognition start time is set as the second visual recognition charge time. Then, the first visual recognition time and the second visual recognition time are notified to the plurality of terminals.

0030Therefore, for example, when an unmanned aircraft reciprocates between a starting point and a destination, the unmanned aircraft may be visually observed by the operator or one or more visual observers on the outward and inbound routes of the unmanned aircraft. Can be recognized.

0031Further, in the above notification method, the arrival direction in which the unmanned vehicle arrives in the visual recognition area is determined based on the position information of the plurality of terminals and the flight route, and the arrival direction is set to the plurality of terminals. May be further notified.

0032According to this configuration, the direction of arrival of the unmanned vehicle in the visually recognizable area is determined based on the position information of the plurality of terminals and the flight route. Then, the arrival direction is further notified to the plurality of terminals.

0033Therefore, since the direction of arrival of the unmanned aircraft in the visual recognition area is notified to the plurality of terminals, the operator or one or more visual observers can easily find the unmanned aircraft entering the visual recognition area. ..

0034Further, in the above notification method, the unmanned flying object of the second terminal among the plurality of terminals is visually recognized during the viewing time in which the first terminal of the plurality of terminals visually recognizes the unmanned flying object. When the visual recognition charge time of the second terminal is changed as the charge time to be performed, the second terminal may be notified of the visual recognition charge time and the reason for the change.

0035According to this configuration, while the first terminal among the plurality of terminals is in charge of visually recognizing the unmanned flying object, the second terminal is in charge of visually recognizing the unmanned flying object of the second terminal among the plurality of terminals. When the visual recognition time of the terminal is changed, the second terminal is notified of the visual recognition time and the reason for the change.

0036Therefore, the operator or one or more visual observers can confirm the reason why the visual observation time has been changed.

0037Further, in the above notification method, when the first terminal and the second terminal having the overlapping areas in charge of visual recognition exist among the plurality of terminals, the first terminal having a short distance to the unmanned vehicle. The visual recognition time may be determined to be a time before the visual recognition time of the second terminal.

0038According to this configuration, when there is a first terminal and a second terminal having overlapping viewing areas among a plurality of terminals, the viewing time of the first terminal having a short distance to the unmanned aircraft is the second. It is determined at a time before the time in charge of visual recognition of the terminal of 2.

0039Therefore, when the viewing area of the first terminal and the second terminal overlaps, the viewing time of the first terminal, which is close to the unmanned vehicle, is longer than the viewing time of the second terminal. Since it is determined at the previous time, it is possible to prevent one operator or visual observer from keeping an eye on the unmanned aircraft for a long time.

0040Further, in the above notification method, the position information of the unmanned vehicle and the position information of the plurality of terminals are periodically acquired, and the distance between the unmanned vehicle and the third terminal among the plurality of terminals is determined. When the distance is equal to or less than a predetermined distance, the current time may be determined to be the time in charge of visual recognition of the third terminal.

0041According to this configuration, the position information of the unmanned aircraft and the position information of the plurality of terminals are periodically acquired. When the distance between the unmanned aircraft and the third terminal among the plurality of terminals is less than or equal to a predetermined distance, the current time is determined as the viewing time of the third terminal.

0042Therefore, since the operator or the visual observer closer to the unmanned vehicle sees the unmanned vehicle, the unmanned vehicle can be seen more reliably.

0043Further, in the above notification method, when the refusal information for refusing the visual recognition of the unmanned aircraft is received from the first terminal, the current time is determined to be the visual recognition time of the second terminal, and the second terminal. The terminal may be notified of the visual recognition time and the reason for the decision.

0044According to this configuration, when the refusal information for refusing the visual recognition of the unmanned aircraft is received from the first terminal, the current time is determined as the visual recognition time of the second terminal. Then, the second terminal is notified of the time in charge of visual recognition and the reason for the decision.

0045Therefore, the operator or visual observer of the second terminal can confirm the reason why the current time is determined to be the viewing time of the second terminal.

0046The notification device according to another aspect of the present disclosure is a plurality of terminals carried by each of the position information of the unmanned vehicle and one or more visual observers who operate the unmanned vehicle or visually recognize the unmanned vehicle. Based on the storage unit that stores the position information of the unmanned aircraft, the position information of the unmanned aircraft, and the position information of the plurality of terminals, each of the operator or one or more visual observers visually recognizes the unmanned aircraft. A visual recognition area indicating an area, a visual recognition person determining unit that determines at least one of the visual recognition time for visually recognizing the unmanned aircraft of the operator or one or more visual observers, and the visual recognition unit. It includes a notification control unit that notifies the plurality of terminals of at least one of the area in charge and the time in charge of visual recognition.

0047According to this configuration, the position information of the unmanned vehicle and the position information of a plurality of terminals carried by each of the operator who controls the unmanned vehicle or one or more visual observers who visually recognize the unmanned vehicle are stored in the storage unit. Be remembered. Based on the position information of the unmanned aircraft and the position information of multiple terminals, the visibility area and the operator or one or more visual observers indicating each area for visually recognizing the unmanned aircraft of the operator or one or more visual observers. At least one of the visual recognition time, which indicates the time in charge of visually recognizing the unmanned aircraft, is determined. At least one of the viewing area and the viewing time is notified to the plurality of terminals.

0048Therefore, the area in charge of visual recognition indicating each area for visually recognizing the unmanned aircraft of the operator or one or more visual observers, and the time in charge of visual recognition indicating the time in charge of visually recognizing the unmanned aircraft of the operator or one or more visual observers. Since at least one of the above is notified to the plurality of terminals, the operator or one or more visual observers can be made aware of when to visually check the unmanned aircraft.

0049The terminal according to another aspect of the present disclosure includes a visual recognition area indicating each area of the operator who controls the unmanned vehicle or one or more visual observers who visually recognize the unmanned vehicle, and the area in charge of visualizing the unmanned vehicle. A communication unit that receives at least one of the visual recognition time indicating the time in charge of visually recognizing the unmanned aircraft of the operator or the one or more visual observers, and at least one of the visual recognition area and the visual recognition time. It is provided with a display unit for displaying.

0050According to this configuration, the operator or one or more visual observers who control the unmanned vehicle or the operator or one or more visual observers who indicate the respective areas where the unmanned vehicle is visually recognized by one or more visual observers. At least one of the visual inspection time, which indicates the respective charge time for visualizing the unmanned aircraft, is received. Then, at least one of the viewing area and the viewing time is displayed.

0051Therefore, the area in charge of visual recognition indicating each area for visually recognizing the unmanned aircraft of the operator or one or more visual observers, and the time in charge of visual recognition indicating the time in charge of visually recognizing the unmanned aircraft of the operator or one or more visual observers. Since at least one of the above is displayed, the operator or one or more visual observers can be made aware of when to visually check the unmanned aircraft.

0052Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. The following embodiments are examples that embody the present disclosure, and do not limit the technical scope of the present disclosure.

0053(Embodiment 1) The flight control system of the first embodiment will be described. In the first embodiment, a case where there is one operator who operates an unmanned aircraft and three visual observers will be described. The operator has a pilot to steer an unmanned aircraft, and each of the three visual observers has a VO terminal.

0054FIG. 1 is a diagram showing a configuration of a flight control system according to the first embodiment of the present disclosure. The flight control system shown in FIG. 1 includes a notification device 10, an unmanned aircraft 30, a pilot 20 for controlling the unmanned aircraft 30, three VO terminals 21, and a flight route setting terminal 40.

0055The notification device 10 is, for example, a server, and notifies the pilot 20 and the VO terminal 21 of the timing of visually recognizing the unmanned aircraft. The notification device 10 is communicably connected to the pilot 20, the VO terminal 21, the unmanned aircraft 30, and the flight route setting terminal 40 via the network 50. The network 50 is, for example, the Internet.

0056The controller 20 is operated by the operator 1 to remotely control the unmanned aircraft 30. The pilot 20 transmits, for example, wirelessly, flight information for maneuvering the unmanned aircraft 30 to the unmanned aircraft 30. The operator 1 flies the unmanned aircraft 30 along a predetermined flight route on the flight route setting terminal 40. Further, the pilot 20 receives the timing of visually recognizing the unmanned aircraft 30 notified by the notification device 10.

0057Apart from the operator 1, the VO terminal 21 is operated by visual observers (VO) 2,3,4 that support the visibility of the unmanned vehicle 30 of the operator 1. The VO terminal 21 is carried by VO2,3,4. The VO terminal 21 is, for example, a mobile phone, a smartphone, a tablet computer, or a notebook personal computer. The VO terminal 21 receives the timing for visually recognizing the unmanned aircraft 30 notified by the notification device 10. In FIG. 1, the flight control system is provided with three VO terminals 21, but it is sufficient that the flight control system is equipped with at least one VO terminal 21. Further, the controller 20 and the VO terminal 21 correspond to the display device.

