JP6860775B2 - Unmanned aerial vehicle, its control method and program, and server device, its control method and program - Google Patents

Description

An information processing system, its control method, and a program capable of providing a mechanism capable of easily grasping the flight state of an unmanned aerial vehicle whose flight is controlled by an operator, a server device, its control method, and Regarding the program.

There are unmanned aerial vehicles such as airplanes, rotorcraft, gliders, and airships that are structurally inaccessible to humans and can be flown by remote control or autopilot. Specifically, this unmanned aerial vehicle corresponds to a drone (multicopter), a radio-controlled aircraft, a helicopter for spraying pesticides, and the like.

An unmanned aerial vehicle may crash when it becomes difficult to continue flight due to an operator's operation error or a malfunction of the unmanned aerial vehicle.

In Patent Document 1 below, a support portion is installed vertically downward from the center of a rotary wing aircraft (unmanned aerial vehicle), and is connected to a mounting portion installed at the vertically lower end of the support portion and a bottom portion of the mounting portion. It consists of a mooring rope, and a mechanism for locking the mooring rope to the ground is disclosed.

Japanese Unexamined Patent Publication No. 2013-79034

Patent Document 1 described above discloses a mechanism capable of reducing the risk of a crash or collision by mooring the ground and an unmanned aerial vehicle with a mooring rope. However, in the mechanism of Patent Document 1, the operator of the unmanned aerial vehicle can fly the unmanned aerial vehicle only within the range of the mooring rope, and the operator of the unmanned aerial vehicle flies the unmanned aerial vehicle at the place desired by the user. I can't.

Further, the mechanism of Patent Document 1 cannot grasp the flight state of an unmanned aerial vehicle. For example, if the user can grasp the flight condition until the unmanned aerial vehicle crashes (cannot fly), for example, when the operator claims compensation for the crash of the unmanned aerial vehicle, the insurance company Can avoid giving unnecessary compensation to the operator who performed the reckless operation.

The present invention aims to provide a mechanism that can perform grasping the flight status of unmanned aircraft easy flights that may have crashed.

In order to achieve the above object, the unmanned aerial vehicle of the present invention determines that the unmanned aerial vehicle has crashed at least according to whether the unmanned aerial vehicle has plummeted and the unmanned aerial vehicle has received an impact satisfying a predetermined condition. Means, acquisition means for acquiring information on the flight state of the unmanned aerial vehicle stored in the unmanned aerial vehicle according to the result of the determination, and transmission means for transmitting the acquired information on the flight state to the server device. And, characterized by having.

According to the present invention, an effect of making it possible to present to grasp the flight status of unmanned aircraft that may have crashed into simple and convenient.

It is a figure which shows the example of the system configuration of the unmanned aerial vehicle control system in this embodiment. It is a figure which shows the hardware composition of the unmanned aerial vehicle 101. It is a figure which shows the hardware composition of the operation controller 102. It is a figure which shows the hardware composition of the server apparatus 103. It is a figure explaining the functional structure of the unmanned aerial vehicle 101 and the server device 103. It is a flowchart explaining the process of controlling a flight by receiving an operation by an operation controller 1002 by an unmanned aerial vehicle 101. It is a flowchart explaining the detailed process flow of the flight state memory processing of FIG. It is a data table which shows an example of a flight information table 800. It is a flowchart explaining the detailed process flow of the crash communication process of FIG. It is a data table which shows an example of a flight information management table 1000. It is a flowchart explaining the detailed process flow of the accident report report creation process between unmanned aerial vehicles. It is a flowchart explaining the detailed process flow of the single accident report report creation process. It is a data table which shows an example of the evaluation condition table 1300. It is a flowchart explaining the detailed process flow of the dive judgment process. It is a flowchart explaining the detailed process flow of the hovering determination process. It is a flowchart explaining the detailed process flow of the distance determination means with an operator. It is a flowchart explaining the detailed process flow of the battery exhaustion determination process. It is a schematic diagram which shows an example of the report 1800 created by the single accident report report creation process. It is a schematic diagram which shows an example of the report 1900 created by the accident report report creation process between unmanned aerial vehicles.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a diagram showing a system configuration of an unmanned aerial vehicle control system (information processing system) in the present embodiment. The unmanned aerial vehicle control system of the present embodiment includes an unmanned aerial vehicle 101, an operation controller 102, and a server device 103, which can communicate data with each other via a network such as a wireless communication or a mobile communication network in a specific frequency band. It is connected to the. The system configuration shown in FIG. 1 is an example, and there are various configuration examples depending on the application and purpose.

The unmanned aerial vehicle 101 is an unmanned aerial vehicle that can be remotely controlled by the operation controller 102. In response to an instruction from the operation controller 102, a plurality of rotations following are operated to fly. By increasing or decreasing the number of rotations of the rotor blades, the unmanned aerial vehicle can move forward, backward, turn, hover, and the like. The unmanned aerial vehicle 101 shown in FIG. 1 has four rotor blades, but is not limited to this. It may be 3, 6, or 8. Further, the unmanned aerial vehicle of the present embodiment may be any airplane, rotorcraft, glider, airship, or the like, as long as it is structurally incapable of being used by a person.

