MOVING BODY MANAGEMENT DEVICE, INFORMATION PROCESSING TERMINAL DEVICE, MOVING BODY CONTROL DEVICE, MOVING BODY MANAGEMENT METHOD, AND RECORDING MEDIUM STORING MOVING BODY MANAGEMENT PROGRAM

To enable accurate detection of a moving body that has fraudulently entered a monitored area, a moving body management device comprises: a reception unit that receives moving body identification information enabling identification of a moving body and representing the state of the moving body from an information processing terminal device that has received the moving body identification information from the moving body that has transmitted the moving body identification information; a determination unit that determines whether or not the moving body has entered an entry-prohibited area by comparing the received moving body identification information with entry permission management information representing an area that the moving body is permitted to enter or prohibited from entering; and a transmission unit that transmits a determination result obtained by the determination unit to the information processing terminal device capable of displaying the determination result.

TECHNICAL FIELD

The present invention relates to a moving body management device, an information processing terminal device, a moving body control device, a moving body management method, and a recording medium storing a moving body management program.

BACKGROUND ART

In recent years, equipment (hereinafter referred to as a moving body in the present application) that can be moved automatically, such as a drone or a robot, or operated manually has been used in various scenes. In addition, various techniques for managing the operation of such a moving body have been developed.

As a technique related to such a technique, PTL 1 discloses an unmanned flying device that flies based on instruction information acquired from an external device. This device stores a device identification (ID) for identifying the own device. The device authenticates that the instruction information is proper based on the acquired instruction information and the registered operator ID stored in the recording medium. Then, on condition that the instruction information is determined to be proper, the device flies based on the instruction information within an operable range defined by the relationship between the registered operator ID and the device ID.

CITATION LIST

Patent Literature

SUMMARY OF INVENTION

Technical Problem

As opportunities for using a moving body such as a drone increase, for example, the occurrence of cases in which a drone enters an important facility and images the facility also increases, and thus, detection of an illegally entered drone by a security guard or the like is being performed at the periphery of the important facility or the like. In this case, the drone flying through the peripheral area of the important facility is not necessarily a suspicious drone, and the drone permitted to enter the peripheral area may be erroneously detected as a suspicious drone. Alternatively, conversely, there is a case where a security guard erroneously recognizes a drone that is not permitted to enter the peripheral area with a drone that has been permitted to enter, thereby overlooking a suspicious drone. That is, it is a problem to accurately detect a moving body such as a drone that has illegally entered a monitoring target area. PTL 1 does not particularly mention this problem.

A main object of the present invention is to accurately detect a moving body that has illegally entered a monitoring target area.

Solution to Problem

A moving body management device according to one aspect of the present invention includes a reception means that receives moving body identification information from an information processing terminal device that has received the moving body identification information transmitted from a moving body, the moving body identification information being information with which the moving body can be identified and indicating a state of the moving body, a determination means that determines whether the moving body has entered an area where entry is prohibited by collating the received moving body identification information with entry permission management information indicating an area where entry is permitted or prohibited with respect to the moving body, and a transmission means that transmits, to the information processing terminal device, a determination result from the determination means, the information processing terminal device being capable of displaying the determination result.

In another aspect of achieving the above object, a moving body management method by an information processing device according to another aspect of the present invention includes receiving moving body identification information from an information processing terminal device that has received the moving body identification information transmitted from a moving body, the moving body identification information being information with which the moving body can be identified and indicating a state of the moving body, determining whether the moving body has entered an area where entry is prohibited by collating the received moving body identification information with entry permission management information indicating an area where entry is permitted or prohibited with respect to the moving body, and transmitting, to the information processing terminal device, a determination result on whether the moving body has entered an area where entry is prohibited, the information processing terminal device being capable of displaying the determination result.

In a further viewpoint of achieving the above object, a moving body management program according to another further aspect of the present invention causes a computer to execute a reception process of receiving moving body identification information from an information processing terminal device that has received the moving body identification information transmitted from a moving body, the moving body identification information being information with which the moving body can be identified and indicating a state of the moving body, a determination process of determining whether the moving body has entered an area where entry is prohibited by collating the received moving body identification information with entry permission management information indicating an area where entry is permitted or prohibited with respect to the moving body, and a transmission process of transmitting, to the information processing terminal device, a determination result from the determination process, the information processing terminal device being capable of displaying the determination result.

Furthermore, the present invention can also be achieved by a computer-readable non-volatile recording medium in which the moving body management program (computer program) is stored.

Advantageous Effects of Invention

According to the present invention, a moving body management device and the like capable of accurately detecting a moving body that has illegally entered a monitoring target area are obtained.