0058Further, during the flight of the unmanned vehicle 30, the pilot 1 and VO2,3,4 may not move and may be in a fixed position or may move.

0059The unmanned aircraft 30 is remotely controlled by the operator 1 using the controller 20. The unmanned aircraft 30 receives the maneuvering information from the pilot 20 and flies based on the received maneuvering information. The unmanned vehicle 30 includes a plurality of propellers, and moves forward, backward, leftward, rightward, upwardly, and downwardly by controlling the rotation speed of each of the plurality of propellers.

0060The flight route setting terminal 40 determines the flight route to which the unmanned aircraft 30 flies, and transmits the determined flight route to the notification device 10. The flight route setting terminal 40 is, for example, a mobile phone, a smartphone, a tablet computer, or a personal computer. For example, the flight route setting terminal 40 accepts input by the user of the flight start point, arrival point, and waypoint of the unmanned aircraft 30, and determines the flight route connecting the received flight start point, arrival point, and waypoint.

0061In the present embodiment, the unmanned aerial vehicle 30 is remotely controlled by the pilot 20 so as to fly along the flight route, but the present disclosure is not particularly limited to this, and the unmanned aerial vehicle 30 is operated. It may fly autonomously along the flight route instead of being remotely controlled by the vessel 20. In this case, the flight control system does not have to include the pilot 20. Further, when the unmanned aircraft 30 autonomously flies, the pilot 20 may transmit only the instruction to start the flight to the unmanned aircraft 30.

0062FIG. 2 is a block diagram showing a configuration of the notification device according to the first embodiment of the present disclosure. The notification device 10 shown in FIG. 2 includes a communication unit 101, a control unit 102, and a storage unit 103.

0063The communication unit 101 transmits various information to the pilot 20, VO terminal 21, and unmanned aircraft 30 via the network 50, and also transmits various information to the pilot 20, VO terminal 21, unmanned aircraft 30, and flight route setting terminal 40. Receives various information from. The communication unit 101 receives the unmanned vehicle position information indicating the position of the unmanned vehicle 30 transmitted by the unmanned vehicle 30, and stores the received unmanned vehicle position information in the storage unit 103. The communication unit 101 receives a plurality of terminal position information representing the respective positions of the pilot 20 and the VO terminal 21 transmitted by the pilot 20 and the VO terminal 21, and stores the received plurality of terminal position information. Store in 103. It should be noted that the pilot 1 and VO2,3,4 are a plurality of visual inspection candidates who are candidates for the visual inspection person who visually recognizes the unmanned vehicle 30.

0064Further, the communication unit 101 receives the flight route information transmitted by the flight route setting terminal 40, and stores the received flight route information in the storage unit 103. The flight route information is represented by, for example, the latitude, longitude and altitude of the flight start point, destination point and waypoint of the unmanned aircraft 30.

0065The control unit 102 is, for example, a CPU (Central Processing Unit) and controls the operation of the notification device 10. The control unit 102 includes a central control unit 111, a visual recognition person determination unit 112, a notification information generation unit 113, a notification control unit 114, and a notification timing determination unit 115.

0066The central control unit 111 controls the operation of each unit of the notification device 10. The central control unit 111 acquires the unmanned vehicle position information indicating the position of the unmanned vehicle 30. The central control unit 111 acquires a plurality of terminal position information representing the respective positions of the terminals carried by the plurality of visual recognition candidates who are candidates for the visual recognition person who visually recognizes the unmanned aircraft 30.

0067The visual recognition person determination unit 112 determines a visual recognition area that indicates an area in which each of the plurality of visual recognition candidates visually recognizes the unmanned aircraft 30 as a visual recognition person based on the unmanned vehicle position information and the plurality of terminal position information. decide.

0068The notification information generation unit 113 generates notification information for notifying each terminal of a plurality of visual inspection candidates of the visual recognition area determined by the visual recognition person determination unit 112.

0069The notification control unit 114 transmits the notification information to each terminal of the plurality of visual inspection candidates based on the notification destination information stored in the storage unit 103. That is, the notification control unit 114 notifies each terminal of the plurality of candidates in charge of visual recognition of the area in charge of visual recognition.

0070The notification timing determination unit 115 determines the notification timing for transmitting the notification information to each terminal of the plurality of visual inspection candidates. The notification timing will be described later.

0071The storage unit 103 is, for example, a hard disk drive and stores various information. The storage unit 103 includes map information 121, unmanned vehicle position information 122, terminal position information 123, notification destination information 124, visual recognition person determination program 125, notification information generation program 126, flight route information 127, visible range information 128, and The notification timing determination program 129 is stored.

0072The map information 121 may be stored in advance in the storage unit 103, or may be received from a server that provides the map.

0073The unmanned vehicle position information 122 indicates the current position of the unmanned vehicle 30. The terminal position information 123 indicates the current position of the controller 20 carried by the operator 1 and the VO terminal 21 carried by the VO2,3,4.

0074The notification destination information 124 indicates the address on the network 50 of the pilot 20 and the VO terminal 21 for transmitting the notification information.

0075The visual recognition person determination program 125 is a program for determining a visual recognition area in which each of the plurality of visual recognition candidates indicates an area in which the unmanned aircraft 30 is visually recognized as a visual recognition person.

0076The notification information generation program 126 is a program for generating notification information for notifying each terminal of a plurality of candidates in charge of visual recognition of the area in charge of visual recognition.

0077Flight route information 127 indicates the flight route of the unmanned aircraft 30.

0078The visible range information 128 indicates a visible range indicating a visible range for the operator 1 and VO2,3,4. The visible range is predetermined for operator 1 and VO2,3,4. For example, the visible range is a range within the hemisphere centered on the current positions of the operator 1 and VO2,3,4 and having a radius of a predetermined distance.

0079The notification timing determination program 129 is a program for determining the timing for transmitting notification information.

0080FIG. 3 is a block diagram showing a configuration of a pilot and a VO terminal according to the first embodiment of the present disclosure. The basic configuration of the controller 20 and the VO terminal 21 is the same. The control unit 20 and the VO terminal 21 shown in FIG. 3 include a control unit 201, a storage unit 202, a communication unit 203, a position measurement unit 204, a user input unit 205, and a display unit 206.

0081The control unit 201 is, for example, a CPU and controls the operations of the controller 20 and the VO terminal 21. The storage unit 202 is, for example, a semiconductor memory and stores various information.

0082The communication unit 203 wirelessly transmits various information to the notification device 10 and receives various information from the notification device 10. The communication unit 203 receives the notification information transmitted by the notification device 10. Further, the communication unit 203 of the pilot 20 wirelessly transmits flight information for remote control of the unmanned aerial vehicle 30 to the unmanned aerial vehicle 30.

0083The position measuring unit 204 is, for example, a GPS (Global Positioning System), and acquires the current positions of the pilot 20 and the VO terminal 21. The current positions of the pilot 20 and the VO terminal 21 are represented by latitude, longitude and altitude. The communication unit 203 transmits the information indicating the current positions of the pilot 20 and the VO terminal 21 acquired by the position measurement unit 204 to the notification device 10.

0084The user input unit 205 receives operation inputs by the operator 1 and VO2,3,4. The user input unit 205 of the VO terminal 21 is, for example, a touch panel. The user input unit 205 of the controller 20 includes, for example, a left stick provided on the left hand side of the operator 1 and a right stick provided on the right hand side of the operator 1. When the left stick and the right stick are tilted by the operator 1, the user input unit 205 outputs angle information regarding the tilt angle to the control unit 201. The movement of the unmanned aircraft 30 is controlled according to the tilt angle. The control unit 201 generates flight information for maneuvering the unmanned aircraft 30 in response to an operation input by the user input unit 205. The maneuvering information includes, for example, angle information indicating the tilt angle of the left stick and the right stick.

0085The display unit 206 is, for example, a liquid crystal display device, and displays various information. The display unit 206 displays the visually recognizable area based on the notification information transmitted by the notification device 10.

0086FIG. 4 is an external view of the unmanned aircraft according to the first embodiment of the present disclosure. FIG. 5 is a block diagram showing a configuration of an unmanned aircraft according to the first embodiment of the present disclosure.

0087The unmanned vehicle 30 includes a main body A1 and a drive unit 305 that generates propulsive force for the unmanned vehicle 30. The drive unit 305 is attached to the tip of the support unit A2 extending in all directions from the main body A1. A position measuring unit 304 is attached to the upper side of the main body A1. Further, the control unit 301, the storage unit 302, and the communication unit 303 are housed inside the main body A1.