The operation controller 102 is a transmitter (remote control terminal) for operating the unmanned aerial vehicle 101. Since it is a proportional system (proportional control system), it is possible to control the rotation speed of the rotor blades of the unmanned aerial vehicle 101 in proportion to the amount of movement of the operation unit of the operation controller 102.

The server device 103 is a server device capable of communicating with the unmanned aerial vehicle 101. The server device 103 is a server device capable of evaluating the flight state based on the information on the flight state acquired from the unmanned aerial vehicle 101.

The hardware configuration of the unmanned aerial vehicle 101 will be described with reference to FIG.

FIG. 2 is a diagram showing a hardware configuration of the unmanned aerial vehicle 101. The hardware configuration of the unmanned aerial vehicle 101 shown in FIG. 2 is an example, and there are various configuration examples depending on the application and purpose.

The flight controller 200 is a microcontroller for controlling the flight of the unmanned aerial vehicle 101, and includes a CPU 201, a ROM 202, a RAM 203, and a peripheral bus interface 204 (hereinafter, referred to as a peripheral bus I / F 204).

The CPU 201 comprehensively controls each device connected to the system bus. Further, in the external memory 280 connected to the ROM 202 or the peripheral bus I / F 204, the BIOS (Basic Input / Output System) and the operating system program, which are the control programs of the CPU 201, are stored.

Further, the external memory 280 stores various programs and the like necessary for realizing the function executed by the unmanned aerial vehicle 101. The RAM 203 functions as a main memory, a work area, and the like of the CPU 201.

The CPU 201 realizes various operations by loading a program or the like necessary for executing a process into the RAM 203 and executing the program.

The peripheral bus I / F 204 is an interface for connecting to various peripheral devices. A PMU 210, a SIM adapter 220, a wireless communication BB unit 230, a mobile communication BB unit 240, a GPS unit 250, a sensor 260, a GCU 270, and an external memory 280 are connected to the peripheral bus I / F 204.

The PMU 210 is a power management unit and can control the power supply from the battery included in the unmanned aerial vehicle 101 to the ESC 211. The ESC211 is an electronic speed controller and can control the rotation speed of the motor 212 connected to the ESC211. By rotating the motor 212 by the ESC 211, the propeller 213 (rotor blade) connected to the motor 212 is rotated. A plurality of sets of the ESC 211, the motor 212, and the propeller 213 are provided according to the number of the propellers 213. For example, in the case of a quadcopter, the number of propellers 213 is four, so four of these sets are required.

The SIM adapter 220 is a card adapter for inserting the SIM card 221. The type of SIM card 221 is not particularly limited. The SIM card 221 according to the telecommunications carrier that provides the mobile communication network may be used.

The wireless communication BB unit 230 is a baseband unit for performing wireless communication in a specific frequency band. The wireless communication BB unit 230 can generate a baseband signal from the data or signal to be transmitted and send it to the modulation / demodulation circuit. Further, the original data or signal can be obtained from the received baseband signal.

Further, the RF unit 231 for wireless communication is an RF (Radio Frequency) unit for performing wireless communication in a specific frequency band. The wireless communication RF unit 231 can modulate the baseband signal transmitted from the wireless communication BB unit 230 into a specific frequency band and transmit it from the antenna. Furthermore, when a signal in a specific frequency band is received, it can be demodulated into a baseband signal.

The mobile communication BB unit 240 is a baseband unit for communicating via a mobile communication network. The mobile communication BB unit 240 can generate a baseband signal from the data or signal to be transmitted and send it to the modulation / demodulation circuit. Further, the original data or signal can be obtained from the received baseband signal.

Further, the mobile communication RF unit 241 is an RF (Radio Frequency) unit for performing communication via a mobile communication network. The mobile communication RF unit 241 can modulate the baseband signal transmitted from the mobile communication BB unit 240 into the frequency band of the mobile communication network and transmit it from the antenna. Further, when a signal in the frequency band of the mobile communication network is received, it can be demodulated into a baseband signal. The unmanned aerial vehicle 101 communicates with the server device 103 via the mobile communication RF unit 241 and transmits the flight state and the like.

In the present embodiment, the wireless communication BB unit 230 and the mobile communication BB unit 240 are separate units, but they may be the same unit. Similarly, the RF unit 231 for wireless communication and the RF unit 241 for mobile communication may be the same unit.

The GPS unit 250 is a receiver capable of acquiring the current position of the unmanned aerial vehicle 101 by the global positioning system. The GPS unit 250 can receive a signal from a GPS satellite, estimate the current position, and can also estimate the flight height information of the unmanned aerial vehicle 101.

The sensor 260 is a sensor for measuring the inclination, orientation, speed, and surrounding environment of the unmanned aerial vehicle 101. The unmanned aircraft 101 includes a gyro sensor, an acceleration sensor, a pressure sensor, a magnetic sensor, an ultrasonic sensor, an impact sensor, and the like as the sensor 260. The CPU 201 controls the attitude and movement of the unmanned aerial vehicle 101 based on the data acquired from these sensors. Further, the data acquired from the sensor can be stored in the external memory 280, and the stored data can be transmitted to the server device 103 via the mobile communication RF unit 241.