EXAMPLE EMBODIMENT

First Example Embodiment

FIG.1is a block diagram illustrating a configuration of a drone management system1according to a first example embodiment of the present invention. The drone management system1according to the present example embodiment is a system that manages an entry permitted area or an entry prohibited area of each of one or more drones40(an example of a moving body) and manages whether illegal flight (entry to the entry prohibited area, or the like) by the drone40is performed.

Assume that the drone40emits (transmits) the remote ID400. The remote ID is a mechanism for emitting, from a drone, information with which a fuselage can be identified and, thus, remotely collecting identification information emitted from the drone. The remote ID400includes, for example, a registration symbol, a manufacturing number, position information, time, and the like as information with which the drone40can be identified. The information included in the remote ID400is not limited to the above-described information, and may include, for example, information indicating the state of the drone40.

The drone management system roughly includes a drone management device10, an information processing terminal device20, and a drone control device30. The drone management device10and the drone control device30are examples of a moving body management device and a moving body control device in order. The information processing terminal device20and the drone control device30are communicably connected to the drone management device10via, for example, a wireless or wired communication network.

The information processing terminal device20is an equipment (in the present example embodiment, hereinafter sometimes referred to as a remote identification terminal) having a function of collecting the remote ID400, and is, for example, an equipment possessed by a specific person such as a police officer, a security guard, or an administrator of an important facility. Alternatively, the information processing terminal device20may be a terminal device such as a smartphone possessed by a general person in which an application for achieving the function of the remote identification terminal is installed. The information processing terminal device20includes an identification information reception unit21, an identification information transmission unit22, an imaging unit23, a display control unit24, a display screen25, and an image recognition unit26. The display control unit24and the image recognition unit26are an example of a display control means and an image recognition means in order. The imaging unit23is, for example, a camera capable of imaging the drone40and the like.

The identification information reception unit21receives the remote ID400transmitted from the drone40. However, it is assumed that the drone40transmits the remote ID400by using a communication method that can be received by the information processing terminal device20.

The identification information transmission unit22transmits the remote ID400received by the identification information reception unit21to the drone management device10that manages the drone40. The identification information transmission unit22may attach an imaged image of the drone40imaged by the imaging unit23to the remote ID400and transmit the imaged image to the drone management device10.

The display control unit24, the display screen25, and the image recognition unit26in the information processing terminal device20will be described later.

The drone management device10is an information processing device such as a server, and includes a reception unit11, a determination unit12, a transmission unit13, an update unit14, a control information generation unit15, a control information transmission unit16, and a storage unit17. The reception unit11, the determination unit12, the transmission unit13, the update unit14, the control information generation unit15, and the control information transmission unit16are examples of a reception means, a determination means, a transmission means, an update means, a control information generation means, and a control information transmission means in order.

The storage unit17is, for example, a storage device such as a random access memory (RAM) or a hard disk904described later with reference toFIG.7. The storage unit17stores entry permission management information171, determination result172, control information173, and drone registration information174. Details of these pieces of information stored in the storage unit17will be described later.

The reception unit11receives the remote ID400and the imaged image in which the drone40is imaged transmitted by the identification information transmission unit22of the information processing terminal device20in the above manner. The reception unit11may also store the remote ID400and the imaged image in which the drone40is imaged in the storage unit17.

The determination unit12collates the received remote ID400with the entry permission management information171stored in the storage unit17to determine whether the drone40identified by the remote ID400has entered an area where entry is prohibited. The entry permission management information171is information indicating an area where entry is permitted or entry is prohibited for each drone40.

The entry permission management information171associates, for example, a registration symbol of the drone40included in the remote ID400with a place of an area (entry permitted area) where entry is permitted for the drone40or an area (entry prohibited area) where entry is prohibited. For example, in a case where the area is represented by a polygon on the ground surface, the place of the entry permitted area or the entry prohibited area can be represented by coordinates (e.g., latitude and longitude) on the ground surface of each vertex constituting the polygon.

The entry permission management information171may also include information indicating height (altitude) with respect to the entry permitted area or the entry prohibited area. For example, regarding a certain area represented two-dimensionally on the ground surface, the entry permission management information171may indicate that an area represented three-dimensionally less than 300 meters from the ground surface is an entry prohibited area, and an area represented three-dimensionally 300 meters or more from the ground surface is an entry permitted area.

When the position of the drone40indicated by the received remote ID400is inside the entry prohibited area of the drone40indicated by the entry permission management information171, the determination unit12generates a determination result172indicating that the drone40has entered the entry prohibited area. Alternatively, when the position of the drone40indicated by the received remote ID400is outside the entry permitted area of the drone40indicated by the entry permission management information171, the determination unit12generates a determination result172indicating that the drone40has entered the entry prohibited area.

