Patent Publication Number: US-2021188431-A1

Title: Guidance device, flying object, air defense system and guidance program

Description:
TECHNICAL FIELD 
     The present invention relates to a guidance device, a flying object, an air defense system and a guidance program. 
     BACKGROUND ART 
     An air defense system includes a system that uses a vehicles equipped with a missile. When using such an air defense system, the vehicle is moved to a desired position in order to launch the missile. Therefore, time is needed to deploy the vehicle. 
     SUMMARY OF INVENTION 
     Problem to be Solved by the Invention 
     In view of the above situation, one of objectives is to provide an efficiently deployable air defense system. Other objectives can be understood by disclosures and description of embodiments as follows. 
     Means for Solving the Problem 
     Means for solving the problem will be described in the following by use of numbers and symbols used in the description of embodiments. Those numbers and symbols are added in parentheses as reference, in order to show an example of correspondence relationship between description in claims and description of embodiments. Therefore, claims are not to be limitedly construed by description in parentheses. 
     A guidance device ( 120 ) according to an embodiment to achieve the above-mentioned objective is provided with a processing device ( 124 ) that generates a control signal to control a propulsion device ( 110 ) of a flying object ( 100 ) and a communication device ( 121 ) that transmits the control signal to the propulsion device ( 110 ). The processing device ( 124 ) generates a patrol control signal to control the propulsion device so that the flying object flies along a first patrol path and generates, based on information of a moving object ( 20 ) the flying object is to intercept, an interception control signal to control the propulsion device so that the flying object flies toward the moving object. In addition, the processing device ( 124 ) generates, when generating the interception control signal, a notification signal to notify that the flying object flies toward the moving object. 
     A flying object ( 100 ) according to an embodiment to achieve the above-mentioned objective is provided with the above described guidance device ( 120 ), a propulsion device ( 110 ) and a detection device ( 130 ). The detection device ( 130 ) detects a moving object ( 20 ) to intercept. The processing device ( 124 ) of the guidance device ( 120 ) determines, based on information of the moving object ( 20 ) detected by the detection device ( 130 ), whether to intercept the moving object ( 20 ). 
     An air defense system ( 1000 ) according to an embodiment to achieve the above-mentioned objective is provided with the above described flying object ( 100 ), a storage device ( 300 ) that stores a plurality of the flying objects ( 100 ) and a central control device ( 330 ). The central control device ( 330 ) assigns the first patrol path to the flying object and transmits an assignment signal including information indicating the first patrol path to the flying object. The processing device ( 124 ) of the flying object ( 100 ) generates, based on the assignment signal, a deployment control signal to control the propulsion device so that the flying object flies toward the first patrol path. 
     A guidance program ( 200 ) according to an embodiment to achieve the above-mentioned objective makes a processor execute a patrol module ( 210 ) and an interception module ( 220 ). The patrol module ( 210 ) generates a patrol control signal to control a propulsion device ( 110 ) of a flying object so that the flying object ( 100 ) flies along a first patrol path. The interception module ( 220 ) generates, based on information of a moving object ( 20 ) that the flying object is to intercept, an interception control signal to control the propulsion device so that the flying object flies toward the moving object. In addition, the patrol module ( 210 ) generates, when generating the interception control signal, a notification signal to notify that the flying object flies toward the moving object. 
     Effects of the Invention 
     According to the above-mentioned embodiments, an air defense system can be efficiently deployed. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  It is a schematic diagram of an air defense system according to an embodiment. 
         FIG. 2  It is a configuration diagram of a flying object according to an embodiment. 
         FIG. 3  It is a configuration diagram of a guidance device according to an embodiment. 
         FIG. 4  It is a configuration diagram of a guidance program according to an embodiment. 
         FIG. 5A  It is a flowchart that shows processes of a patrol module according to an embodiment. 
         FIG. 5B  It is a flowchart that shows processes of a patrol module according to an embodiment. 
         FIG. 6A  It is a flowchart that shows processes of an interception module according to an embodiment. 
         FIG. 6B  It is a flowchart that shows processes of an interception module according to an embodiment. 
         FIG. 7  It is a flowchart that shows processes of a deployment module according to an embodiment. 
         FIG. 8  It is a configuration diagram of a path change table according an embodiment. 
         FIG. 9  It is a diagram to describe a change of path of a flying object based on a path change table according to an embodiment. 
         FIG. 10  It is a diagram to describe an outline of deploying flying objects on a defense line according to an embodiment. 
         FIG. 11  It is a configuration diagram of a storage device according to an embodiment. 
         FIG. 12  It is a configuration diagram of a central control device according to an embodiment. 
         FIG. 13  It is a configuration diagram of a central control program according to an embodiment. 
         FIG. 14  It is a flowchart that shows processes of an assignment module according to an embodiment. 
         FIG. 15  It is a configuration diagram of a guidance program according to an embodiment. 
         FIG. 16  It is a flowchart that shows processes of a return module according to an embodiment. 
         FIG. 17A  It is a flowchart that shows processes of an interception module according to an embodiment. 
         FIG. 17B  It is a flowchart that shows processes of an interception module according to an embodiment. 
         FIG. 18  It is a diagram to describe a defense line according to an embodiment. 