0088The control unit 301 is, for example, a CPU and controls the operation (flight) of the unmanned vehicle 30. The storage unit 302 is, for example, a semiconductor memory and stores various information.

0089The communication unit 303 wirelessly transmits various information to the notification device 10 and receives various information from the notification device 10. The communication unit 303 wirelessly receives flight information from the pilot 20 for remote control of the unmanned aircraft 30.

0090The position measuring unit 304 is, for example, GPS, and acquires the current position of the unmanned aircraft 30.

0091The drive unit 305 includes a propeller and a motor that rotates the propeller. In FIG. 4, the unmanned vehicle 30 has four drive units 305, but is not limited to this. The unmanned vehicle 30 may have, for example, five or more drive units 305. The control unit 301 controls the movement direction and flight state of the unmanned vehicle 30 by appropriately controlling the rotation speed of the propeller of the drive unit 305.

0092FIG. 6 is a schematic diagram for explaining the visual recognition area in the first embodiment of the present disclosure.

0093In FIG. 6, the visible range of VO2 is VR1, the visible range of VO3 is VR2, and the visible range of VO4 is VR3. The size of the visible range VR1, VR2, VR3 is predetermined. Therefore, it is necessary to arrange VO2, 3, and 4 so that the visible ranges VR1, VR2, and VR3 do not overlap with each other near the flight route of the unmanned aircraft 30.

0094As described above, VO2,3,4 are arranged so that the visible ranges VR1, VR2, VR3 do not overlap, so that the visible ranges VR1, VR2, VR3 of each VO2,3,4 can be visually recognized. Although notified as an area of responsibility, the disclosure is not particularly limited to this. Visible range of VO2,3,4 VR1, VR2, VR3 may overlap. In this case, the overlapping part of the two visible ranges should be divided into two equal parts between the two VOs, or should be included only in the visible range of one of the two VOs. It is preferable that the areas in charge of visual recognition of 3 and 4 are set so as not to overlap.

0095FIG. 7 is a flowchart for explaining the operation of the notification device 10 according to the first embodiment of the present disclosure.

0096It is assumed that the communication unit 101 of the notification device 10 receives the flight route information transmitted by the flight route setting terminal 40 and stores it in the storage unit 103.

0097Further, the position measuring unit 304 of the unmanned aircraft 30 acquires the current position, the communication unit 303 transmits the acquired current position of the unmanned aircraft 30 to the notification device 10, and the communication unit 101 of the notification device 10 is unmanned. It is assumed that the position information transmitted by the aircraft body 30 is received and stored in the storage unit 103.

0098Further, the position measuring unit 204 of the pilot 20 and the VO terminal 21 acquires the current position, and the communication unit 203 transmits the acquired current positions of the pilot 20 and the VO terminal 21 to the notification device 10 to notify the notification device. It is assumed that the communication unit 101 of 10 receives the position information transmitted by the pilot 20 and the VO terminal 21 and stores it in the storage unit 103.

0099The communication unit 101 of the notification device 10 may periodically acquire the current position of the unmanned aircraft 30 and the current positions of the controller 20 and the VO terminal 21 and store them in the storage unit 103.

0100First, in step S1, the central control unit 111 acquires flight route information from the storage unit 103.

0101Next, in step S2, the visual inspection person determining unit 112 acquires the position of the unmanned aircraft 30 from the storage unit 103.

0102Next, in step S3, the visual recognition person determining unit 112 acquires the positions of the pilot 20 and the VO terminal 21 from the storage unit 103.

0103Next, in step S4, the visual recognition person determining unit 112 determines the visual recognition area of the operator 1 and VO2,3,4. Specifically, the visual recognition person determining unit 112 acquires the visible range from the storage unit 103, and sets the area within the visible range centered on the positions of the controller 20 and the VO terminal 21 as the operator 1 and VO2. Determine the area in charge of visual recognition of, 3 and 4.

0104Next, in step S5, the notification control unit 114 notifies the pilot 20 and the VO terminal 21 of the visually recognizable areas of the driver 1 and VO2,3,4. Specifically, the notification information generation unit 113 generates notification information for notifying the operator 1 and VO2,3,4 of the visual recognition area determined by the visual recognition person determination unit 112. For example, as shown in FIG. 6, the visible range VR1 is the visible area of VO1, the visible range VR2 is the visible area of VO2, and the visible range VR3 is the visible area of VO3. Is. At this time, the notification information generation unit 113 may include flight route information in the notification information. The notification control unit 114 transmits the generated notification information to the pilot 20 and the VO terminal 21 via the communication unit 101.

0105The communication unit 203 of the pilot 20 and the VO terminal 21 receives the notification information transmitted by the notification device 10. The control unit 201 displays the visually recognizable area on the display unit 206 based on the received notification information.

0106The timing at which the operation of the notification device 10 shown in FIG. 7 is started may be when the flight of the unmanned aircraft 30 starts or when the notification device 10 acquires the flight route. Further, the timing at which the operation of the notification device 10 is started may be periodic.

0107In addition, the timing of notifying the pilot 20 and the VO terminal 21 of the areas in charge of visibility of the pilot 1 and VO2,3,4 is the timing when the flight route is determined (acquired), and the flight of the unmanned aircraft 30 is started. Timing, timing when the unmanned aviation body 30 enters each visibility area, timing before the time when the unmanned aviation 30 enters each visibility area, or the timing when the unmanned aviation 30 enters each visibility area. It may be the timing when the position reaches a predetermined distance before the position to be operated. Further, the timing of notifying the controller 20 and the VO terminal 21 of the visually recognizable areas of the operator 1 and the VO2, 3 and 4 may be periodic.

0108Further, as for the timing of notifying the operator 20 and the VO terminal 21 of the areas in charge of visual recognition of the operator 1 and VO2,3,4, a request to change the person in charge of visual recognition is received from either the operator 20 or the VO terminal 21. It may be timing.

0109In addition, the timing of notifying the operator 20 and the VO terminal 21 of the visible areas of the operator 1 and the VO2,3,4 is changed so that the position of the operator 1 and the VO2,3,4 is changed by a predetermined distance or more. It may be the timing.

0110Further, the timing of notifying the pilot 20 and the VO terminal 21 of the visually recognizable areas of the operator 1 and VO2,3,4 may be the timing when the visual operator is changed.

0111Further, the terminals of the plurality of visibility candidates (driver 1 and VO2,3,4) may display all the visibility areas of the plurality of visibility candidates, or may display all the visibility areas of the plurality of visibility candidates. Individual visual areas may be displayed.

0112FIG. 8 is a diagram showing an example of a display screen displayed on the display unit of the pilot and the VO terminal according to the first embodiment of the present disclosure.

0113On the display screen 500 shown in FIG. 8, an icon 402 indicating a departure point, an icon 403 indicating a waypoint, and an icon 404 indicating a destination are displayed on the map image 401. In addition, the flight route is represented by connecting the icons 402, 403, 404 with arrows. The icons 402, 403, and 404 may be displayed in an identifiable manner by having different colors or different shapes.

0114Further, on the display screen 500, the icon 411 indicating the position of the VO terminal 21 carried by the VO2, the icon 412 indicating the position of the VO terminal 21 carried by the VO3, and the VO terminal 21 carried by the VO4 are displayed on the map image 401. The icon 413 indicating the position is displayed. In the example of FIG. 8, the operator 1 does not exist, and only VO2,3,4 exist.

0115Further, on the display screen 500, the visual recognition area 421 of VO2, the visual recognition area 422 of VO3, and the visual recognition area 423 of VO4 are displayed on the map image 401. The icons 411, 412, and 413 may be displayed in an identifiable manner by having different colors or different shapes. In addition, information (for example, a name) that can identify each VO may be displayed in the vicinity of the icons 411,412,413.

0116Further, the visually recognizable areas 421, 422, 423 may be displayed so as to be identifiable by different colors. For example, as shown in FIG. 8, on the display screen 500 displayed on the VO terminal 21 carried by the VO3, the visible area 422 of the VO3 is displayed in a mode different from that of the other visible areas 421 and 423. , VO3 can easily identify its own visual area.

0117(Embodiment 2) Subsequently, the flight control system according to the second embodiment will be described.