The GCU 270 is a gimbal control unit, which is a unit for controlling the operation of the camera 271 and the gimbal 272. Since the unmanned aerial vehicle 101 flies, the aircraft may vibrate or the aircraft may become unstable. Therefore, the gimbal 272 absorbs the vibration of the unmanned aerial vehicle 101 so that blurring does not occur when the image is taken by the camera 271. Keep level. It is also possible to remotely control the camera 271 with the gimbal 272.

Various programs and the like used by the unmanned aerial vehicle 101 of the present invention to execute various processes described later are recorded in the external memory 280, and are executed by the CPU 201 by being loaded into the RAM 203 as needed. .. Further, the definition file and various information tables used by the program according to the present invention are stored in the external memory 280.

FIG. 3 is a diagram showing a hardware configuration of the operation controller 102. The hardware configuration of the operation controller 102 shown in FIG. 3 is an example, and there are various configuration examples depending on the application and purpose.

The microcomputer 300 is a microcontroller for controlling the operation controller 102, and includes a CPU 301, a ROM 302, a RAM 303, and a peripheral bus interface 304 (hereinafter, referred to as a peripheral bus I / F 304).

The CPU 301 comprehensively controls each device connected to the system bus. Further, in the external memory 350 connected to the ROM 302 or the peripheral bus I / F 304, the BIOS (Basic Input / Output System) and the operating system program, which are the control programs of the CPU 301, are stored.

Further, the external memory 350 (storage means) stores various programs and the like necessary for realizing the function executed by the operation controller 102. The RAM 303 (storage means) functions as a main memory, a work area, and the like of the CPU 301.

The CPU 301 realizes various operations by loading a program or the like necessary for executing a process into the RAM 303 and executing the program.

The peripheral bus I / F 304 is an interface for connecting to various peripheral devices. An operation unit 310, a SIM adapter 320, a wireless LAN BB unit 330, a mobile communication BB unit 340, and an external memory 350 are connected to the peripheral bus I / F 304.

The operation unit 310 is a unit (operation unit) composed of stick-shaped parts for instructing the unmanned aerial vehicle 101 to perform flight operations. The number of rotations of the rotor blades of the unmanned aerial vehicle 101 can be controlled in proportion to the amount of movement of the operation unit 310.

The SIM adapter 320 is a card adapter for inserting the SIM card 321. The type of SIM card 321 is not particularly limited. The SIM card 321 according to the telecommunications carrier that provides the mobile communication network may be used.

The wireless LAN BB unit 330 is a baseband unit for communicating via the wireless LAN. The wireless LAN BB unit 330 can generate a baseband signal from the data or signal to be transmitted and send it to the modulation / demodulation circuit. Further, the original data or signal can be obtained from the received baseband signal.

Further, the RF unit 331 for wireless LAN is an RF (Radio Frequency) unit for performing communication via wireless LAN. The wireless LAN RF unit 331 can modulate the baseband signal transmitted from the wireless LAN BB unit 330 into the frequency band of the wireless LAN and transmit it from the antenna. Further, when a signal in the frequency band of the wireless LAN is received, it can be demodulated into a baseband signal.

The mobile communication BB unit 340 is a baseband unit for communicating via a mobile communication network. The mobile communication BB unit 340 can generate a baseband signal from the data or signal to be transmitted and send it to the modulation / demodulation circuit. Further, the original data or signal can be obtained from the received baseband signal.

Further, the mobile communication RF unit 341 is an RF (Radio Frequency) unit for performing communication via a mobile communication network. The mobile communication RF unit 341 can modulate the baseband signal transmitted from the mobile communication BB unit 340 into the frequency band of the mobile communication network and transmit it from the antenna. Further, when a signal in the frequency band of the mobile communication network is received, it can be demodulated into a baseband signal.

Various programs and the like used by the operation controller 102 of the present invention to execute various processes described later are recorded in the external memory 350, and are executed by the CPU 301 by being loaded into the RAM 303 as needed. .. Further, the definition file and various information tables used by the program according to the present invention are stored in the external memory 350.

Next, the hardware configuration of the server device 103 of the present embodiment will be described with reference to FIG.

The server device 103 includes a CPU 401, a ROM 402, a RAM 403, a system bus 404, an input controller 405, a video controller 406, a memory controller 407, a communication I / F controller 408, an input device 409, a display 410, and an external memory 411 (corresponding to storage means). ) Etc. are provided.

The CPU 401 comprehensively controls each device and controller connected to the system bus 404.

The ROM 402 or the external memory 411 stores a BIOS (Basic Input / Output System), which is a control program of the CPU 401, an operating system, and various programs to be described later, which are necessary for realizing functions executed by various devices.

The RAM 403 functions as a main memory, a work area, and the like of the CPU 401. The CPU 401 realizes various operations by loading a program or the like necessary for executing a process into the RAM 403 and executing the program.

The input controller 405 controls the input from a pointing device (input device 409) such as a keyboard and a mouse.