     
    
    
     DESCRIPTION OF EMBODIMENTS 
     First Embodiment 
     As shown in  FIG. 1 , an air defense system  1000  according to an embodiment is provided with a plurality of flying objects  100  (for example, a first flying object  100 - 1 , a second flying object  100 - 2 , a third flying object  100 - 3  and a fourth flying object  100 - 4 ). The flying objects  100  protect a protection target  10  from a target  20  such as a moving object. For example, the flying objects  100  are deployed along a preset defense line  30 . The first flying object  100 - 1  flies, when detecting the target  20 , toward the target  20 , as shown by an arrow  1 . The first flying object  100 - 1  transmits, when flying toward the target  20 , a notification signal to other flying objects  100 . The second flying object  100 - 2  flies, when receiving the notification signal, so as to occupy a space where the first flying object  100 - 1  was deployed, as shown by an arrow  2 . Furthermore, the first flying object  100 - 1  transmits, when it cannot destroy the target  20 , an interception fail signal to the other flying objects  100 . The second flying objects  100 - 2  flies, when receiving the interception fail signal, toward the target  20 . 
     A flying object  100  may be provided with propulsion devices  110 , a guidance device  120 , a detection device  130 , an explosive device  140  and an energy container  150 , as shown in  FIG. 2 . The guidance device  120  controls the propulsion devices  110  and makes the flying object  100  fly to a desired position. When the detection device  130  detects a target  20 , the guidance device  120  controls the propulsion devices  110  so that the flying object  100  flies toward the target  20 . When the flying object  100  reaches a vicinity of the target  20 , the guidance device  120  detonates the explosive device  140 . The guidance device  120  may control the propulsion devices  110  so that the flying object  100  collides with the target  20 . The flying object  100  includes for example an unmanned aerial vehicle, a fixed-wing aircraft, a rotary-wing aircraft, a multicopter (such as a multicopter having three or more rotary wings  111 ), a drone, or the like. 
     A propulsion device  110  is provided with a rotary wing  111 , a motor  112  and a rocket engine  113 . The motor  112  rotates the rotary wing  111  to make the flying object  100  fly. The rocket engine  113  injects a propellant such as compressed air to give thrust to the flying object  100 . The rocket engine  113  is used when flying toward the target at high speed, when rapidly changing a direction of travel, or the like. A plurality of rocket engines  113  are provided so as to be able to inject the propellant in four directions: front, rear, left and right, for example. By selectively start rocket engines  113 , the flying object  100  can fly toward the target  20 . A plurality of rocket engines  113  may be provided so as to be able to inject the propellant in up-and-down directions. The propulsion devices  110  are not limited to the above as long as they can give thrust to the flying object  100  and control the direction of travel. For example, the propulsion device  110  may be provided with a jet engine. 
     The detection device  130  detects the target and transmits information of the detected target  20  to the guidance device  120 . The information of the target  20  may include a distance and a direction to the target  20 , an altitude, a shape and a velocity of the target  20 , and the like. The detection device  130  may include a radar, an optical camera (for example, a visible light camera, an infrared camera), or the like. 
     The explosive device  140  includes gunpowder or the like and detonates under a control of the guidance device  120 . The explosive device  140  destroys, by detonating, objects around the flying object  100  such as the target  20 . 
     The energy container  150  supplies energy to the propulsion device  110 . The energy container  150  stores electric power to rotate motor  112  and fuel of rocket engine  113 . The energy container  150  may measure an energy storage quantity of the electric power and the fuel that are stored. The energy container  150  includes a fuel tank, a battery, or the like. 
     The guidance device  120  controls the propulsion device  110 , the detection device  130  and the explosive device  140 . The guidance device  120  may be, as shown in  FIG. 3 , provided with a communication device  121 , an input and output device  122 , a memory device  123  and a processing device  124 . 
     The communication device  121  is electrically connected to the propulsion device  110 , the detection device  130 , the explosive device  140  and the energy container  150  and perform communication with respective devices by wire or wirelessly. The communication device  121  performs communication with external devices such as other flying objects  100 . The communication device  121  transfers data received from respective devices to the processing device  124 . 
     In addition, the communication device  121  transfers signals generated by the processing device  124  to respective devices. The communication device  121  includes various interfaces such as Network Interface Card (NIC) and Universal Serial Bus (USB). 
     The input and output device  122  receives information for the processing device  124  to execute processes. In addition, the input and output device  122  outputs a result of processes executed by the processing device  124 . The input and output device  122  includes a variety of input devices and output devices, and includes for example a keyboard, a mouse, a microphone, a display, a speaker, a touch panel, or the like. The input and output device  122  may be removed when no information is inputted. 
     The memory device  123  stores various data for guiding the flying objects  100 , such as a guidance program  200 . The memory device  123  is used as a non-transitory tangible storage medium that stores the guidance program  200 . The guidance program  200  may be provided as a computer program product stored in a recording medium  50  readable by a computer or may be provided as a computer program product downloadable from a server. 
     The processing device  124  performs various data processes for guiding the flying objects  100 . The processing device  124  reads from the memory device  123  and executes the guidance program  200  to generate control signals for controlling respective devices. For example, the processing device  124  includes a Central Processing Unit (CPU) and the like. 
     As shown in  FIG. 4 , the guidance program  200  executed by the processing device  124  is provided with a patrol module  210 , an interception module  220  and a deployment module  230 . In accordance with the patrol module  210 , the processing devices  124  generates a patrol control signal to control the propulsion device  110  so as to fly along a patrol path set on the defense line  30 . For example, when the patrol path indicates a desired position on the defense line  30 , the processing device  124  controls the propulsion device  110  so that the flying object  100  performs a hovering at the position indicated by the patrol path. 