0118If the flight route, the position of the area in charge of visual recognition, the range of the area in charge of visual recognition, and the speed of the unmanned aircraft 30 are predetermined, it is possible to calculate the time from when the unmanned aircraft 30 enters the area in charge of visual recognition to when it leaves. It becomes. Therefore, in the second embodiment, the notification device 10 notifies not only the area in charge of visual recognition but also the time in charge of visual recognition, which indicates the time for each of the plurality of candidates in charge of visual recognition to visually recognize the unmanned vehicle as the person in charge of visual recognition.

0119FIG. 9 is a schematic diagram for explaining the visual recognition area and the visual recognition time in the second embodiment of the present disclosure.

0120As shown in FIG. 9, the visible ranges VR1, VR2, VR3 of VO2,3,4 are predetermined in size. VO2, 3, and 4 are arranged on the flight route 31 of the unmanned aircraft 30 so that the visible ranges VR1, VR2, and VR3 do not overlap. The visible range VR1 is the visible area of VO1, the visible range VR2 is the visible area of VO2, and the visible range VR3 is the visible area of VO3. The notification device 10 notifies the visible range VR1, VR2, VR3 of each VO2, 3 and 4 as the area in charge of visual recognition.

0121Further, as shown in FIG. 9, the time interval of VO2 is T1, the time interval of VO3 is T2, and the time interval of VO4 is T3. The speed of the unmanned aircraft 30 is predetermined. Therefore, for example, the time interval from when the unmanned vehicle 30 enters the visible area (visible range VR2) of VO2 to when it exits is the distance within the visible area through which the unmanned vehicle 30 passes. It can be calculated by dividing by the speed of. Further, if the flight start time of the unmanned vehicle 30 is known, it is possible to calculate the time when the unmanned vehicle 30 enters the area in charge of visual recognition of VO2 and the time when the unmanned vehicle 30 leaves the area in charge of visual recognition of VO2. For example, at the time interval T1 of VO2, the time t11 of entering the visually recognizable area of VO2 and the time t12 of leaving the visually recognizable area of VO2 can be calculated.

0122FIG. 10 is a block diagram showing a configuration of the notification device according to the second embodiment of the present disclosure. The configuration of the flight control system according to the second embodiment is the same as the configuration of the flight control system shown in FIG. Further, the configurations of the controller 20, the VO terminal 21 and the unmanned aircraft 30 according to the second embodiment are the same as the configurations of the controller 20, the VO terminal 21 and the unmanned aircraft 30 shown in FIGS. 3, 4 and 5. Is.

0123The notification device 10 shown in FIG. 10 includes a communication unit 101, a control unit 102, and a storage unit 103. The same components as those of the notification device of the first embodiment are designated by the same reference numerals, and the description thereof will be omitted.

0124The control unit 102 is, for example, a CPU and controls the operation of the notification device 10. The control unit 102 includes a central control unit 111, a visual recognition person determination unit 112, a notification information generation unit 113, a notification control unit 114, a notification timing determination unit 115, and a visual recognition time calculation unit 116.

0125The visual recognition time calculation unit 116 determines the visual recognition time indicating the time for each of the plurality of visual recognition candidates to visually recognize the unmanned aircraft 30 as the visual recognition person based on the unmanned vehicle position information and the plurality of terminal position information. decide.

0126The notification information generation unit 113 notifies each terminal of the plurality of visual inspection candidates of the visual recognition area determined by the visual recognition person determination unit 112 and the visual recognition time determined by the visual recognition time calculation unit 116. Generate information.

0127The visual recognition time calculation unit 116 calculates the movement period from when the unmanned vehicle 30 enters the visual recognition area to when it leaves the visual recognition area based on the visual recognition area and the flight route, and the calculated movement period. May be determined as the time in charge of visual recognition.

0128Further, the visual recognition time calculation unit 116 calculates and calculates the visual recognition start time indicating the time when the visual recognition person in the visual inspection area starts the visual recognition of the unmanned vehicle 30 based on the visual recognition area and the flight route. The recognition start time may be determined as the visual recognition time. The notification control unit 114 may notify each terminal of a plurality of visual inspection candidates before the visual recognition start time by a predetermined time.

0129FIG. 11 is a flowchart for explaining the operation of the notification device according to the second embodiment of the present disclosure.

0130Since the processes of steps S11 to S14 are the same as the processes of steps S1 to S4 shown in FIG. 7, the description thereof will be omitted.

0131Next, in step S15, the visual recognition time calculation unit 116 uses the unmanned vehicle position information and the position information of the plurality of terminals, and the pilot 1 and the VO2, 3, and 4 each act as the visual recognition person for the unmanned aircraft 30. Determine the time in charge of visual recognition, which indicates the time to visually recognize. Here, the visual recognition time T1, T2, T3 is the visual recognition start time at which each of the pilot 1 and VO2,3,4 starts visualizing the unmanned aircraft 30, and the visual recognition start times of the pilot 1 and VO2,3,4, respectively. Includes the visual end time when the unmanned aircraft 30 ends visual recognition.

0132Specifically, the visual recognition time calculation unit 116 performs unmanned flight based on the flight route of the unmanned aircraft 30, the current position of the unmanned aircraft 30, and the visual recognition areas of the pilot 1 and VO2,3,4, respectively. The first movement distance from the current position of the body 30 to the point where the unmanned aircraft 30 enters each visual recognition area is calculated, and the unmanned aircraft 30 visually recognizes each from the point where the unmanned aircraft 30 enters each visual recognition area. Calculate the second travel distance to the point where you leave your area of responsibility. Next, the visual recognition time calculation unit 116 acquires the flight start time of the unmanned vehicle 30 and the moving speed of the unmanned vehicle 30.

0133Next, the visual recognition time calculation unit 116 requires the unmanned aviation 30 to move from the current position to each visual recognition area based on the calculated first movement distance and the movement speed of the unmanned aviation 30. Calculate the travel period of 1. Next, the visual recognition time calculation unit 116 exits each visual recognition area after the unmanned aircraft 30 enters each visual recognition area based on the calculated second movement distance and the movement speed of the unmanned aircraft 30. Calculate the second travel period required until.

0134Next, the visual recognition time calculation unit 116 adds the calculated first movement period to the flight start time of the unmanned aircraft 30, so that the time when the unmanned aircraft 30 enters each visual recognition area, that is, the operator 1 And VO2, 3 and 4 each calculate the visual recognition start time when the unmanned aircraft 30 starts to be visually recognized. Next, the visual recognition time calculation unit 116 adds the calculated second movement period to the visual recognition start time, so that the time when the unmanned aircraft 30 leaves each visual recognition area, that is, the operator 1 and VO2,3, Each of 4 calculates the visual recognition end time at which the visual recognition of the unmanned aircraft 30 ends.

0135As described above, the visual recognition time calculation unit 116 calculates the visual recognition time of each of the operator 1 and VO2, 3, and 4.

0136Next, in step S16, the notification control unit 114 notifies the pilot 20 and the VO terminal 21 of the visual recognition area and the visual recognition time of the operator 1 and VO2,3,4. Specifically, the notification information generation unit 113 transfers the visual recognition area determined by the visual recognition person determination unit 112 and the visual recognition time determined by the visual recognition time calculation unit 116 to the operator 1 and VO2,3,4. Generate notification information for notification. At this time, the notification information generation unit 113 may include flight route information in the notification information. The notification control unit 114 transmits the generated notification information to the pilot 20 and the VO terminal 21 via the communication unit 101.

0137The communication unit 203 of the pilot 20 and the VO terminal 21 receives the notification information transmitted by the notification device 10. The control unit 201 displays the viewing area and the viewing time on the display unit 206 based on the received notification information.

0138The timing at which the operation of the notification device 10 shown in FIG. 11 is started may be when the flight of the unmanned aircraft 30 starts or when the notification device 10 acquires the flight route. Further, the timing at which the operation of the notification device 10 shown in FIG. 11 is started may be periodic. In particular, during the flight of the unmanned vehicle 10, the time of reaching the visual recognition area may change due to the influence of the weather or the like. Therefore, by periodically performing the operations of steps S11 to S16, it is possible to notify the person in charge of visual recognition of a more accurate time in charge of visual recognition.

0139Further, the timing of notifying the pilot 20 and the VO terminal 21 of the visual recognition area and the visual recognition time of the operator 1 and VO2,3,4 is a determined visual recognition start time other than the timing described in the first embodiment. It may be the timing to be changed. That is, the unmanned vehicle 30 may fly faster or slower than the preset speed due to the influence of the weather or the like. Therefore, when the visual recognition time is changed during the flight of the unmanned vehicle 30, it is preferable to notify the pilot 20 and the VO terminal 21 of the changed visual recognition area and the visual recognition time.