The determination unit12also checks whether a registration symbol of the drone40indicated by the received remote ID400is, for example, registered in the drone registration information174(moving body registration information). The drone registration information174represents, for example, a list of registration symbols of the drone40that caused a problem such as illegally entering the entry prohibited area in the past. Alternatively, the drone registration information174may represent a list of registration symbols of the drones40that have not caused any problem after notification of the fuselage has been properly performed. It is assumed that the drone registration information174is given in advance by, for example, an administrator or the like of the drone management device10.

When the registration symbol indicated by the received remote ID400is registered in the drone registration information174indicating the list of registration symbols of the drone40that has caused the problem, the determination unit12generates a determination result172indicating that the drone40specified by the received remote ID400requires attention. Alternatively, when the registration symbol indicated by the received remote ID400is not registered in the drone registration information174indicating the list of registration symbols of the drone40that has not caused any problem, the determination unit12generates a determination result172indicating that the drone40specified by the received remote ID400requires attention.

The determination unit12stores the determination result172generated as described above in the storage unit17.

The transmission unit13transmits the determination result172to the information processing terminal device20. The transmission unit13may also transmit the entry permission management information171related to the drone40indicated by the determination result172to the information processing terminal device20. That is, in this case, the transmission unit13transmits, to the information processing terminal device20, information indicating the place of the entry permitted area or the entry prohibited area related to the drone40, which is indicated by the entry permission management information171.

The display control unit24of the information processing terminal device20displays the determination result172transmitted from the transmission unit13of the drone management device on the display screen25. The display control unit24may also display, on the display screen25, a map on which registration symbols and the like of the drone40included in the remote ID400are displayed at the position of the drone40indicated by the received remote ID400.

FIG.2is a diagram illustrating a first example of a mode in which the display control unit24of the information processing terminal device20according to the present example embodiment displays information of the drone40that has entered the entry prohibited area on the display screen25. In the example illustrated inFIG.2, the display control unit24displays, on the display screen25, a warning indicating that the drone40whose registration symbol is “A1000019” has entered the entry prohibited area. However, quadrangular and pentagonal shaded areas in the map displayed on the display screen25illustrated inFIG.2represent the entry prohibited areas of the drone40displayed as double circles on the display screen25. It is assumed that the information processing terminal device20can acquire information representing the map illustrated inFIG.2from the drone management device10or another external device.

FIG.3is a diagram illustrating a second example of a mode in which the display control unit24of the information processing terminal device20according to the present example embodiment displays information of the drone40that has entered the entry prohibited area on the display screen25. In the example illustrated inFIG.3, the display control unit24displays, on the display screen25, the imaged image of the drone40in which the registration symbol “A1000019” of the drone40is superimposed on the drone40. As in the example illustrated inFIG.2, the display control unit24displays, on the display screen25, a warning indicating that the drone40whose registration symbol is “A1000019” has entered the entry prohibited area. However, the shaded area displayed by being superimposed on the imaged image displayed on the display screen25as illustrated inFIG.3represents the entry prohibited area of the drone40displayed on the display screen25. In the example illustrated inFIG.3, the entry permission management information171indicates that an area having a higher altitude than the shaded area is the entry permitted area for the imaged drone40.

As illustrated inFIG.3, the display control unit24may display the information of the drone40on the display screen25by a map of a three-dimensional display mode acquired from an external device or the like in place of the imaged image by the imaging unit23.

In addition, as described above, in a case where the display control unit24displays the imaged image of the drone40in which the remote ID400is superimposed on the drone40on the display screen25, there is a case where the orientation of the drone40based on the information processing terminal device20calculated from the value indicated by the geomagnetic sensor (not illustrated) included in the information processing terminal device20deviates from the actual orientation. Therefore, the display control unit24may correct the orientation of the drone40calculated from the value indicated by the geomagnetic sensor by using a gravitational acceleration vector indicated by a gravitational acceleration sensor (not illustrated) included in the information processing terminal device20.

The image recognition unit26of the information processing terminal device20recognizes (extracts) the drone40included in the imaged image by performing image recognition process on the imaged image by the imaging unit23. Since the image recognition process is a well-known technique, a detailed description thereof will be omitted in the present example embodiment.

In a case where the identification information reception unit21cannot receive the remote ID400from the drone40even though the presence of the drone40in the imaged image is recognized by the image recognition unit26, the display control unit24displays that the drone40is a suspicious machine on the display screen25. It is estimated that the reason the identification information reception unit21cannot receive the remote ID400is because the drone40has not transmitted the remote ID400. That is, the display control unit24specifies the drone40that has not transmitted the remote ID400as a suspicious machine.