     In accordance with the interception module  220 , the processing device  124  generates an interception control signal to control the propulsion device  110  so that the flying object  100  flies toward the target  20 . In addition, the processing device  124  may, when the flying object  100  reaches a vicinity of the target  20 , detonate the explosive device  140 . For example, the processing device  124  uses a thrust generated by the rotary wing  111  to make the flying object  100  fly toward the target  20 . In addition, the processing device  124  may use a rocket engine  113  to make the flying object  100  fly toward the target  20 . 
     In accordance with the deployment module  230 , the processing device  124  generates a deployment control signal to control the propulsion device  110  so that a flying object  100  flies toward a space of a flying object  100  that has flied toward the target  20 . For example, the processing device  124  may control the propulsion device  110  so as to fly toward a first patrol path where another flying object  100  was flying. In addition, the processing device  124  may make the flying object  100  fly toward a predetermined patrol path. 
     (Operations of Flying Objects) 
     The flying objects  100  are deployed on the defense line  30  so as to surround the protection target  10 . The flying objects  100  fly to deployment positions that are predetermined on the defense line  30 . The flying objects  100  may automatically fly to the deployment positions under control of the guidance device  120  or may fly to the deployment positions by remote control. 
     When the flying objects  100  arrive to the deployment positions, the processing device  124  execute the patrol module  210 . The patrol module  210  makes the processing device  124  execute processes shown in  FIGS. 5A and 5B . 
     The processing device  124  determines in step S 110  whether information of the target  20  is received. The detection device  130  transmits, when detecting the target  20 , information of the target  20  to the processing device  124  via the communication device  121 . The processing device  124  executes, when the information of the target is received (step S 110 : Yes), a process in step S 120  in order to determine whether to intercept the target  20 . When the information of the target  20  is not received (step S 110 : No), the processing device  124  executes a process in step S 150 . 
     In step S 120 , the processing device  124  acquires, based on the received information of the target  20 , a threat level of the target  20 . Herein, the threat level indicates a probability that the target  20  harms the protection target  10 . This threat level is determined based on speed, travel direction, model and the like of the target  20 . For example, when the target  20  is flying in a direction of approaching to the protection target  10 , the threat level is high. When the target  20  flies away from the protection target  10 , the threat level is low. In addition, when the speed of the target  20  is high, the threat level may be high. When the target  20  is a missile, the threat level is high. The threat level is calculated by the processing device  124 . 
     In step S 130 , the processing device  124  determines whether the calculated threat level of the target  20  is equal to or higher than a desired threshold value. When the threat level is equal to or higher than the desired threshold value, the processing device  124  moves to a process in step S 140  to intercept the target  20  and executes the interception module  220 . The processing device  124  transmits, when executing the interception module  220 , a notification signal that indicates a departure from the patrol path to other flying objects  100 . When the threat level is less than the desired threshold value, the processing device  124  executes a process in step S 150 . 
     In step S 150 , the processing device  124  determines whether an interception fail signal is received from other flying objects  100 . When the interception fail signal is received (step S 150 : Yes), the processing device  124  executes a process in step S 160  to deal with the target  20  that could not be intercepted. When no interception fail signal is received (step S 150 : No), the processing device  124  executes a process in step S 170  shown in  FIG. 5B . 
     In step S 160  shown in  FIG. 5A , the processing device  124  determines whether the own flying object is to intercept the target  20  that could not be intercepted. For example, the processing device  124  calculates, when flying toward the target  20 , a predicted intercept point where target  20  is reached. The processing device  124  determines a priority level based on a distance from the own flying object to the predicted intercept point. When the priority level is equal to or higher than a desired threshold value, the processing device  124  determines that the target  20  is to intercept. The processing device  124  moves, when intercepting the target  20  (step S 160 : Yes), to a process in step S 140  to execute the interception module  220 . The processing device  124  transmits, when executing the interception module  220 , a notification signal that indicates a departure from the patrol path to other flying objects  100 . In case of not intercepting the target  20  (step S 160 : No), the processing device  124  executes a process in step S 170  shown in  FIG. 5B . 
     In step S 170  shown in  FIG. 5B , the processing device  124  determines whether a notification signal that indicates a departure of other flying objects  100  from the patrol path is received. When the notification signal is received (step S 170 : Yes), the processing device  124  executes the deployment module  230  in step S 180  so that the own flying object flies to occupy a space of the flying object  100  that intercepts. When no notification signal is received (step S 170 : No), the processing device  124  executes a process in step S 190 . 
     In step S 190 , the processing device  124  makes the own flying object fly along a predetermined patrol path. The processing device  124  returns to the process in step S 110  shown in  FIG. 5A  and repeats the process. The patrol path indicates, for example, performing hovering at a desired position on the defense line  30 . In addition, the patrol path may indicates flying around the protection target  10  along the defense line  30 . 
     As described above, the patrol module  210  can make the flying object  100  fly along a desired patrol path. The flying objects  100  can rapidly deal with the target  20  by flying from the defense line  30  to the target  20 . In addition, the flying objects  100  can wait for the interception on the target  20  until the target  20  reaches a vicinity of the defense line  30  and the air defense system  1000  can efficiently deal with the target  20 . The air defense system  1000  can deal with a plurality of targets  20  since a plurality of flying objects  100  patrol on the defense line  30 . 
     The interception module  220  makes the processing device  124  execute processes shown in  FIGS. 6A and 6B . The processing device  124  acquires, in step S 210 , a position of the target  20 . The position of the target  20  is included in the information of the target  20  received from the detection device  130 . 
     In step S 220 , the processing device  124  makes the own flying object fly toward the target  20 . The processing device  124  controls the propulsion device  110  based on the position of the target  20  to make the flying object  100  move to the target  20 . 