The video controller 406 controls the display of a display device such as the display 410. The display 410 (display unit) is, for example, a CRT or a liquid crystal display.

The memory controller 407 is an external memory such as a hard disk or flexible disk for storing boot programs, browser software, various applications, font data, user files, various data, etc., or a card-type memory connected to a PCMCIA card slot via an adapter. Control access to 411.

The CPU 401 enables display on the display 410 by, for example, executing an outline font expansion (rasterization) process in the display information area in the RAM 403. Further, the CPU 401 enables a user instruction with a mouse cursor or the like (not shown) on the display 410.

Various programs and the like used by the information processing apparatus 100 and the management server 400 of the present invention to execute various processes described later are stored in the external memory 411, respectively, and are loaded into the RAM 403 as needed to be loaded into the CPU 401. Is executed by. Further, the definition file and various information tables used by the program according to the present invention are stored in the external memory 411.

This is the end of the description of the hardware configuration of the server device 103 according to the embodiment of the present invention. The hardware configuration shown in FIG. 4 is an example, and there are various configuration examples depending on the purpose and application.

Next, the functional configuration of the unmanned aerial vehicle 101 and the server device 103 of the present invention will be described with reference to FIG.

The unmanned aerial vehicle 101 includes a flight control unit 151, a communication control unit 152, a GPS control unit 153, a sensor control unit 154, and an impact level detection unit 155.

The flight control unit 151 is a functional unit for controlling the flight of the unmanned aerial vehicle 101. A plurality of rotor blades included in the unmanned aerial vehicle 101 are rotated in response to an instruction from the operation controller 102 to perform forward movement, backward movement, turning, hovering, and the like.

The communication control unit 152 is a functional unit for communicating with the operation controller 102 and communication with the server device 103. For example, in communication with the operation controller 102, the communication control unit 152 controls the BB unit 230 for wireless communication and the RF unit 231 for wireless communication, modulates them into a specific frequency band, transmits a signal, and also transmits a signal in a specific frequency band. When the signal of is received, it is demodulated. Further, the unmanned aerial vehicle 101 causes itself to function as a wireless LAN access point by software.

The GPS control unit 153 is a functional unit for acquiring the current position of the unmanned aerial vehicle 101. The GPS control unit 153 controls the GPS unit 250 to receive signals from GPS satellites and estimate the current position of the unmanned aerial vehicle 101. The current position includes information on the flight height of the unmanned aerial vehicle 101 in addition to the latitude and longitude.

The sensor control unit 154 is a functional unit for acquiring the information detected by the sensor 260. Information detected by various sensors such as a gyro sensor, an acceleration sensor, a pressure sensor, a magnetic sensor, an ultrasonic sensor, and an impact sensor provided in the unmanned aircraft 101 is constantly acquired and transmitted to the CPU 201 for flight control of the flight control unit 151. Use.

The impact level detection unit 155 is a functional unit that generates impact level information based on the strength and direction of the impact received by the impact sensor provided in the unmanned aerial vehicle 101 and transmits it to the CPU 201.

This completes the description of the functional configuration of the unmanned aerial vehicle 101, and moves on to the description of the functional configuration of the server device 103.

The server device 103 includes a flight information acquisition unit 251, a communication control unit 252, a storage unit 253, a determination unit 254, a display control unit 255, and a comprehensive evaluation determination unit 256.

The flight information acquisition unit 251 is a functional unit that acquires flight information from the unmanned aerial vehicle 101.

The communication control unit 252 is a functional unit that controls communication with the unmanned aerial vehicle 101.

The storage unit 253 is a functional unit that stores flight evaluation conditions, which are conditions for evaluating the flight state of an unmanned aerial vehicle.

The determination unit 254 is a functional unit that determines the evaluation of the flight condition of the unmanned aerial vehicle based on the acquired flight condition and the stored flight evaluation condition.

The display control unit 255 is a functional unit that controls to display an evaluation screen showing the evaluation determined by the determination unit 254.

The comprehensive evaluation determination unit 256 is a functional unit that determines the comprehensive evaluation of the unmanned aerial vehicle based on the evaluation of each item.

This completes the description of the functional configuration of the unmanned aerial vehicle 101 and the server device 103 shown in FIG.

Next, the details of the processing of the present embodiment will be described with reference to the flowchart shown in FIG.

In step S601, it is determined whether or not the CPU 301 of the operation controller 102 has accepted an operation on the operation unit of the operation controller 102. If it is determined that the operation for the operation unit of the operation controller 102 has been accepted, the process proceeds to step S602, and if not, the step S601 is repeatedly executed, and the process waits until the operation is accepted.

In step S602, the CPU 301 of the operation controller 102 transmits an operation instruction corresponding to the operation received in step S601 to the unmanned aerial vehicle 101.

In step S603, it is determined whether or not the CPU 201 of the unmanned aerial vehicle 101 has received the operation instruction from the operation controller 102. If it is determined that the operation instruction has been accepted, the process proceeds to step S604, and if not, the process proceeds to step S606.