In addition, in a case where the determination result172received from the drone management device10indicates that the drone40specified by the received remote ID400requires attention, the display control unit24displays a warning indicating that the drone40requires attention on the display screen25.

The control information generation unit15of the drone management device10generates the control information173for controlling the movement of the drone40in such a way as not to enter the entry prohibited area indicated by the entry permission management information171based on the remote ID400related to the drone40and the entry permission management information171.

The control information transmission unit16transmits the control information173generated by the control information generation unit15as described above to the drone control device30that controls the movement of the drone40. The drone control device30may be a device that automatically performs the flight control of the drone40, or may be a controller that accepts an input operation made by a pilot who operates the drone40. However, in a case where the drone control device30is the controller, the drone control device30transmits the remote ID400of the drone40to be operated to the drone management device10. Then, the control information transmission unit16may also transmit the entry permission management information171related to the drone40to be operated to the drone control device30. That is, in this case, the control information transmission unit16transmits, to the drone control device30, information indicating the place of the entry permitted area or the entry prohibited area related to the drone40to be operated, which is indicated by the entry permission management information171.

The drone control device30includes a display control unit31, a display screen32, and an authentication unit33in a case of being a controller that accepts an input operation made by a pilot who operates the drone40. The display control unit31and the authentication unit33are an example of a display control means and an authentication means in order.

In a case where the drone control device30is a device that automatically performs the flight control of the drone40, the control information generation unit15generates the control information173in a data format that enables the drone control device30to perform flight control of the drone40. In this case, the drone control device30may be included in the drone management device10.

In a case where the drone control device30is the controller described above, the control information generation unit15generates the control information173instructing the input operation. In this case, the display control unit31of the drone control device30displays the control information173received from the drone management device10on the display screen32. In this case, the pilot may operate the drone40in such a way as not to enter the entry prohibited area in accordance with the control information173displayed on the display screen32.

The display control unit31may also display, on the display screen32, the information indicating the place of the entry permitted area or the entry prohibited area related to the drone40to be operated indicated by the entry permission management information171transmitted from the control information transmission unit16of the drone management device10in, for example, a mode similar to the mode illustrated inFIG.2orFIG.3. However, it is assumed that the imaged image displayed on the display screen32by the display control unit31is an imaged image imaged by a camera mounted on the drone40to be operated. Therefore, unlike the case ofFIG.3, the imaged image displayed on the display screen32by the display control unit31does not include the drone40to be operated. The display control unit31displays the information indicating the place of the entry permitted area or the entry prohibited area on the display screen32as described above, so that the pilot operating the drone40can easily visually recognize the entry prohibited area of the drone40.

The authentication unit33of the drone control device30authenticates the pilot by using the authentication information in which the remote ID400of the drone40to be operated is associated with pre-registration information representing the pilot. For example, the authentication unit33determines whether biometric information such as a fingerprint or a PIN number input by the pilot before operating matches pre-registration information registered in association with the remote ID400. When the fingerprint or the PIN number input by the pilot matches the pre-registration information, the authentication unit33sets the drone control device30to a state of accepting an operate operation by the pilot. When the fingerprint or the PIN number input by the pilot does not match the pre-registration information, the authentication unit33sets the drone control device30to a state of not accepting an operate operation by the pilot.

The update unit14of the drone management device10updates the entry permission management information171such that as the amount paid by the user (pilot) of the drone40for the entry permitted area of the drone40becomes larger, the entry permitted area of the drone40associated with the identification information with which the user can be identified becomes larger (wider). However, it is assumed that the drone management device10can communicate with a system that manages the payment amount of the user of the drone40.

For example, in a case where the drone40images an image of an event such as sports, the update unit14updates the entry permission management information171in such a way that the entry permitted area is increased such that the drone40with a higher paid amount for the entry permitted area can image an image of the event under a better condition.

Next, the operation (process) of the drone management system1according to the present example embodiment will be described in detail with reference to the flowcharts ofFIGS.4A to5B.

FIGS.4A and4Bare flowcharts illustrating an operation in which the drone management system1according to the present example embodiment determines whether the drone40recognized by the information processing terminal device20has entered the entry prohibited area.

The image recognition unit26of the information processing terminal device20performs image recognition process on the imaged image imaged by the imaging unit23, and recognizes the drone40included in the imaged image (step S101). When the identification information reception unit21cannot receive the remote ID400from the drone40(No in step S102), the display control unit24displays that the imaged drone40is a suspicious machine on the display screen25(step S103), and the entire process is ended.