     In step S 230 , the processing device  124  determines whether a distance from the own flying object to the target  20  is equal to or shorter than a first distance. The first distance includes a distance in that the explosive device  140  can destroy surrounding moving objects by exploding. When the distance from the own flying object to the target  20  is equal to or shorter than the first distance (step S 230 : Yes), the processing device  124  detonates the explosive device  140  in step S 240 . By detonating the explosive device  140 , the target  20  is destroyed. When the distance from the own flying object to the target  20  is longer than the first distance (step S 230 : No), the processing device  124  executes a process in step S 250 . 
     In step S 250 , the processing device  124  determines whether the distance from the own flying object to the target  20  is equal to or shorter than a second distance. The second distance includes a distance that the rocket engine  113  can fly. When the distance from the own flying object to the target  20  is equal to or shorter than the second distance (step S 250 : Yes), the processing device  124  executes a process in step S 260 . When the distance from the own flying object to the target  20  is longer than the second distance (step S 250 : No), the processing device  124  executes a process in step S 270  shown in  FIG. 6B . 
     In step S 260  shown in  FIG. 6A , the processing device  124  starts the rocket engine  113 . By use of the rocket engine  113 , the flying object  100  can fly at high speed toward the target  20  and rapidly change the direction of travel. 
     In step S 270  shown in  FIG. 6B , the processing device  124  determines whether the own flying object can intercept the target  20 . The processing device  124  calculates the intercept point where the target  20  can be reached. Based on the calculated intercept point, the processing device  124  determines whether the own flying object can intercept the target  20 . For example, when a distance to the intercept point is shorter than a desired distance, the processing device  124  determines that the own flying object can intercept the target  20 . The processing device  124  returns, when determining that the target  20  can be intercepted (step S 270 : Yes), to step S 210  shown in  FIG. 6A  and repeats the process. The processing device  124  executes, when determining that the target  20  cannot be intercepted (step S 270 : No), a process in step S 280 . 
     The processing device  124  may determine, when the target  20  does not exist in the direction the flying object  100  travels for example, that the flying object  100  cannot intercept the target  20 . This is because it indicates that the flying object  100  has passed the target  20 . In addition, the processing device  124  may determine, in a case a distance from the own flying object to the target  20  is measured and this distance does not shorten after a flight, that the target  20  cannot be intercepted. 
     In step S 280 , the processing device  124  generates an interception fail signal and transmits the generated interception fail signal to other flying objects  100 . By doing so, other flying objects  100  can intercept the target  20 . 
     As described above, the interception module  220  can make the flying object  100  fly toward the target  20 . 
     The deployment module  230  is executed when another flying object  100  flies toward the target in order to change a patrol path of the own flying object. The deployment module  230  makes the processing device  124  execute processes shown in  FIG. 7 . 
     In step S 310 , the processing device  124  acquire a patrol path. For example, the memory device  123  stores a path change table  231  shown in  FIG. 8 . The path change table  231  indicates patrol paths to be changed in accordance with a flying object  100  that leaves a patrol path. The processing device  124  acquires the patrol paths to be changed. 
     For example, when the first flying object  100 - 1  flies toward the target  20 , a path of the second flying object  100 - 2  is changed to a first patrol path and a path of the third flying object  100 - 3  is changed to a second patrol path. For this reason, as shown in  FIG. 9 , the first flying object  100 - 1  flies, as shown by the arrow  1 , toward the target  20 . The path of the second flying object  100 - 2  is changed to the first patrol path where the first flying object  100 - 1  was flying. For this reason, the second flying object  100 - 2  flies, as shown by the arrow  2 , toward the first patrol path. Similarly, the third flying object  100 - 3  flies, as shown by the arrow  3 , toward the second patrol path. For this reason, when the first flying object  100 - 1  leaves the defense line  30 , other flying objects  100  fly so as to occupy the space where the first flying object  100 - 1  was flying. 
     When another flying object  100  flies toward the target  20 , flying objects  100  except the flying object  100  flying toward the target  20  change the patrol path. For example, as shown in the path change table  231  in  FIG. 8 , when the second flying object  100 - 2  flies toward the target  20 , a path of the third flying object  100 - 3  is changed to the second patrol path and a path of the fourth flying object  100 - 4  is changed to the third patrol path. When the third flying object  100 - 3  flies toward the target  20 , a path of the fourth flying object  100 - 4  is changed to the third patrol path and a path of the first flying object  100 - 1  is changed to the fourth patrol path. 
     With reference to  FIG. 7  again, in step S 320 , the processing device  124  flies, when the patrol path is acquired, toward a position indicated by the patrol path. By doing so, the flying object  100  changes the patrol path. 
     In step S 330 , the processing device  124  determines whether an interception fail signal is received. When an interception fail signal is received (step S 330 : Yes), the processing device  124  executes a process in step S 340  in order to deal with the target  20  that could not be intercepted. When no interception fail signal is received (step S 330 : No), the processing device  124  executes a process in step S 360 . 
     In step S 340 , the processing device  124  determines whether the own flying object is to intercept the target  20  that could not be intercepted. For example, the processing device  124  calculates, when flying toward the target  20 , a predicted intercept point where the target  20  is reached. The processing device  124  determines a priority level based on a distance from the own flying object to the predicted intercept point. When the priority level is equal to or higher than a desired threshold value, the processing device  124  determines that the target  20  is to intercept. The processing device  124  moves, when intercepting the target  20  (step S 340 : Yes), to a process in step S 350  to execute the interception module  220 . In case of not intercepting the target  20  (step S 340 : No), the processing device  124  executes a process in step S 360  shown in  FIG. 7 . 