In step S604, the CPU 201 of the unmanned aerial vehicle 101 executes flight control according to the operation instruction received from the operation controller 102. Specifically, a plurality of rotary wings included in the unmanned aerial vehicle 101 are rotated in response to an operation instruction from the operation controller 102 to perform forward / backward, turning, hovering, and the like.

In step S605, the CPU 201 of the unmanned aerial vehicle 101 performs a flight state recording process, which is a process of recording the flight state of the unmanned aerial vehicle 101. The detailed processing flow of the flight state recording process will be described later with reference to the flowchart shown in FIG. 7.

In step S606, it is determined whether or not the CPU 201 of the unmanned aerial vehicle 101 has received an instruction from the user to end the flight control of the unmanned aerial vehicle 101. If it is determined that the end instruction has been accepted, the process is terminated, and if not, the process is returned to step S603.

The detailed flow of the flight state recording process will be described with reference to the flowchart of FIG. 7.

In step S701, the CPU 201 of the unmanned aerial vehicle 101 acquires the flight information table 800 from the external memory 280. The flight information table 800 is, for example, the data table shown in FIG. In the flight information table 800, No. 801 and position 802, altitude 803, impact level 804, and time 805 are stored in association with each other. No. 801 is a uniquely identifiable number. The position 802 stores the latitude and longitude information acquired by using the GPS unit 250. Altitude 803 is a value indicating altitude. The impact level 804 is a value indicating the strength of the impact. Time 805 indicates the time when position 802 was acquired.

In step S702, the CPU 201 of the unmanned aerial vehicle 101 starts measuring the timer.

In step S703, the CPU 201 of the unmanned aerial vehicle 101 acquires the position information (latitude, longitude) of the unmanned aerial vehicle 101 via the GPS unit 250 (corresponding to the position information acquisition means). In the present embodiment, latitude and longitude are used, but the present invention is not limited to this as long as the position of the unmanned aerial vehicle 101 can be specified.

In step S704, the CPU 201 of the unmanned aerial vehicle 101 acquires the altitude (altitude) of the unmanned aerial vehicle 101 via the GPS unit 250. The altitude acquisition method was acquired using GPS (Global Positioning System) in this embodiment, but it is also possible to load an unmanned aerial vehicle 101 with a barometric altimeter or a radio altimeter and acquire altitude from these altimeters. I do not care. Further, step S704 may be performed at the same time as step S703.

In step S705, the CPU 201 of the unmanned aerial vehicle 101 acquires the impact level information of the unmanned aerial vehicle 101 from the impact sensor among the sensors 260. The impact sensor is a sensor capable of transmitting impact level information to the CPU 201 based on the strength and direction of the impact received by the impact sensor. In the present embodiment, the impact level is set to 5 levels, where 1 is the least impact and 5 is the largest impact.

In step S706, the CPU 201 of the unmanned aerial vehicle 101 determines whether or not the timer that started the measurement in step S702 has elapsed a predetermined time. If it is determined that the predetermined time has elapsed, the process proceeds to step S707, and if not, the process waits until the predetermined time elapses. In the present embodiment, the predetermined time is set to 0.5 seconds, but the present embodiment is not limited to this.

In step S707, the CPU 201 of the unmanned aerial vehicle 101 adds the information acquired in steps S703 to S705 to the flight information table 800 acquired in step S701 as a record (corresponding to the acquisition means). This will be described in detail. The position information (latitude / longitude) acquired in step S703 is set to position 802, the altitude (elevation) of the unmanned aerial vehicle 101 acquired in step S704 is set to altitude 803, the impact level information acquired in step S705 is set to impact level 804, and step S706 is set. The time to add a record in is added to time 805 as a record. The flight information table 800 shown in FIG. 8 shows a state in which steps S702 to S707 are repeated 6 times.

In step S708, the CPU 201 of the unmanned aerial vehicle 101 refers to the impact level 804 of the record added in step S707, and determines whether or not the impact level 804 is equal to or higher than a predetermined value. If it is determined that the impact level 804 is equal to or higher than a predetermined value, the process proceeds to step S709, and if not, the process proceeds to step S711. In the present embodiment, the predetermined value is set to "3", but the present invention is not limited to this, and is merely an example. For example, the record in which No. 801 of the flight information table 800 of FIG. 8 is "6" has an impact level 804 of "3" or more, so that the CPU 201 proceeds to the process of step S709. It should be noted that it may be possible to simply determine whether or not there was an impact instead of the impact level.

In step S709, the CPU 201 of the unmanned aerial vehicle 101 acquires the altitude 803 of the record immediately preceding the record added in step S707. In the case of FIG. 8, the altitude "10 m" of the record whose No. 801 is "5" is acquired.

In step S710, the CPU 201 of the unmanned aerial vehicle 101 determines whether or not the unmanned aerial vehicle 101 has plummeted based on the altitude 803 of the record added in step S707 and the altitude 803 acquired in step S709. If it is determined that the unmanned aerial vehicle 101 has plummeted, the process proceeds to step S713, and if not, the process proceeds to step S711. It should be noted that this process is not an indispensable configuration, and may be an embodiment in which the process is omitted as necessary.