When the identification information reception unit21receives the remote ID400from the drone40(Yes in step S102), the identification information transmission unit22transmits the remote ID400received by the identification information reception unit21to the drone management device10(step S104). The determination unit12of the drone management device10collates, for example, the registration symbol included in the remote ID400received by the reception unit11from the information processing terminal device20with the drone registration information174(step S105).

In a case where the drone registration information174indicates that the drone40identified by the remote ID400requires attention (Yes in step S106), the determination unit12generates the determination result172indicating that the drone40requires attention (step S107). When the drone registration information174indicates that the drone40identified by the remote ID400does not require attention (No in step S106), the process proceeds to step S108.

The determination unit12collates, for example, the registration symbol included in the remote ID400received by the reception unit11from the information processing terminal device20with the entry permission management information171(step S108). When the registration symbol included in the remote ID400is registered in the entry permission management information171(Yes in step S109), the determination unit12generates the determination result172indicating whether the drone40has entered the entry prohibited area indicated by the entry permission management information171(step S110). When the registration symbol included in the remote ID400is not registered in the entry permission management information171(No in step S109), the process proceeds to step S111.

The transmission unit13transmits the entry permission management information171and the determination result172related to the remote ID400to the information processing terminal device20(step S111). The display control unit24of the information processing terminal device20superimposes the entry prohibited area or the entry permitted area of the drone40indicated by the entry permission management information171received from the drone management device on at least one of the map or the imaged image by the imaging unit23, and displays the same on the display screen25together with the determination result172(step S112), and the entire process is ended.

FIGS.5A and5Bare flowcharts illustrating an operation in which the drone management system1according to the present example embodiment controls the drone40in such a way as not to enter the entry prohibited area.

The drone control device30transmits the remote ID400of the drone40to be controlled to the drone management device10(step S201). The determination unit12of the drone management device collates, for example, the registration symbol included in the remote ID400received by the reception unit11from the drone control device30with the entry permission management information171(step S202).

When the registration symbol included in the remote ID400is not registered in the entry permission management information171(No in step S203), the entire process is ended. When the registration symbol included in the remote ID400is registered in the entry permission management information171(Yes in step S203), the process proceeds to step S204.

When the drone40to be controlled is an autopilot machine (Yes in step S204), the process proceeds to step S205. When the drone40to be controlled is not an autopilot machine (i.e., operated by the pilot) (No in step S204), the process proceeds to step S208.

The control information generation unit15of the drone management device10generates the control information173for controlling the movement of the drone40in such a way as not to enter the entry prohibited area indicated by the entry permission management information171(step S205). The control information transmission unit16transmits the control information173generated by the control information generation unit15to the drone control device30(step S205). The drone control device30controls the movement of the drone40based on the control information173received from the drone management device10(step S207), and the entire process is ended.

The control information generation unit15of the drone management device10generates the control information173for instructing an input operation related to the operating of the drone40in such a way as not to enter the entry prohibited area indicated by the entry permission management information171(step S208). The control information transmission unit16transmits the control information173generated by the control information generation unit15to the drone control device30together with the entry permission management information171related to the drone40(step S209). The display control unit31of the drone control device30displays the received control information173on the display screen32together with the entry prohibited area the entry permitted area indicated by the entry permission management information171(step S210), and the entire process is ended.

The drone management device10(moving body management device) according to the present example embodiment can achieve accurate detection of the drone40(moving body) that has illegally entered the monitoring target area. This is because the drone management device10determines whether the drone40has entered the entry prohibited area by collating the remote ID400(moving body identification information) received from the information processing terminal device20with the entry permission management information171, and transmits the determination result172to the information processing terminal device20.

Hereinafter, effects achieved by the drone management device10according to the present example embodiment will be described in detail.

As opportunities for using a moving body such as a drone increase, for example, the occurrence of cases in which a drone enters an important facility and images the facility also increases, and thus, detection of an illegally entered drone by a security guard or the like is being performed at the periphery of the important facility or the like. In this case, the drone flying through the peripheral area of the important facility is not necessarily a suspicious drone, and the drone permitted to enter the peripheral area may be erroneously detected as a suspicious drone. Alternatively, conversely, there is a case where a security guard erroneously recognizes a drone that is not permitted to enter the peripheral area with a drone that has been permitted to enter, thereby overlooking a suspicious drone. That is, it is a problem to accurately detect a moving body such as a drone that has illegally entered a monitoring target area.