     In step S 360 , the processing device  124  determines whether the position indicated by the patrol path to change is reached. The processing device  124  compares a position of the own flying object and the position indicated by the patrol path to change. When a distance from the position of the own flying object to the position indicated by the patrol path is shorter than a desired threshold value, the processing device  124  determines that the position indicated by the patrol path is reached. When the flying object  100  reaches the position indicated by the control path (step S 360 : Yes), the processing device  124  executes in step S 370  the patrol module  210 . While the flying object  100  does not reach the position indicated by the patrol path (step S 360 : No), the processing device  124  returns to the process of step S 320  and repeats the process. 
     As described above, the flying objects  100  can fly toward the patrol path and the air defense system  1000  can be efficiently deployed. In addition, a flying object  100  can protect the protection target  10  in collaboration with other flying objects  100 . 
     Second Embodiment 
     As shown in  FIG. 10 , the flying object  100  may deploy on the defense line  30  automatically from a storage device  300 . The storage device  300  stores a plurality of flying objects  100 . When a user instructs a deployment of the flying objects  100  on the defense line  30 , the flying objects  100  fly, as shown by the arrow  4 , from the storage device  300  to the defense line  30 . This configuration except the storage device  300  is similar to the first embodiment and therefore a detailed description thereof will be omitted. 
     As shown in  FIG. 11 , the storage device  300  is provided with a hangar  310 , an energy supply device  320  and a central control device  330 . The hangar  310  stores a plurality of flying objects  100 . The hangar  310  may have a plurality of hangar spaces each of that stores a flying object  100 . The hangar spaces may be divided by a wall from each other. 
     The energy supply device  320  supplies, when a flying object  100  is stored in the hangar  310 , energy to an energy container  150  of the flying object  100 . For example, when a flying object  100  uses electric power, the energy supply device  320  may be provided with an electric power transmission device that transmits electric power to the flying object  100  by wire or wirelessly. When a flying object  100  uses fuel, the energy supply device  320  may be provided with a supply port that supplies fuel to a fuel tank of the flying object  100 . 
     The central control device  330  assigns the patrol paths on the defense line  30  to the flying objects  100 . The central control device  330  sets the defense line  30  based on an input from a user. The central control device  330  determines, based on the input from the user, the flying objects  100  that fly to the defense line  30  that is set. In addition, the central control device  330  controls the hangar  310  and the energy supply device  320 . 
     As shown in  FIG. 12 , the central control device  330  may be provided with a communication device  331 , an input and output device  332 , a memory device  333  and a processing device  334 . The communication device  331  is electrically connected to the flying objects  100 , the hangar  310  and the energy supply device  320 , and performs communication with respective devices by wire or wirelessly. The communication device  331  transfers data received from respective devices to the processing device  334 . In addition, the communication device  331  transfers signals generated by the processing device  334  to respective devices. The communication device  331  includes various interfaces such as NIC or USB. 
     The input and output device  332  receives information for the processing device  334  to execute processes. In addition, the input and output device  332  outputs a result of processes executed by the processing device  334 . For example, information of the defense line  30  is inputted to the input and output device  332 . In addition, information of the flying objects  100  such as positions, remaining energy quantity may be outputted to the input and output device  332 . The input and output device  332  includes a variety of input devices and output devices, and includes for example a keyboard, a mouse, a microphone, a display, a speaker, a touch panel and the like. The input and output device  332  may be removed when no information is inputted. 
     The memory device  333  stores various data for assigning the control paths to the flying objects  100 , such as a central control program  400 . The memory device  333  is used as a non-transitory tangible storage medium that stores the central control program  400 . The central control program  400  may be provided as a computer program product stored in a recording medium  60  readable by a computer or may be provided as a computer program product downloadable from a server. It should be noted that the recording medium  60  may be same as the recording medium  50 . 
     The processing device  334  performs various data processes for assigning the patrol paths to the flying objects  100 . The processing device  334  reads from the memory device  333  and executes the central control program  400  to assign the control paths to the flying objects  100 . For example, the processing device  334  includes a CPU and the like. 
     As shown in  FIG. 13 , the central control program  400  executed by the processing device  334  is provided with a setting module  410  and an assignment module  420 . In accordance with the setting module  410 , the processing device  334  stores information of the defense line  30  inputted from the input and output device  332  in the memory device  333 . The assignment module  420  assigns, based on the information of the defense line  30  stored in the memory device  333 , the patrol paths to the flying objects  100 . A flying object  100  to that a patrol path is assigned executes the deployment module  230  and flies from the hangar  310  to the patrol path. 
     (Operations of the Storage Device) 
     The storage device  300  supplies, when a flying object  100  is stored in the hangar  310 , energy to the flying object  100  by the energy supply device  320 . For example, the hangar  310  is provided with a sensor that detects that a flying object  100  is stored. When the sensor detects that a flying object  100  is stored, the energy supply device  320  acquires a remaining energy quantity from the flying object  100  and supplies energy to the flying object  100  based on the remaining energy quantity. 
     The central control device  330  of the storage device  300  acquires information of the defense line  30  from an input by a user. The processing device  334  of the central control device  330  executes the setting module  410 . The processing device  334  displays a screen for inputting information of the defense line  30  on the input and output device  332  for example. The user inputs the information of the defense line  30  by looking at the displayed screen. For example, the information of the defense line  30  includes a position of the protection target  10 , a number of the flying objects  100  deployed on the defense line  30 , patrol paths to be patrolled by respective flying objects  100 , a path change table  231  used when changing the patrol paths, and the like. A patrol path may be set by a relative position with respect to the protection target  10 . 