0140FIG. 12 is a diagram showing an example of a display screen displayed on the display unit of the pilot and the VO terminal according to the second embodiment of the present disclosure. In the display screen 501 shown in FIG. 12, the same reference numerals are given to the same configurations as the display screen 500 shown in FIG. 8, and the description thereof will be omitted.

0141On the display screen 501 shown in FIG. 12, a message 431 for notifying the viewing time is displayed. As described above, the visual recognition time includes the visual recognition start time and the visual recognition end time. For example, if the viewing start time is "13:15" and the viewing end time is "13:30", message 431 will display "Please view from 13:15 to 13:30." Will be done.

0142In this way, since the visual recognition candidate is notified of the visual recognition time indicating the time for visually recognizing the unmanned aviation body 30 as the visual recognition person, the visual recognition candidate can determine when to visually recognize the unmanned aviation body 30. It can be easily recognized.

0143FIG. 13 is a diagram showing a first modification of the display screen displayed on the display unit of the pilot and the VO terminal according to the second embodiment of the present disclosure. In the display screen 502 shown in FIG. 13, the same reference numerals are given to the same configurations as the display screen 500 shown in FIG. 8, and the description thereof will be omitted.

0144On the display screen 502 shown in FIG. 13, a message 432 for notifying the visual recognition time is displayed. The visual recognition time includes the visual recognition start time and the second movement period required from when the unmanned aircraft 30 enters the visual recognition area to when it leaves the visual recognition area. For example, if the viewing start time is "13:15" and the viewing end time is "13:30", the second travel period is 15 minutes, so message 432 says "13:15 to 15". Please see for a minute. "Is displayed.

0145FIG. 14 is a diagram showing a second modification of the display screen displayed on the display unit of the pilot and the VO terminal according to the second embodiment of the present disclosure. In the display screen 503 shown in FIG. 14, the same reference numerals are given to the same configurations as the display screen 500 shown in FIG. 8, and the description thereof will be omitted.

0146On the display screen 503 shown in FIG. 14, a message 433 for notifying the visual recognition time is displayed. The visual recognition time includes the time between the current time and the visual recognition start time, and the second movement period required from when the unmanned aircraft 30 enters the visual recognition area to when it leaves the visual recognition area. For example, if the current time is "13:05", the viewing start time is "13:15", and the second travel period is 15 minutes, message 433 will say "10 minutes later, 15 minutes," Please see it. "Is displayed.

0147In the second embodiment, the visual recognition area and the visual recognition time are notified to each terminal of the plurality of visual recognition candidates, but the present disclosure is not particularly limited to this, and only the visual recognition time is a plurality of visual recognition. Each terminal of the candidate in charge may be notified.

0148In the second embodiment, after the visual recognition area and the visual recognition time are notified to each terminal of the plurality of visual recognition candidates, the fact that the visual recognition time has ended is notified to each terminal of the plurality of visual recognition candidates. It may be notified, or it may be notified only to the corresponding terminal.

0149In the second embodiment, after the viewing area and the viewing time are notified to each terminal of the plurality of viewing candidates, each notified terminal returns the notification to the notification device 10. You may.

0150Subsequently, a modified example of the second embodiment will be described. In the second embodiment described above, the unmanned aircraft 30 passes through the visible areas of the plurality of visual visibility candidates (driver 1 and VO2, 3, 4) once, respectively, but the second embodiment In the modified example of, the unmanned aircraft 30 passes through the visible areas of the plurality of visual visibility candidates (operator 1 and VO2, 3, 4) a plurality of times.

0151FIG. 15 is a schematic diagram for explaining a visual recognition area and a visual recognition time in a modified example of the second embodiment of the present disclosure.

0152As shown in FIG. 15, the unmanned aircraft 30 passes through the visible range VR1, VR2, VR3 of VO2,3,4 and then passes through the visible range VR3, VR2, VR1 of VO4,3,2 again. Fly over flight route 32. In this case, the first visual recognition time T1, T2, T3 from the first unmanned vehicle 30 entering the visual recognition area to the exit of the visual recognition area, and the second unmanned aircraft 30 entering the visual recognition area. The second visual recognition time T4, T5, T6 from the time of departure to the exit of the visual recognition area is notified to each VO terminal 21 of VO2,3,4.

0153When the unmanned vehicle 30 leaves the area in charge of visual recognition and then enters the area in charge of visual recognition again, the time calculation unit 116 in charge of visual recognition first determines that the unmanned vehicle 30 is in charge of visual recognition first based on the area in charge of visual recognition and the flight route. Determine the first visual recognition time from entering to leaving the visual recognition area and the second visual recognition time from the second unmanned aircraft 30 entering the visual recognition area to leaving the visual recognition area. To do. The notification control unit 114 notifies each terminal of the plurality of visual recognition candidates of the first visual recognition time and the second visual recognition time.

0154FIG. 16 is a diagram showing an example of a display screen displayed on the display unit of the pilot and the VO terminal in the modified example of the second embodiment of the present disclosure. In the display screen 504 shown in FIG. 16, the same reference numerals are given to the same configurations as the display screen 500 shown in FIG. 8, and the description thereof will be omitted.

0155On the display screen 501 shown in FIG. 16, a message 431 for notifying the first visual recognition time and a message 434 for notifying the second visual recognition time are displayed. The first visual recognition time includes the visual recognition start time and the visual recognition end time. For example, if the visual recognition start time of the first visual recognition time is "13:15" and the visual recognition end time is "13:30", the message 431 will display the visual recognition from "13:15 to 13:30". Please. "Is displayed. Further, the second visual recognition charge time includes the visual recognition start time and the visual recognition end time. For example, if the visual recognition start time of the second visual recognition time is "14:00" and the visual inspection end time is "14:15", the message 434 will indicate "Next time, from 14:00 to 14:15". Please see it. "Is displayed.

0156In this way, when passing through the same viewing area multiple times, the person in charge of visual recognition forgets the next time in charge of visual recognition by notifying the time in charge of visual recognition together with the time in charge of visual recognition next time. Can be prevented.

0157(Embodiment 3) Subsequently, the flight control system according to the third embodiment will be described.

0158Even if the visual recognition area and the visual recognition time are notified to the visual recognition candidate, the visual recognition area is wide, so that the visual recognition person may not know where the unmanned aircraft arrives. Therefore, in the third embodiment, the notification device 10 notifies not only the viewing area and the viewing time, but also the direction in which the unmanned aircraft arrives.

0159FIG. 17 is a schematic diagram for explaining the direction of arrival of the unmanned aircraft according to the third embodiment of the present disclosure.

0160As shown in FIG. 17, the visible ranges VR1, VR2, VR3 of VO2,3,4 are predetermined in size. VO2, 3, and 4 are arranged on the flight route 31 of the unmanned aircraft 30 so that the visible ranges VR1, VR2, and VR3 do not overlap. The visible range VR1 is the visible area of VO1, the visible range VR2 is the visible area of VO2, and the visible range VR3 is the visible area of VO3. The notification device 10 notifies each VO terminal 21 of VO2,3,4 with the visible range VR1, VR2, VR3 of each VO2,3,4 as the area in charge of visual recognition.

0161Further, the notification device 10 notifies each VO terminal 21 of VO2,3,4 of the visual recognition time T1, T2, T3 indicating the time for each of VO2, 3 and 4 to visually recognize the unmanned aircraft 30 as a visual operator. To do.

0162Further, the notification device 10 notifies each VO terminal 21 of VO2,3,4 of the arrival directions D1, D2, D3 at which the unmanned aircraft 30 arrives in each visual recognition area.

0163FIG. 18 is a block diagram showing a configuration of the notification device according to the third embodiment of the present disclosure. The configuration of the flight control system according to the third embodiment is the same as the configuration of the flight control system shown in FIG. Further, the configurations of the controller 20, the VO terminal 21 and the unmanned aircraft 30 according to the third embodiment are the same as the configurations of the controller 20, the VO terminal 21 and the unmanned aircraft 30 shown in FIGS. 3, 4 and 5. Is.

0164The notification device 10 shown in FIG. 18 includes a communication unit 101, a control unit 102, and a storage unit 103. The same components as those of the notification devices of the first and second embodiments are designated by the same reference numerals, and the description thereof will be omitted.

0165The control unit 102 is, for example, a CPU and controls the operation of the notification device 10. The control unit 102 includes a central control unit 111, a visual recognition person determination unit 112, a notification information generation unit 113, a notification control unit 114, a notification timing determination unit 115, a visual recognition time calculation unit 116, and an arrival direction determination unit 117.