In view of such a problem, the drone management device10according to the present example embodiment includes the reception unit11, the determination unit12, and the transmission unit13, and operates as described above, for example, with reference toFIGS.1to5B. That is, the reception unit11receives the remote ID400, which is transmitted from the drone40, with which the drone40can be identified, and which represents the state of the drone40, from the information processing terminal device20that has received the remote ID400. The determination unit12collates the received remote ID400with the entry permission management information171indicating the area where the entry of the drone40is permitted or prohibited, thereby determining whether the drone40has entered the area where the entry is prohibited. Then, the transmission unit13transmits the determination result172by the determination unit12to the information processing terminal device20capable of displaying the determination result172.

That is, the drone management device10according to the present example embodiment manages the remote ID400and the entry prohibited area or the entry permitted area in association with each other, thereby determining whether the drone40identified by the remote ID400collected by the information processing terminal device20has entered the entry prohibited area, and presenting the determination result172to the security guard or the like via the information processing terminal device20. As a result, the drone management device10can accurately detect the drone40that has illegally entered the monitoring target area.

In addition, the drone management device10according to the present example embodiment updates the entry permission management information171such that the area where the entry of the drone40is permitted increases as the payment amount regarding the entry permitted area of the user of the drone40increases. As a result, in an event such as sports, for example, the drone management device10can achieve a flexible response such as giving more suitable imaging conditions by the drone40to the user of the drone40having a high payment amount regarding the entry permitted area.

In addition, the drone management device10according to the present example embodiment generates the control information173for controlling the movement of the drone40in such a way that the drone40does not enter the entry prohibited area of the drone40indicated by the entry permission management information171from the state of the drone40indicated by the remote ID400, and transmits the control information173to the drone control device30. As a result, the drone management device10can reduce the entry of the drone40into the entry prohibited area.

In addition, the information processing terminal device20according to the present example embodiment displays at least one of the map on which the remote ID400is displayed at the position of the drone40indicated by the received remote ID400or the imaged image of the drone40in which the remote ID400is superimposed on the drone40on the display screen25together with the determination result172, for example, as illustrated inFIG.2orFIG.3. As a result, the drone management system1can present information on the drone40to a security guard or the like who possesses the information processing terminal device20in an easy-to-understand manner.

Furthermore, the information processing terminal device20according to the present example embodiment performs image recognition process of recognizing the drone40in the imaged image, and displays that the drone40is suspicious on the display screen25in a case where the remote ID400cannot be received from the recognized drone40. The information processing terminal device20further displays, on the display screen25, a result of collation of the remote ID400with the drone registration information174indicating whether the drone40requires attention by the drone management device10. As a result, the drone management system1can more reliably present the fact that the drone40is a suspicious drone to a security guard or the like who possesses the information processing terminal device20.

Furthermore, in a case where the drone control device30according to the present example embodiment is a controller that accepts an input operation made by a pilot of the drone40, the entry permission management information171is superimposed on at least one of the map on which the remote ID400is displayed at the position of the drone40indicated by the remote ID400or the imaged image imaged by the drone40, and displayed on the display screen32. The drone control device30further superimposes the entry prohibited area or the entry permitted area on at least one of the map or the imaged image by using the entry permission management information171including the three-dimensional coordinates related to the entry prohibited area or the entry permitted area, and displays the same on the display screen32in a three-dimensional display mode. As a result, the drone management system1can intelligibly assist the pilot in operating the drone40in such a way as not to enter the entry prohibited area.

In addition, in a case where the drone control device30according to the present example embodiment is a controller that accepts an input operation made by the pilot of the drone40, the pilot is authenticated using authentication information in which the remote ID400of the drone40to be controlled is associated with pre-registration information representing the pilot. As a result, the drone management system1can prevent a person other than a valid pilot of the drone40from illegally operating the drone40.

The information with which the drone40can be identified collected by the information processing terminal device20is not limited to the remote ID400. The information processing terminal device20may collect information with which the drone40having a specification different from that of the remote ID400can be identified.

Furthermore, the drone management system1(moving body management system) may manage a moving body other than the drone40. The drone management system1may manage, for example, a movable robot or the like.

Second Example Embodiment

FIG.6is a block diagram illustrating a configuration of a moving body management device50according to a second example embodiment of the present invention. The moving body management device50includes reception unit51, determination unit52, and transmission unit53. However, the reception unit51, the determination unit52, and the transmission unit53are examples of a reception means, a determination means, and a transmission means in order.

The reception unit51receives the moving body identification information700, which is transmitted from the moving body70, with which the moving body70can be identified, and which indicates the state of the moving body70, from the information processing terminal device60that has received the moving body identification information700. The moving body70is, for example, a moving device such as the drone40according to the first example embodiment. The moving body identification information700is, for example, information similar to the remote ID400according to the first example embodiment. The information processing terminal device60is, for example, a device similar to the information processing terminal device20according to the first example embodiment. For example, the reception unit51operates similarly to the reception unit11of the drone management device10according to the first example embodiment.