As a specific method for determining whether or not a sudden descent has occurred, the difference between the altitude 803 of the record added in step S707 and the altitude 803 acquired in step S709 is obtained, and the difference (that is, the amount of change in altitude) is obtained. ) Decreases by a predetermined value or more (for example, 9 m in this embodiment), it can be determined that the vehicle has plummeted.

Alternatively, as another embodiment, it is said that the acceleration obtained from the acceleration sensor included in the unmanned aerial vehicle 101 is acquired, and the acquired acceleration is used to make a sudden drop when the acceleration obtained from the acceleration sensor is equal to or higher than a predetermined acceleration. You can also judge. In this case, since the acceleration detects the acceleration in the negative direction with respect to the gravity direction, it is determined that the acceleration has dropped sharply when the acceleration of the negative direction component with respect to the gravity direction is detected. be able to. The amount of change in altitude and the acceleration may be combined to determine whether the unmanned aerial vehicle 101 has plummeted.

In this way, when the impact level is a value equal to or higher than a predetermined value and the flight state of the unmanned aerial vehicle 101 immediately before that is a sudden descent, it can be determined that the unmanned aerial vehicle 101 has crashed, for example, and the unmanned aerial vehicle 101 can be determined. There is a high possibility that it is out of order. Therefore, the unmanned aerial vehicle 101 can easily know the position of the crashed unmanned aerial vehicle by notifying the communication destination stored in advance in the unmanned aerial vehicle 101 of the position information at the time of the impact. In the present embodiment, the communication destination is set as the insurance company, and by automatically contacting the insurance company, it contributes to reducing the time and effort for the user to contact the insurance company. On the other hand, even if the impact level is above the specified value, if the flight state of the unmanned aerial vehicle immediately before it is not a sudden descent (for example, if it touches an obstacle and continues to fly), the position information is communicated. Since it does not contact first, it has the effect of reducing unnecessary contact of location information and reducing battery consumption.

In step S711, the CPU 201 of the unmanned aerial vehicle 101 performs a process of resetting the timer that started measurement in step S702.

In step S712, the CPU 201 of the unmanned aerial vehicle 101 determines whether or not the unmanned aerial vehicle 101 has become unflyable. If it is determined that the flight has become impossible, the process proceeds to step S713, and if not, the process proceeds to step S711. To determine whether or not flight has become impossible, for example, the altitude does not change (ascend) even though the unmanned aerial vehicle 101 receives an ascending instruction on the operation controller 102 and executes the corresponding operation. If it cannot be done), it is judged that the flight has become impossible. In addition, unmanned aerial vehicles can be determined by other determination methods, such as determining whether the remaining battery level is below a predetermined level or determining whether communication with the operation controller 102 has become impossible. It may be determined whether or not 101 is unable to fly. It should be noted that this process is not an indispensable configuration, and may be an embodiment in which the process is omitted as necessary.

In step S713, the CPU 201 of the unmanned aerial vehicle 101 performs a crash notification process. The detailed processing flow of the crash communication process will be described with reference to the flowchart of FIG.

FIG. 9 is a flowchart illustrating a detailed processing flow of the crash communication process.

In step S901, the CPU 201 of the unmanned aerial vehicle 101 acquires the notification destination information preset in the external memory 280. The notification destination information is information in which information (for example, an e-mail address) of a destination for transmitting the flight information table 800 and the remaining battery level is stored.

In step S902, the CPU 201 of the unmanned aerial vehicle 101 acquires the flight information table 800 stored in the external memory 280.

In step S903, the CPU 201 of the unmanned aerial vehicle 101 acquires the remaining battery level from the power management unit. Specifically, the remaining amount of the battery is a value (unit:%) of the ratio of available electric power to the battery capacity.

In step S904, the CPU 201 of the unmanned aerial vehicle 101 obtains the flight information table 800 acquired in step S902, the remaining battery level acquired in step S903, and the ID of the unmanned aerial vehicle 101, and the notification destination information acquired in step S901. It is transmitted to the server device 103 which is the notification destination shown.

In step S905, the CPU 401 of the server device 103 receives the flight information table 800, the remaining battery level, and the ID of the unmanned aerial vehicle 101 transmitted in step S904, and stores them in the external memory 411.

In step S906, the CPU 401 of the server device 103 refers to the flight information table 800 saved in step S905, and identifies a record whose impact level 804 is equal to or higher than a predetermined value. Assuming that the predetermined value is "3", for example, in the flight information table 800 of FIG. 8, the record whose No. 801 is "6" is specified.

In step S907, the CPU 401 of the server device 103 acquires the flight information management table 1000 stored in the external memory 411. The flight information management table 1000 is a table as shown in FIG. 10, and is a data table for managing the flight information table 800 received by the server device 103. ID 1001, reception date and time 1002, drone ID 1003, storage destination 1004, impact position 1005, impact date and time 1006, and battery remaining amount 1007 are stored in association with each other.