0166The arrival direction determination unit 117 determines the unmanned aircraft 30 based on the flight route and the positions of the terminals (operator 20 and VO terminal 21) carried by the visual candidates (driver 1 and VO2,3,4). Identify the direction of arrival in the area in charge of visual recognition. The notification control unit 114 notifies each terminal (operator 20 and VO terminal 21) of a plurality of visual inspection candidates (operator 1 and VO2,3,4) of the arrival direction.

0167FIG. 19 is a flowchart for explaining the operation of the notification device according to the third embodiment of the present disclosure.

0168Since the processes of steps S21 to S25 are the same as the processes of steps S11 to S15 shown in FIG. 11, the description thereof will be omitted.

0169Next, in step S26, the arrival direction determination unit 117 identifies the arrival direction in which the unmanned aircraft 30 arrives at the visual recognition area. The direction of arrival is represented by the direction. Specifically, the arrival direction determination unit 117 determines the position of the terminal of the person in charge of visual recognition when the unmanned aircraft 30 enters the area in charge of visual recognition, and the unmanned aircraft 30 when the unmanned aircraft 30 enters the area in charge of visual recognition. Determine the direction of arrival in the direction of arrival.

0170When the area in charge of visual recognition, the time in charge of visual recognition, and the direction of arrival are notified at the timing when the unmanned vehicle 30 enters the area in charge of visual recognition, the arrival direction determination unit 117 performs unmanned flight from the current position of the terminal of the person in charge of visual recognition. The direction toward the current position of the body 30 may be determined in the direction of arrival. Further, when the visual recognition area, the visual recognition time, and the arrival direction are notified at a timing before the timing when the unmanned aircraft 30 enters the visual recognition area, the arrival direction determination unit 117 determines the current position of the terminal of the visual recognition person. Therefore, the direction toward the position of the unmanned vehicle 30 when the unmanned vehicle 30 on the flight route enters the area in charge of visual recognition may be determined in the direction of arrival.

0171Next, in step S27, the notification control unit 114 notifies the pilot 20 and the VO terminal 21 of the visual recognition area, the visual recognition time, and the arrival direction of the operator 1 and VO2,3,4. Specifically, the notification information generation unit 113 has a visual recognition area determined by the visual recognition person determination unit 112, a visual recognition time determined by the visual recognition time calculation unit 116, and an arrival determined by the arrival direction determination unit 117. Generate notification information to notify the driver 1 and VO2,3,4 of the direction. At this time, the notification information generation unit 113 may include flight route information in the notification information. The notification control unit 114 transmits the generated notification information to the pilot 20 and the VO terminal 21 via the communication unit 101.

0172The communication unit 203 of the pilot 20 and the VO terminal 21 receives the notification information transmitted by the notification device 10. Based on the received notification information, the control unit 201 displays the visual recognition area, the visual recognition time, and the arrival direction on the display unit 206.

0173The timing at which the operation of the notification device 10 shown in FIG. 19 is started may be when the flight of the unmanned aircraft 30 starts or when the notification device 10 acquires the flight route. Further, the timing at which the operation of the notification device 10 shown in FIG. 19 is started may be periodic.

0174Further, the timing of notifying the pilot 20 and the VO terminal 21 of the visual recognition area, the visual recognition time, and the arrival direction of the operator 1 and the VO2, 3 and 4 is the same as the timing described in the second embodiment.

0175Further, in the third embodiment, the notification device 10 may notify not only the direction of arrival of the unmanned aircraft 30 but also the altitude of the unmanned aircraft 30 when the unmanned aircraft 30 enters the visual recognition area. Good. Further, for example, when there is a predetermined building such as a public building in the arrival direction, or when there is a building whose height is equal to or higher than a predetermined height, the notification device 10 is a building existing in the arrival direction. Information about may also be notified.

0176FIG. 20 is a diagram showing an example of a display screen displayed on the display unit of the pilot and the VO terminal according to the third embodiment of the present disclosure. In the display screen 505 shown in FIG. 20, the same reference numerals are given to the same configurations as the display screen 501 shown in FIG. 12, and the description thereof will be omitted.

0177On the display screen 505 shown in FIG. 20, a message 431 for notifying the visual recognition time and a message 435 for notifying the arrival direction are displayed. The visual recognition time includes the visual recognition start time and the visual recognition end time. For example, if the viewing start time is "13:15" and the viewing end time is "13:30", message 431 will display "Please view from 13:15 to 13:30." Will be done. Further, for example, when the arrival direction is northwest (above XX high school) and the altitude is 30 m, the message 435 displays "arrival direction: northwest (above XX high school), altitude: 30 m".

0178In this way, since the arrival direction in which the unmanned vehicle 30 arrives at the area in charge of visual recognition is notified, the person in charge of visual recognition can easily find the unmanned aircraft 30.

0179In addition to the direction of arrival, the person in charge of visual recognition is notified of the altitude of the unmanned aircraft 30 when the unmanned aircraft 30 enters the area in charge of visual recognition, or information on the building existing in the direction of arrival. 30 can be found more easily.

0180(Embodiment 4) Subsequently, the flight control system according to the fourth embodiment will be described.

0181In the fourth embodiment, the unmanned vehicle 30 is freely remotely controlled by the operator 1 instead of flying along the flight route. At this time, if the areas in charge of visual recognition of the plurality of candidates in charge of visual recognition overlap, the plurality of candidates in charge of visual recognition need to visually recognize the unmanned aircraft 30 while taking turns. Therefore, in the fourth embodiment, when a plurality of viewing areas overlap, the notification device 10 is in charge of viewing the unmanned vehicle 30 of the plurality of viewing candidates and the plurality of viewing candidates. Notify each terminal of a plurality of candidates in charge of visual recognition of the time in charge of visual recognition indicating the time for visually recognizing the unmanned aircraft 30 as a person.

0182FIG. 21 is a schematic diagram for explaining the visual recognition area in the fourth embodiment of the present disclosure.

0183As shown in FIG. 21, the visible ranges VR1, VR2, VR3 of VO2,3,4 are predetermined in size. The visible range VR1 is the visible area of VO1, the visible range VR2 is the visible area of VO2, and the visible range VR3 is the visible area of VO3. The areas in charge of visual recognition of VO2,3,4 overlap. The notification device 10 determines the order in which VO2,3,4 visually recognizes the unmanned aircraft 30, and determines the visual recognition time indicating the time when VO2,3,4 visually recognizes the unmanned aircraft 30 as a visual operator. , Notify VO2,3,4 of the determined order of visual inspection and visual inspection time.

0184FIG. 22 is a block diagram showing a configuration of the notification device according to the fourth embodiment of the present disclosure. The configuration of the flight control system according to the fourth embodiment is the same as the configuration of the flight control system shown in FIG. Further, the configurations of the controller 20, the VO terminal 21 and the unmanned aircraft 30 according to the fourth embodiment are the same as the configurations of the controller 20, the VO terminal 21 and the unmanned aircraft 30 shown in FIGS. 3, 4 and 5. Is.

0185The notification device 10 shown in FIG. 22 includes a communication unit 101, a control unit 102, a storage unit 103, and a time measurement unit 104. The same components as those of the notification device of the first embodiment are designated by the same reference numerals, and the description thereof will be omitted.

0186The time measurement unit 104 measures the time since the visual recognition candidate becomes the visual recognition person.

0187The control unit 102 is, for example, a CPU and controls the operation of the notification device 10. The control unit 102 includes a central control unit 111, a visual recognition person determination unit 112, a notification information generation unit 113, a notification control unit 114, and a notification timing determination unit 115.

0188When the areas in charge of visual recognition of a plurality of candidates in charge of visual recognition overlap, the person in charge of visual recognition determines the person in charge of visual recognition in order from the candidate in charge of visual recognition closest to the unmanned aircraft 30 among the plurality of candidates in charge of visual recognition. To decide. In addition, the visual recognition person determination unit 112 determines a predetermined time as each visual recognition charge time of the plurality of visual recognition candidates.

0189The storage unit 103 is, for example, a semiconductor memory and stores various information. The storage unit 103 stores unmanned aircraft position information 122, terminal position information 123, notification destination information 124, visual recognition person determination program 125, notification information generation program 126, visible range information 128, and notification timing determination program 129.

0190FIG. 23 is a flowchart for explaining the operation of the notification device according to the fourth embodiment of the present disclosure. In the fourth embodiment, the flight route is not determined, and the operator 1 freely remotely controls the unmanned aircraft 30 using the controller 20.

0191Since the processes of steps S31 to S33 are the same as the processes of steps S2 to S4 shown in FIG. 7, the description thereof will be omitted.