The determination unit52collates the received moving body identification information700with the entry permission management information521indicating an area where entry of the moving body70is permitted or prohibited, thereby determining whether the moving body70has entered the area where entry is prohibited. The entry permission management information521is, for example, information similar to the entry permission management information171according to the first example embodiment. The determination result522is, for example, information similar to the determination result172according to the first example embodiment. For example, the determination unit52operates similarly to the determination unit12of the drone management device10according to the first example embodiment.

The transmission unit53transmits the determination result522by the determination unit52to the information processing terminal device60capable of displaying the determination result522. For example, the transmission unit53operates similarly to the transmission unit13of the drone management device10according to the first example embodiment.

The moving body management device50according to the present example embodiment can accurately detect the moving body70that has illegally entered the monitoring target area. This is because the moving body management device50collates the moving body identification information700received from the information processing terminal device60with the entry permission management information521to determine whether the moving body70has entered the entry prohibited area, and transmits the determination result522to the information processing terminal device60.

Each unit in the drone management device10, the information processing terminal device20, and the drone control device30illustrated inFIG.1or the moving body management device50illustrated inFIG.6in each of the example embodiments described above can be achieved by dedicated hardware (HW) (electronic circuit). InFIGS.1and6, at least the following configuration can be regarded as a functional (processing) unit (software module) of a software program.reception units11and51,determination units12and52,transmission units13and53,update unit14,control information generation unit15,control information transmission unit16,storage control function in storage unit17,identification information reception unit21,identification information transmission unit22,imaging control function of imaging unit23,display control unit24,image recognition unit26,display control unit31,authentication unit33.

However, the division of each unit illustrated in these drawings is a configuration for convenience of description, and various configurations can be assumed at the time of implementation. An example of a hardware environment in this case will be described with reference toFIG.7.

FIG.7is a diagram exemplarily describing a configuration of an information processing device900(computer system) capable of implementing the drone management device10, the information processing terminal device20, and the drone control device30according to the first example embodiment of the present invention, or the moving body management device50according to the second example embodiment. That is,FIG.7is a configuration of at least one computer (information processing device) capable of achieving each of the above-described devices illustrated inFIGS.1and6, and represents a hardware environment capable of achieving each function in the above-described example embodiments.

The information processing device900illustrated inFIG.7includes the following as components, but may not include some of the following components.central processing unit (CPU)901,read only memory (ROM)902,random access memory (RAM)903,hard disk (storage device)904,communication interface905with external device,bus906(communication line),reader/writer908capable of reading/writing data stored in recording medium907such as compact disc read only memory (CD-ROM) or the like,input/output interface909such as monitor, speaker, or keyboard.

That is, the information processing device900including the above components is a general computer to which these components are connected via the bus906. The information processing device900may include a plurality of CPUs901or may include a CPU901with multi-cores. The information processing device900may include a graphical processing unit (GPU) (not illustrated) in addition to the CPU901.

Then, the present invention described using the above-described example embodiments as an example supplies a computer program capable of achieving the following functions to the information processing device900illustrated inFIG.7. The function is the above-described configuration in the block configuration diagram (FIGS.1and6) referred to in the description of the example embodiment or the function of the flowchart (FIGS.4A and4BandFIGS.5A and5B). Thereafter, the present invention is achieved by reading, interpreting, and executing the computer program on the CPU901of the hardware. The computer program supplied into the device may be stored in a readable/writable volatile memory (RAM903) or a nonvolatile storage device such as the ROM902or the hard disk904.

In the above case, a general procedure can be adopted at present as a method of supplying the computer program into the hardware. Examples of the procedure include, for example, a method of installing the program in the device via various recording media907such as a CD-ROM, a method of downloading the program from the outside via a communication line such as the Internet, and the like. In such a case, the present invention can be understood to be constituted by a code constituting the relevant computer program or the recording medium907storing the code.

The present invention has been described above using the above-described example embodiments as exemplary examples. However, the present invention is not limited to the above-described example embodiments. That is, the present invention can apply various aspects that can be understood by those skilled in the art within the scope of the present invention.

Some or all of the example embodiments described above can also be described as the following supplementary notes. However, the present invention exemplarily described by the example embodiments described above is not limited to the following.

A moving body management device including:a reception means configured to receive moving body identification information from an information processing terminal device that has received the moving body identification information transmitted from a moving body, the moving body identification information being information with which the moving body can be identified and indicating a state of the moving body;a determination means configured to determine whether the moving body has entered an area where entry is prohibited by collating the received moving body identification information with entry permission management information indicating an area where entry is permitted or prohibited with respect to the moving body; anda transmission means configured to transmit, to the information processing terminal device, a determination result from the determination means, the information processing terminal device being capable of displaying the determination result.