     The central control device  330  assigns a patrol path to a flying object  100  in accordance with an input by a user. For example, the user inputs a defense instruction on the defense line to the input and output device  332 . The processing device  334  executes the assignment module  420  based on the defense instruction inputted to the input and output device  332 . The assignment module  420  makes the processing device  334  execute processes shown in  FIG. 14 . 
     In step S 410 , the processing device  334  acquires energy storage quantity of each flying object  100 . Each flying object  100  measures energy storage quantity stored in the energy container  150 . The processing device  334  acquires the measured energy storage quantity. 
     In step S 420 , the processing device  334  assigns a patrol path to a flying object  100 . The processing device  334  acquires a number of flying objects  100  to be made to patrol (herein after referred to as patrol quantity) based on the information of the defense line  30  that is set. The processing device  334  selects a patrol quantity of flying objects  100  among the flying objects  100  that are stored based on the acquired energy storage quantities. For example, the processing device  334  extracts the patrol quantity of flying objects  100  among the stored flying objects  100  in a descending order of energy storage quantity. The processing device  334  assigns patrol paths included in the information of the defense line  30  to the extracted flying objects  100 , respectively. 
     In step S 430 , the processing device  334  makes each of the extracted flying objects  100  execute the deployment module  230 . The processing device  334  transmits an assignment signal including information indicating the patrol paths and information indicating the path change table  231  to the extracted flying objects  100 . The information of the patrol paths to be transmitted to the flying objects  100  may include information indicating all patrol paths included in the information of the defense line  30  and not only the assigned patrol paths. The flying objects  100  receive the assignment signal and then execute the deployment module  230 . By doing so, the flying objects  100  fly from the hangar  310  toward the patrol paths. 
     In step S 440 , the processing device  334  determines whether a notification signal from a flying object  100  is received. While no notification signal is received (step S 440 : No), the processing device  334  waits until a notification signal is received. When a notification signal is received (step S 440 : Yes), the processing device  334  returns to the process in step S 410  and repeats the process. A flying object  100  transmits a notification signal when it leaves the patrol path and flies toward the target  20 . When the processing device  334  receives a notification signal, a number of the flying objects  100  in patrol on the defense line is decreased. For this reason, when a notification signal is received, the processing device  334  returns to the process in step S 410  and makes a flying object  100  fly from the hangar  310  in order to increase the flying objects  100  in patrol on the defense line  30 . 
     As described above, the storage device  300  can make the flying objects  100  fly toward the defense line  30 . In addition, the flying objects  100  can fly toward the defense line  30  based on a notification signal transmitted by another flying object  100 . It should be noted that the central control device  330  may be provided separately from the storage device  300 . 
     Third Embodiment 
     A flying object  100  may automatically return to the storage device  300  when the energy storage quantity is less than a return limit quantity. In this case, as shown in  FIG. 15 , the guidance program  200 B is provided with the patrol module  210 , the interception module  220 , the deployment module  230  and a return module  240 . The configuration except the guidance program  200 B is similar to the first and second embodiments and therefore detailed description will be omitted. The patrol module  210 , the interception module  220  and the deployment module  230  are similar to the first and second embodiments and therefore detailed description will be omitted. 
     The processing device  124  controls the flying object  100  so as to return based on the energy storage quantity by executing the return module  240 . The return module  240  makes the processing device  124  execute processes shown in  FIG. 16 . 
     In step S 510 , the processing device  124  determines whether the interception module  220  is in execution. When the interception module  220  is in execution (step S 510 : Yes), the processing device  124  waits for the processes of the interception module  220  to end. This is because when the processing device  124  is executing the interception modules  220 , the flying object  100  is flying toward the target  20  in order to intercept the target  20 . When the interception module  220  is not in execution (step S 510 : No), the processing device  124  executes a process in step S 520 . 
     In step S 520 , the processing device  124  acquires the energy storage quantity. The energy container  150  measures the energy storage quantity indicating the electric power and the fuel that are stored. The processing device  124  acquires the energy storage quantity from the energy container  150 . 
     In step S 530 , the processing device  124  determines whether the acquired energy storage quantity is less than the return limit quantity. When the energy storage quantity is equal to or above the return limit quantity (step S 530 : No), the processing device  124  determines that the flying object  100  needs not to return, returns to the process in step S 510  and repeats the process. When the energy storage quantity is less than the return limit quantity (step S 530 : Yes), the processing device  124  executes a process in step S 540  to make the flying object  100  return. 
     The return limit quantity is a predetermined value. For example, the return limit value is set based on an energy quantity that enables a flight from the defense line  30  to the storage device  300 . When a flying object  100  stores a plurality of types of energy such as electric power, fuel and the like, a return limit quantity may be set in each type of energy. 
     In step S 540 , the processing device  124  flies toward the storage device  300  to return. A position of the storage device  300  may be stored in the memory device  123  in advance. In addition, in step S 540 , the processing device  124  may acquire the position of the storage device  300  from the storage device  300 . The processing device  124  generates, when the position of the storage device  300  is acquired, a return control signal for controlling the propulsion device  110  so that the flying object  100  returns to the storage device  300 . 