In step S908, the CPU 401 of the server device 103 adds a record to the flight information management table 1000 based on the information received in step S905. Specifically, the ID 1001 stores an ID for uniquely identifying the record. The reception date and time 1002 stores the date and time when the server device 103 received the flight information table 800. The ID of the unmanned aerial vehicle 101 transmitted in step S904 is stored in the drone ID 1003. In the storage destination 1004, the information of the storage destination in which the flight information table 800 was stored in step S905 is stored. The impact position 1005 stores the position 802 of the record of the flight information table 800 received in step S905 and whose impact level 804 is equal to or higher than a predetermined value. The impact date and time 1006 stores the time 805 of the record of the flight information table 800 received in step S905 and whose impact level 804 is equal to or higher than a predetermined value. The remaining battery level 1007 stores the remaining battery level received in step S905.

In step S909, whether or not there is a record in which the CPU 401 of the server device 103 has the same impact position 1005 (within a predetermined range) and the impact date and time 1006 (within a predetermined range) with the record added in step S908. Is determined. Whether or not the impact position 1005 and the impact date and time 1006 are the same does not need to be exactly the same as the position information and the date and time information, and is the same if the two position information and the date and time are within a predetermined range. It may be an embodiment that determines that. If it is determined that there are records having the same impact position 1005 and the same impact date and time 1006, the process proceeds to step S910, and if not, the process proceeds to step S911. In the present embodiment, the predetermined range is the same, but the configuration is not exactly the same and may have a predetermined width. Further, the present determination branch is not an indispensable configuration, and may be a configuration in which only one of step S910 or step S911 is executed.

In step S910, the CPU 401 of the server device 103 performs an accident report report creation process between unmanned aerial vehicles. The detailed processing flow of the accident report report creation process between unmanned aerial vehicles will be described in detail later with reference to FIG.

FIG. 11 is a flowchart illustrating a detailed processing flow of an accident report report creation process between unmanned aerial vehicles. According to this flowchart, an efficient flight state evaluation can be determined by determining the flight state evaluation based on the flight state before the unmanned aerial vehicle 101 is determined to be incapable of flying.

In step S1101, the CPU 401 of the server device 103 acquires the evaluation condition table 1300 stored in the external memory 411. For example, the evaluation condition table 1300 of FIG. In the evaluation condition table 1300, the item 1301, the data value 1302, the reference 1303, and the score 1304 are stored in association with each other. Item 1301 indicates an item of flight status. The data value 1302 is a data value for determining the flight state. The reference 1303 stores the reference value of the data value 1302. The score 1304 stores the score corresponding to the reference 1303. Note that item 1301 is an example and is not limited thereto.

In step S1102, the CPU 401 of the server device 103 acquires the flight information table 800 received in step S905 and the flight information table 800 corresponding to the records determined to be at the same time and at the same time point in step S909.

In step S1103, the CPU 401 of the server device 103 performs a dive determination process, which is a process of determining whether or not the unmanned aerial vehicle 101 has swooped, based on the flight information table 800 acquired in step S1102. The detailed flow of the dive determination process will be described later with reference to FIG.

FIG. 14 is a flowchart illustrating a detailed processing flow of the dive determination process.

In step S1401, the CPU 401 of the server device 103 refers to the flight information table 800 acquired in step S1102.

In step S1402, the CPU 401 of the server device 103 identifies a record whose impact level 804 is equal to or higher than a predetermined value in the flight information table 800 referred to in step S1401. In the present embodiment, the predetermined value is set to "3", but the present invention is not limited to this. In addition, a record that can be simply determined to have had an impact may be specified.

In step S1403, the CPU 401 of the server device 103 identifies a record whose No. 801 is one smaller than the record specified in step S1402.

In step S1404, the CPU 401 of the server device 103 calculates the difference in altitude 803 by subtracting the altitude 803 of the record specified in step S1402 from the altitude 803 of the record specified in step S1403. The flight information table 800 of FIG. 8 will be described as an example. The altitude 803 of the record specified in step S1402 is "0 m" corresponding to "6" in the flight information table 800 of FIG. 8, and the altitude 803 of the record specified in step S1403 is No801. Is "10m" corresponding to "5". That is, the altitude 803 of the two records is required to be 10 m.

In step S1405, the CPU 401 of the server device 103 determines the points 1304 corresponding to the difference in altitude 803 based on the difference in altitude 803 obtained in step S1404. Specifically, if the difference in altitude 803 obtained in step S1404 is "10 m", when the score 1304 is determined based on the evaluation condition table 1300 in FIG. 13, the score 1304 for the difference in altitude within a predetermined time is obtained. Since it is "9 m or more" that is satisfied, it can be determined that the score 1304 is "1".

In step S1406, the CPU 401 of the server device 103 temporarily stores the points determined in step S1405 in the RAM 403.

This completes the description of FIG. 14, and returns to the description of FIG.

In step S1104, the CPU 401 of the server device 103 performs the hovering determination process based on the flight information table 800 acquired in step S1102. The detailed flow of the hovering determination process will be described later with reference to FIG.

FIG. 15 is a flowchart illustrating a detailed processing flow of the hovering determination process.

In step S1501, the CPU 401 of the server device 103 refers to the flight information table 800 acquired in step S1102.

In step S1502, the CPU 401 of the server device 103 identifies a record whose impact level 804 is equal to or higher than a predetermined value in the flight information table 800 referred to in step S1501. In the present embodiment, the predetermined value is set to "3", but the present invention is not limited to this. In addition, a record that can be simply determined to have had an impact may be specified.