The moving body management device according to supplementary note 1, whereinthe moving body identification information includes information indicating a position of the moving body and time.

The moving body management device according to supplementary note 1, further includingan update means configured to update the entry permission management information such that the area to which the entry of the moving body is permitted increases as a payment amount of a user of the moving body increases.

The moving body management device according to supplementary note 1 or 2, further including:a control information generation means configured to generate control information for controlling movement of the moving body in such a way that the moving body does not enter the area where entry of the moving body indicated by the entry permission management information is prohibited, from a state of the moving body indicated by the moving body identification information; anda control information transmission means configured to transmit the generated control information to a moving body control device configured to control movement of the moving body.

The moving body management device according to any one of supplementary notes 1 to 4, whereinthe moving body is a drone, andthe moving body identification information is a remote ID.

The information processing terminal device that transmits the moving body identification information to the moving body management device according to any one of supplementary notes 2 to 5, the information processing terminal device including:

a display control means configured to display at least one of a map on which the moving body identification information is displayed at a position of the moving body indicated by the received moving body identification information or an imaged image of the moving body in which the moving body identification information is superimposed on the moving body, together with the determination result on a display screen included in the information processing terminal device.

The information processing terminal device according to supplementary note 6, further including:an image recognition means configured to recognize the moving body in the imaged image by performing image recognition process on the imaged image, whereinthe display control means displays that the moving body is suspicious on the display screen when the display control means cannot receive the moving body identification information from the moving body recognized by the image recognition means.

The information processing terminal device according to supplementary note 6 or 7, whereinthe display control means displays, on the display screen, a result of collation of the moving body identification information with moving body registration information indicating whether the moving body requires attention by the moving body management device.

The information processing terminal device according to any one of supplementary notes 6 to 8, whereinthe entry permission management information indicates three-dimensional coordinates related to the area, andthe display control means displays the area on the display screen in a three-dimensional display mode by superimposing the area on at least one of the map or the imaged image.

The information processing terminal device according to any one of supplementary notes 6 to 9, further including:a geomagnetic sensor and a gravitational acceleration sensor, whereinthe display control means corrects an orientation of the moving body with reference to the information processing terminal device indicated by the geomagnetic sensor using a gravitational acceleration vector indicated by the gravitational acceleration sensor when the imaged image of the moving body in which the moving body identification information is superimposed on the moving body is displayed on the display screen.

The moving body control device that receives the control information transmitted from the moving body management device according to supplementary note 4 and the moving body identification information transmitted from the moving body, and accepts an input operation made by a pilot of the moving body, the moving body control device including:a display control means configured to display the entry permission management information on a display screen included in the moving body control device by superimposing the entry permission management information on at least one of a map on which the moving body identification information is displayed at a position of the moving body indicated by the received moving body identification information or an imaged image imaged by the moving body.

The moving body control device according to supplementary note 11, whereinthe entry permission management information indicates three-dimensional coordinates related to the area, andthe display control means displays the area on the display screen in a three-dimensional display mode by superimposing the area on at least one of the map or the imaged image.

The moving body control device according to supplementary note 11 or 12, further includingan authentication means configured to perform authentication of a pilot by using authentication information in which the moving body identification information of the moving body to be controlled is associated with pre-registration information indicating the pilot.

A moving body management method by an information processing device including:receiving moving body identification information from an information processing terminal device that has received the moving body identification information transmitted from a moving body, the moving body identification information being information with which the moving body can be identified and indicating a state of the moving body;determining whether the moving body has entered an area where entry is prohibited by collating the received moving body identification information with entry permission management information indicating an area where entry is permitted or prohibited with respect to the moving body; andtransmitting, to the information processing terminal device, a determination result on whether the moving body has entered an area where entry is prohibited, the information processing terminal device being capable of displaying the determination result.

A recording medium storing a moving body management program for causing a computer to execute:a reception process of receiving moving body identification information from an information processing terminal device that has received the moving body identification information transmitted from a moving body, the moving body identification information being information with which the moving body can be identified and indicating a state of the moving body;a determination process of determining whether the moving body has entered an area where entry is prohibited by collating the received moving body identification information with entry permission management information indicating an area where entry is permitted or prohibited with respect to the moving body; anda transmission process of transmitting, to the information processing terminal device, a determination result from the determination process, the information processing terminal device being capable of displaying the determination result.

REFERENCE SIGNS LIST