     In addition, the processing device  124  may generate a notification signal indicating that the flying object  100  leaves the patrol path. By a transmission of a notification signal from the processing device  124  to other flying objects  100 , the other flying objects  100  can be notified of an existence of a flying object  100  that leaves the patrol path. For this reason, the other flying objects  100  can change the patrol paths based on the notification signal. 
     As described above, the flying object  100  can automatically return to storage device  300  based on the energy storage quantity. 
     The path change table  231  may be different when another flying object  100  returns and when another flying object  100  intercepts. For example, when another flying object  100  intercepts, a patrol path may be changed so as to occupy a space where the intercepting flying object  100  was and when another flying object  100  returns the patrol path may not be changed. 
     A flying object  100  may return by an input by a user of a return instruction to the central control device  330  of the storage device  300 . For example, the user inputs a return instruction to the input and output device  332  of the central control device  330 . The processing device  334  generates, based on the inputted return instruction, a return signal for instructing the flying object  100  to return. The flying object  100  returns to the storage device  300  based on the return signal. 
     Fourth Embodiment 
     A flying object  100  may return when failing interception. In addition, a flying object  100  may fly toward a patrol path when failing interception. In this case, the configuration except the interception module  220  is similar to the first to third embodiments and therefore detailed description will be omitted. 
     The interception module  220  makes the processing device  124  execute processes shown in  FIGS. 17A and 17B . Processes in steps S 210  to S 280  are similar to the first to third embodiments and therefore detailed description will be omitted. 
     In step S 290 , the processing device  124  acquires the energy storage quantity. The energy storage quantity is measured by the energy container  150 . 
     In step S 292 , the processing device  124  determines whether the acquired energy storage quantity is less than the return limit quantity. When the energy storage quantity is equal to or above the return limit quantity (step S 292 : No), the processing device  124  determines that the energy storage quantity is enough and executes a process in step S 296 . When the energy storage quantity is less than the return limit quantity (step S 292 : Yes), the processing device  124  executes a process in step S 294  to make the flying object  100  return. 
     In step S 294 , the processing device  124  flies toward the storage device  300  in order to return. The position of the storage device  300  may be stored in the memory device  123  in advance. The processing device  124  generates, when acquiring the position of the storage device  300 , a return control signal for controlling the propulsion device  110  so that the flying object  100  returns to the storage device  300 . 
     When the energy storage quantity is equal to or above the return limit quantity (step S 292 : No), the processing device  124  determines in step S 296  whether a number of the flying objects  100  in patrol on the defense line  30  is less than the patrol quantity. When the number of the flying objects  100  in patrol is less than the patrol quantity (step S 296 : Yes), the processing device  124  moves to step S 298 , executes the deployment module  230  and flies to the patrol path on the defense line  30 . When the number of flying objects  100  in patrol is equal to or above the patrol quantity (step S 296 : No), the processing device  124  executes step S 294  and makes the flying object  100  return to the storage device  300 . 
     In step S 298 , the processing device  124  executes the deployment module  230  and makes the flying object  100  fly toward the patrol path. The patrol path is acquired from the storage device  300 . The central control device  330  of the storage device  300  makes a flying object  100  fly toward the patrol path when receiving a notification signal. When no flying object  100  to make fly is stored in the hangar  310 , the central control device  330  stores the patrol path where a flying object  100  is to go toward. 
     As described above, a flying object  100  can fly toward the storage device  300  or the patrol path when failing interception. 
     VARIATION EXAMPLES 
     The defense line  30  is arranged so as to protect the protection target  10  from the target and may be arranged as shown in  FIG. 18  in a shape of a line between a desired pair of points. A patrol path for the flying objects  100  to patrol is arranged on the line between the desired pair of points. 
     A position and a time to pass this position may be set to the patrol path. In this case, the guidance device  120  controls the propulsion device  110  so that the flying object  100  passes the position set to the patrol path at the time set to the patrol path. 
     The patrol path may be determined in accordance with a number of the flying objects  100  in patrol on the defense line  30 . For example, the patrol path may be set so that the flying objects  100  fly equidistantly on the defense line  30 . In this case, the guidance device  120  determines the patrol path in accordance with the number of the flying objects  100  on the defense line  30 . For this reason, the guidance device  120  updates the number of the flying objects  100  in patrol by storing a number of flying objects  100  that have flown from the storage device  300  toward the defense line  30  and receiving notification signals. In addition, in step S 370  shown in  FIG. 7 , the processing device  124  of the guidance device  120  generates a patrol start signal indicating that the patrol path is reached and transmits it to other flying objects  100 . When receiving a patrol start signal, the other flying objects  100  updates the number of the flying objects  100  in patrol and change the patrol paths. 
     In step S 110  shown in  FIG. 5A , the processing device  124  of the guidance device  120  may determine whether to intercept based on information of the target  20  detected by another flying object  100 . For example, the processing device  124  executes the process in step S 120  when information of the target  20  is received from another flying object  100  (step S 110 : Yes). When no information of the target  20  is received from another flying object  100  (step S 110 : No), the processing device  124  executes the process in step S 150 . The information of the target  20  may be received from an external device such as the storage device  300 . 
     In step S 120  shown in  FIG. 5A , the processing device  124  of the guidance device  120  may acquire a threat level from the storage device  300 . In this case, information of the target  20  detected by a detection device  130  of a flying object  100  is transmitted to the central control device  330  of the storage device  300 . The central control device  330  calculates the threat level based on the information of the target  20 . The calculated threat level is transmitted from the central control device  330  to the guidance device  120  of the flying object  100 . 