0192Next, in step S34, the visual recognition person determining unit 112 determines whether or not a plurality of visual recognition areas of the operator 1 and VO2,3,4 overlap. Here, when it is determined that the plurality of visually recognizable areas do not overlap (NO in step S34), in step S35, the notification control unit 114 controls the visually recognizable areas of the operator 1 and VO2,3,4. Notify the device 20 and the VO terminal 21. Specifically, the notification information generation unit 113 generates notification information for notifying the operator 1 and VO2,3,4 of the visual recognition area determined by the visual recognition person determination unit 112. The notification control unit 114 transmits the generated notification information to the pilot 20 and the VO terminal 21 via the communication unit 101.

0193The communication unit 203 of the pilot 20 and the VO terminal 21 receives the notification information transmitted by the notification device 10. The control unit 201 displays the visually recognizable area on the display unit 206 based on the received notification information.

0194On the other hand, when it is determined that the plurality of visually recognizing areas overlap (YES in step S34), in step S36, the visual recognizing person determining unit 112 determines the plurality of visually recognizing candidates having overlapping visual recognizing areas. Of (Operator 1 and VO2,3,4), the visual inspection candidate is determined in order from the visual visibility candidate closest to the unmanned aircraft 30. Specifically, the visual inspection person determination unit 112 calculates the distance between the positions of the terminals of the operators 1 and VO2, 3 and 4 whose visual recognition areas overlap, and the positions of the unmanned aircraft 30. .. Then, the visual inspection person determination unit 112 determines the visual recognition person in order from the operator 1 and VO2, 3, 4, which have the shortest distance between the position of the terminal and the position of the unmanned aircraft 30.

0195Next, in step S37, the visual inspection person determining unit 112 determines a predetermined predetermined time as the visual recognition charge time of the operator 1 and the VO2, 3, and 4, respectively. The predetermined time may be stored in the storage unit 103 in advance, or may be input by the user.

0196Next, in step S38, the notification control unit 114 notifies the pilot 20 and the VO terminal 21 of the visual order and the visual viewing time of the operator 1 and VO2,3,4. Specifically, the notification information generation unit 113 generates notification information for notifying the operator 1 and VO2,3,4 of the visual recognition order and the visual recognition time determined by the visual recognition person determination unit 112. The notification control unit 114 transmits the generated notification information to the pilot 20 and the VO terminal 21 via the communication unit 101.

0197The communication unit 203 of the pilot 20 and the VO terminal 21 receives the notification information transmitted by the notification device 10. The control unit 201 displays the visual recognition order and the visual recognition time on the display unit 206 based on the received notification information.

0198The timing at which the operation of the notification device 10 shown in FIG. 23 is started may be the time when the flight of the unmanned vehicle 30 is started. Further, the timing at which the operation of the notification device 10 shown in FIG. 23 is started may be periodic.

0199FIG. 24 is a diagram showing an example of a display screen displayed on the display unit of the pilot and the VO terminal according to the fourth embodiment of the present disclosure.

0200On the display screen 506 shown in FIG. 24, the name of the person in charge of visual recognition and the time zone in charge of visual recognition in charge of each person in charge of visual recognition are displayed. For example, if the order of visually recognizing the unmanned vehicle 30 is the operator, the first VO, the second VO, the third VO, and the operator, the display screen 506 shows the operator, the first VO. , The second VO, the third VO and the operator's name are displayed in order from the top. Further, on the display screen 506, the time zone in charge of visual recognition of each visual inspection person is displayed next to the name of the person in charge of visual recognition. In addition, a predetermined mark (a star-shaped mark in FIG. 24) is displayed in the vicinity of the name of the person in charge of visual recognition so that the time zone in charge of visual recognition of the person in charge of visual recognition can be easily identified. Since the display screen 506 shown in FIG. 24 is the visual recognition order and the visual recognition time notified to the second VO, a predetermined mark is displayed in the vicinity of the second VO.

0201The display screen 506 notifies a plurality of visual inspection candidates at the start of flight of the unmanned aircraft 30. The time measurement unit 104 measures the time since becoming the person in charge of visual recognition, and the notification control unit 114 measures the time measured by the time measurement unit 104 when the time zone in charge of visual recognition elapses. The terminal may be notified that the person in charge of visual recognition will change.

0202Further, the visual recognition person determination unit 112 is a distance between the position of the unmanned aircraft and the position of the terminal carried by one of the visual recognition candidates who are not the current visual recognition candidates. If is less than or equal to a predetermined distance, the current visual inspection person may be changed to 1 visual recognition candidate. That is, the visual inspection person determination unit 112 periodically acquires the current positions of the unmanned aircraft 30, the controller 20, and the VO terminal 21, and the distance between the unmanned aircraft 30 and the controller 20 and the VO terminal 21. May be determined whether or not is less than or equal to a predetermined distance. Then, when the visual inspection person determination unit 112 determines that the distance between the unmanned aircraft 30 and the pilot 20 or the VO terminal 21 is less than or equal to a predetermined distance, the determined pilot 20 or the VO terminal 21 is determined. May be decided as a new person in charge of visual recognition.

0203Further, the visual recognition person determining unit 112 may store the positions of the pilot 20 and the VO terminal 21 when the visual recognition order and the visual recognition time are determined. Then, the visual inspection person determination unit 112 periodically acquires the current positions of the pilot 20 and the VO terminal 21, and the acquired current positions of the pilot 20 or the VO terminal 21 and the stored pilot 20 or VO. When the distance from the position of the terminal 21 is more than a predetermined distance, the visual recognition order and the visual recognition time may be determined again.

0204Further, the storage unit 103 of the notification device 10 may store the movement history of the unmanned aircraft 30. The visual recognition person determination unit 112 estimates the direction in which the unmanned aircraft 30 moves based on the movement history of the unmanned aircraft 30, and determines the visual recognition person in order from the visual recognition candidate closest to the estimated direction. May be good. In this way, when the operator 1 is moving the unmanned aircraft 30 toward a predetermined destination included in the movement history, it is possible to estimate the traveling direction of the unmanned aircraft 30 and estimate it in advance. The person in charge of visual recognition can be determined along the route of the unmanned aircraft 30.

0205Further, in the fourth embodiment, the visual recognition person determination unit 112 is assigned to the unmanned aircraft 30 among the plurality of visual recognition candidates (operator 1 and VO2,3,4) having overlapping areas in charge of visual recognition. It may be confirmed whether or not the unmanned aircraft 30 is approved to be visually recognized as the visual operator in order from the closest visual operator candidate. Then, the visual inspection person determination unit 112 may determine the visual recognition person as the visual recognition person who first received a response to approve the visual recognition of the unmanned aircraft 30 as the visual recognition person.

0206Further, in the fourth embodiment, the visual recognition person determination unit 112 has the highest altitude position among the plurality of visual recognition candidates (operator 1 and VO2,3,4) having overlapping areas in charge of visual recognition. You may decide the person in charge of visual recognition in order from the candidate in charge of visual recognition existing in.

0207Further, in the fourth embodiment, in the visual recognition person determination unit 112, the unmanned aircraft 30 is among a plurality of visual recognition candidates (operator 1 and VO2,3,4) having overlapping areas in charge of visual recognition. The person in charge of visual recognition may be determined in order from the candidate in charge of visual recognition in which a building having a height higher than a predetermined height does not exist in the existing direction. In this case, the visual inspection person determination unit 112 identifies the direction in which the unmanned aircraft 30 exists from the current position of the unmanned aircraft 30 and the current position of the terminal of the visual recognition candidate, and determines a predetermined height existing in the specified direction. Extract the above buildings from the map information.

0208Further, in the fourth embodiment, the visual recognition candidate determined as the visual recognition person designates another visual recognition candidate who will be the visual recognition person instead of himself / herself from among the plurality of visual recognition candidates. You may.

0209(Embodiment 5) Subsequently, the flight control system according to the fifth embodiment will be described.

0210FIG. 25 is a schematic diagram for explaining the flight control system according to the fifth embodiment of the present disclosure.

0211For example, if the first VO2 closest to the unmanned vehicle 30 is visually recognizing the unmanned vehicle 30, and the unmanned vehicle 30 cannot be visually recognized as a person in charge of visual recognition, the first VO2 will be the first VO2. Ask the notification device 10 to change the person in charge of visual recognition. The notification device 10 received the change request from the first VO2, changed the person in charge of visual recognition from the first VO2 to the second VO3, and was determined to be the person in charge of visual recognition in the VO terminal 21 of the second VO3. Notify. At this time, if the notification device 10 does not notify the reason for changing the visual inspection person, the second VO3 is the visual inspection person himself, even though there is the first VO2 closest to the unmanned aircraft 30. There is a risk of requesting the notification device 10 to change the person in charge of visual recognition again. Therefore, in the fifth embodiment, when notifying the person in charge of visual recognition that the decision has been made, the person in charge of visual inspection is also notified of the reason for the decision.