     The protection target  10  may be a moving object. When the protection target  10  is a moving object, the patrol path is defined by a relative position with respect to the protection target  10 . For example, the protection target  10  is provided with inertial device such as a Global Positioning System (GPS) receiver and measures a position of itself. The flying objects  100  update the patrol paths by acquiring the measured position of the protection target  10  from the protection target  10 . 
     The embodiments and variation examples described above are examples and may be modified within a range of not inhibiting functions. In addition, the configurations described in each of the embodiments and the variation examples may be arbitrarily modified and/or arbitrarily combined within a range of not inhibiting functions. For example, the explosive device  140  may be omitted from the flying objects  100 . In this case, steps S 230  and S 240  may be omitted from the interception module  220 . In addition, the rocket engine  113  may be omitted from the flying objects  100 . In this case, steps S 250  and S 260  may be omitted from the interception module  220 . 
     The guidance device described in each embodiment is understood for example as below. 
     A guidance device according to a first aspect is provided with a processing device ( 124 ) that generates a control signal to control a propulsion device ( 110 ) of a flying object ( 100 ) and a communication device ( 121 ) that transmits the control signal to the propulsion device ( 110 ). The processing device ( 124 ) generates a patrol control signal to control the propulsion device ( 110 ) so that the flying object ( 100 ) flies along a first patrol path. The processing device ( 124 ) generates, based on information of a moving object ( 20 ) that the flying object ( 100 ) is to intercept, an interception control signal to control the propulsion device ( 110 ) so that the flying object ( 100 ) flies toward the moving object ( 20 ). The processing device ( 124 ) generates, when generating the interception control signal, a notification signal to notify that the flying object ( 100 ) flies toward the moving object. 
     The guidance device can efficiently deploy an air defense system. The guidance device controls so that the flying object flies along the first patrol path and controls so that the flying object flies toward the moving object. For this reason, the air defense system can be deployed by making the flying object fly to the first patrol path. In addition, a protection target can be protected in collaboration with other flying objects by generation of a notification signal by the guidance device. 
     The guidance device related to a second aspect is the guidance device related to the first aspect and is characterized in that the processing device ( 124 ) generates, based on a notification signal, a deployment control signal to control the propulsion device ( 110 ) so that the flying object ( 100 ) flies from the first patrol path to a second patrol path. 
     A flying object in patrol can occupy a gap occurred in the defense line due to a departure of a flying object from the patrol path by a change of patrol path by the processing device based on the notification signal. 
     A guidance device related to a third aspect is the guidance device related to the first aspect and is characterized in that the processing device ( 124 ) generates, based on the notification signal, a deployment control signal to control the propulsion device ( 110 ) so that the flying object ( 100 ) flies toward the first patrol path. 
     A flying object that is not in patrol can occupy a gap occurred in the defense line due to a departure of a flying object from the patrol path by a flight of a flying object toward the first patrol path based on the notification signal. 
     A guidance device related to a fourth aspect is the guidance device related to the first aspect and is characterized in that the processing device ( 124 ) generates, when an energy storage quantity of the flying object ( 100 ) is less than a return limit quantity, a return control signal to control the propulsion device ( 110 ) so that the flying object ( 100 ) returns. 
     As a result, the flying object can automatically return. 
     A flying object related to a fifth aspect is provided with the guidance device related to the first aspect, the propulsion device ( 110 ) and a detection device ( 130 ) that detects a moving object ( 20 ) to intercept. 
     The flying object can intercept the moving object based on a detection by the detection device. 
     A flying object related to a sixth aspect is the flying object related to the fifth aspect and is configured so that the propulsion device ( 110 ) is provided with a rotary wing ( 111 ). 
     A flying body related to a seventh aspect is the flying body related to the fifth aspect and is configured so that the propulsion device ( 110 ) is provided with a rocket engine ( 113 ). 
     As a result, the flying object can fly at high speed toward the moving object and rapidly change a direction of travel. 
     An air defense system related to an eighth aspect is provided with the flying object related to the fifth aspect, a hangar ( 310 ) and a central control device ( 330 ). The central control device ( 330 ) assigns a first patrol path to the flying object ( 100 ). 
     As a result, the flying object can fly from the storage device to the defense line, patrol on the defense line and intercept the moving object. 
     A guidance program related to a ninth aspect makes the processing device ( 124 ) execute a patrol module ( 210 ) and an interception module ( 220 ). 
     An air defense system can be efficiently deployed by the guidance program. In addition, a flying object can protect a protection target in collaboration with other flying objects. 
     The present application claims priority based on Japanese Patent Application No. 2019-230926 filed on Dec. 20, 2019 and herein incorporates all disclosures thereof by reference. 
     DESCRIPTION OF SYMBOLS 
       1  Arrow 
       2  Arrow 
       3  Arrow 
       4  Arrow 
       10  Protection target 
       20  Target 
       30  Defense line 
       50  Recording medium 
       60  Recording medium 
       100  Flying object 
       110  Propulsion device 
       111  Rotary wing 
       112  Motor 
       113  Rocket engine 
       120  Guidance device 
       121  Communication device 
       122  Input and output device 
       123  Memory device 
       124  Processing device 
       130  Detection device 
       140  Explosive device 
       150  Energy container 
       200  Guidance program 
       210  Patrol module 
       220  Interception module 
       230  Deployment module 
       231  Path change table 
       240  Return module 
       300  Storage device 
       310  Hangar 
       320  Energy supply device 
       330  Central control device 
       331  Communication device 
       332  Input and output device 
       333  Memory device 
       334  Processing device 
       400  Central control program 
       410  Setting module 
       420  Assignment module 
       1000  Air defense system