0212FIG. 26 is a block diagram showing a configuration of the notification device according to the fifth embodiment of the present disclosure. The configuration of the flight control system according to the fifth embodiment is the same as the configuration of the flight control system shown in FIG. Further, the configurations of the controller 20, the VO terminal 21 and the unmanned aircraft 30 according to the fifth embodiment are the same as the configurations of the controller 20, the VO terminal 21 and the unmanned aircraft 30 shown in FIGS. 3, 4 and 5. Is.

0213The notification device 10 shown in FIG. 26 includes a communication unit 101, a control unit 102, a storage unit 103, and a time measurement unit 104. The same components as those of the notification device of the fourth embodiment are designated by the same reference numerals, and the description thereof will be omitted.

0214The control unit 102 is, for example, a CPU and controls the operation of the notification device 10. The control unit 102 includes a central control unit 111, a visual recognition person determination unit 112, a notification information generation unit 113, a notification control unit 114, a notification timing determination unit 115, and a notification cause identification unit 118.

0215The communication unit 101 receives the refusal information for refusing to visually recognize the unmanned aircraft 30 as the person in charge of visual recognition from one of the plurality of terminals notified of at least one of the area in charge of visual recognition and the time in charge of visual recognition.

0216The visual recognition person determination unit 112 determines the visual recognition person who carries the terminal closest to the unmanned aircraft 30 next to the terminal of the visual recognition candidate who refuses to see as a new visual recognition person.

0217The notification cause identification unit 118 identifies the reason determined to be the new visual inspection person. For example, when the refusal information is received, the notification cause identification unit 118 determines as the reason for notification that the candidate in charge of visual recognition who has determined the person in charge of visual inspection has rejected the information.

0218The notification control unit 114 notifies the terminal of the candidate in charge of visual recognition who has been determined to be the new person in charge of visual recognition that the person in charge of visual recognition has been determined, together with the reason for the new person in charge of visual recognition.

0219FIG. 27 is a diagram showing an example of a display screen displayed on the display unit of the pilot and the VO terminal when the person in charge of visual recognition is changed in the fifth embodiment of the present disclosure.

0220When changing the person in charge of visual recognition, the notification device 10 confirms whether or not to approve the candidate in charge of visual recognition determined as the new person in charge of visual recognition to become the person in charge of visual recognition.

0221On the display screen 507 shown in FIG. 27, an approval button 441 that approves becoming a visual operator, a refusal button 442 that refuses to become a visual operator, and a reason for being selected as a visual operator are displayed. The reason for selection button 443 is displayed. The user input unit 205 of the controller 20 and the VO terminal 21 is composed of a touch panel.

0222When the approval button 441 is pressed, the communication unit 203 transmits information for approving the new visual operator to the notification device 10. When the refusal button 442 is pressed, the communication unit 203 transmits information to the notification device 10 for refusing to become a new visual operator.

0223When the selection reason display button 443 is pressed, the control unit 201 displays the reason for being selected as a new visual inspection person on the display unit 206.

0224FIG. 28 is a diagram showing an example of a display screen displaying the reason why the person in charge of visual recognition is selected in the fifth embodiment of the present disclosure.

0225When the selection reason display button 443 is pressed, the display screen 508 shown in FIG. 28 is displayed. The display screen 508 displays the reason why the visual visual candidate has been selected as the new visual visual candidate. In the example shown in FIG. 28, the first VO was requested to visually recognize the unmanned aircraft 30, but was rejected. Therefore, the second VO closest to the unmanned aircraft 30 next to the first VO was selected as the visual operator. Is displayed as the reason for selection.

0226In this way, the terminal of the visual recognition candidate who has been decided as the new visual recognition person is notified that the visual recognition person has been decided, together with the reason why the new visual recognition person has been decided. It is possible to know why the new visual recognition person has been decided, and to determine whether or not to become the new visual recognition person in consideration of the reason why the new visual recognition person has been decided.

0227In the fifth embodiment, when the person in charge of visual recognition is visually recognizing the unmanned aircraft 30, the notification device 10 receives a request for changing the person in charge of visual recognition from the terminal carried by the person in charge of visual recognition. May be good. When a request to change the person in charge of visual recognition is received from the current person in charge of visual recognition, the person in charge of visual recognition determination unit 112 selects the current person in charge of visual recognition from among other candidates in charge of visual recognition other than the current person in charge of visual recognition. Next, a visual visibility candidate close to the unmanned aircraft 30 may be determined as a new visual visibility candidate. In this case, the notification control unit 114 notifies the terminal of the visual recognition candidate who has been determined as the new visual recognition person that the new visual recognition person has been determined, together with the reason why the new visual recognition person has been determined. You may.

0228Further, in the fifth embodiment, when there is a building between the unmanned aircraft 30 and the person in charge of visual recognition, the person in charge of visual recognition determination unit 112 is selected from among the candidates in charge of visual recognition other than the current person in charge of visual recognition. The candidate for visual inspection, which is the closest to the unmanned aircraft 30 next to the current visual inspection officer, may be determined as the new visual inspection officer. In this case, the notification control unit 114 notifies the terminal of the visual recognition candidate who has been determined as the new visual recognition person that the new visual recognition person has been determined, together with the reason why the new visual recognition person has been determined. You may.

0229(Other embodiments) As described above, Embodiments 1 to 5 have been described as an example of the technique of the present disclosure. However, the technique in the present disclosure is not limited to this, and can be applied to embodiments in which changes, replacements, additions, omissions, etc. are made. It is also possible to combine the components described in the first to fifth embodiments to form a new embodiment.

0230Further, in the first to fifth embodiments, when notifying the terminal of the candidate in charge of visual recognition of at least one of the area in charge of visual recognition and the time in charge of visual recognition, the person in charge of visual recognition determines whether or not the unmanned aircraft 30 is visually recognized as the person in charge of visual recognition. You may check with the candidate. Here, when there is a reply that rejects the person in charge of visual recognition, the person in charge of visual recognition determination 112 may newly determine the person in charge of visual recognition from among the other candidates in charge of visual recognition. Further, when there is no reply to approve the person in charge of visual recognition and a predetermined time has elapsed, the person in charge of visual recognition determination 112 may newly determine the person in charge of visual recognition from the other candidates in charge of visual recognition. In this case, the notification control unit 114 notifies the terminal of the visual recognition candidate who has been determined as the new visual recognition person that the new visual recognition person has been determined, together with the reason why the new visual recognition person has been determined. You may. Further, when there is no new person in charge of visual recognition, the notification control unit 114 may notify the pilot 20 to that effect.

0231Further, in the first to fifth embodiments, when at least one of the visual recognition area and the visual recognition time is notified to the VO terminal, the information for identifying the VO determined as the visual recognition person by the controller 20 of the operator 1 May be sent.

0232Further, in the first to fifth embodiments, one unmanned vehicle 30 is visually recognized by a plurality of visual recognition candidates, but a plurality of unmanned vehicle 30s may be visually recognized by a plurality of visual recognition candidates. In this case, the viewing area and the viewing time are determined for each of the plurality of unmanned aircraft.

0233Further, in the first to fifth embodiments, even if the control unit 201, the storage unit 202, and the communication unit 203 of the controller 20 have the functions of the control unit 102, the storage unit 103, and the communication unit 101 of the notification device 10. Good.

0234The notification method, the notification device, and the terminal according to the present disclosure can make the operator or one or more visual observers recognize at what timing the unmanned aircraft should be visually observed, and visually recognize the unmanned aircraft. It is useful for notification methods, notification devices and terminals for notifying timing.

02351 operator 2,3,4 Visual Observer (VO) 10 Notification device 20 pilot 21 VO terminal 30 unmanned aircraft 40 Flight route setting terminal 50 networks 101 Communication Department 102 Control unit 103 Memory 104 time measurement unit 111 Central control unit 112 Visualization person determination department 113 Notification information generator 114 Notification control unit 115 Notification timing determination unit 116 Visualization time calculation department 117 Arrival direction determination department 118 Notification cause identification part 121 Map information 122 Unmanned Aircraft Position Information 123 Terminal location information 124 Notification information 125 Visualizer determination program 126 Notification information generator 127 Flight route information 128 Visible range information 129 Notification timing determination program 201 Control unit 202 202 Memory 203 Communication Department 204 Position measurement unit 205 User input section 206 Display 301 Control 302 Memory 303 Communication Department 304 Position measuring unit 305 drive unit