In step S1503, the CPU 401 of the server device 103 identifies a record whose No. 801 is one smaller than the record specified in step S1502.

In step S1504, the CPU 401 of the server device 103 calculates the distance traveled by the unmanned aerial vehicle 101 based on the position 802 corresponding to the record specified in step S1502 and the position 802 specified in step S1503. Conventional technology is used for a method of calculating a distance based on the position of GPS information between two points.

In step S1505, the CPU 401 of the server device 103 determines the score based on the distance calculated in step S1505 and the evaluation condition table 1300 acquired in step S1101. When the distance obtained in step S1504 is "2 m", the score can be determined as "1" because "2 m" satisfies "1 m or more" of the standard 1303 of the evaluation condition table 1300 of FIG. ..

In step S1506, the CPU 401 of the server device 103 temporarily stores the points determined in step S1505 in the RAM 403.

This completes the description of FIG. 15, and returns to the description of FIG.

In step S1105, the CPU 401 of the server device 103 performs a distance determination process with the operator based on the flight information table 800 acquired in step S1102. The detailed flow of the distance determination process with the operator will be described later with reference to FIG.

FIG. 16 is a flowchart illustrating a detailed processing flow of the distance determination process with the operator.

In step S1601, the CPU 401 of the server device 103 refers to the flight information table 800 acquired in step S1102.

In step S1602, the CPU 401 of the server device 103 identifies a record whose impact level 804 is equal to or higher than a predetermined value in the flight information table 800 referred to in step S1601. In the present embodiment, the predetermined value is set to "3", but the present invention is not limited to this. In addition, a record that can be simply determined to have had an impact may be specified.

In step S1603, the CPU 401 of the server device 103 acquires the record in which No. 801 is the smallest among the flight information table 800 referred to in step S1601.

In step S1604, the CPU 401 of the server device 103 calculates the distance between the position 802 corresponding to the record specified in step S1602 and the position 802 corresponding to the record specified in step S1603. Conventional technology is used for a method of calculating a distance based on the position of GPS information between two points.

In step S1605, the CPU 401 of the server device 103 determines the score based on the distance calculated in step S1604 and the evaluation condition table 1300 acquired in step S1101. This will be described in detail. When the distance calculated in step S1604 is "600 m", in the reference 1303, "600 m" is "500 m or more" and less than 1000 m, so that the score can be determined as one point. As shown in the present embodiment, it is possible to more appropriately evaluate the flight state of the unmanned aerial vehicle 101 by providing a plurality of stages and evaluating the flight state of the unmanned aerial vehicle 101 step by step.

In the present embodiment, the method of acquiring the distance between the unmanned aerial vehicle 101 and the operator assumes that the distance of the operator is the position where the unmanned aerial vehicle 101 starts flying is the position where the operator of the unmanned aerial vehicle 101 is. The distance was specified by. By doing so, there is an effect that the distance between the operator and the unmanned aerial vehicle 101 can be obtained without giving the operation controller 102 a function of acquiring GPS information. Further, as another embodiment, the operation controller 102 is provided with a mechanism capable of acquiring GPS information, and the distance is calculated based on the GPS information acquired from the mechanism and the GPS information of the unmanned aerial vehicle. It doesn't matter.

In step S1606, the CPU 401 of the server device 103 temporarily stores the points determined in step S1605 in the RAM 403.

This completes the description of FIG. 16, and returns to the description of FIG.

In step S1106, the CPU 401 of the server device 103 performs the battery exhaustion determination process based on the flight information table 800 acquired in step S1102. The detailed processing flow of the battery exhaustion determination process will be described later with reference to FIG.

FIG. 17 is a flowchart illustrating a detailed processing flow of the battery exhaustion determination process.

In step S1701, the CPU 401 of the server device 103 acquires the remaining battery level 1007 of the flight information management table 1000.

In step S1702, the CPU 401 of the server device 103 determines the points corresponding to the remaining battery level 1007 based on the remaining battery level 1007 acquired in step S1701.

This will be described in detail. Item 1301 of the evaluation condition table 1300 acquired in step S1101 refers to the criterion 1303 corresponding to “out of battery”, and identifies the criterion 1303 to which the remaining battery level 1007 acquired in step S1701 conforms. If the remaining battery level 1007 acquired in step S1701 is "50%", the evaluation can be determined with the score 1304 as "1" because it meets the criteria of "3% or more" shown in the criterion 1303.

In step S1703, the CPU 401 of the server device 103 temporarily stores the points determined in step S1702 in the RAM 403.

This completes the description of FIG. 17, and returns to the description of FIG.

In step S1107, the CPU 401 of the server device 103 performs the evaluation information generation process. In the present embodiment, the points evaluated in each item (step S1103 to step S1106) are totaled, and the total points are stored as evaluation information. When the total score is calculated, the process proceeds to step S1108. In this way, by calculating the total score by adding up the evaluation contents calculated in the plurality of items, there is an effect that it is possible to notify the evaluation contents so that the user can understand at a glance.

In step S1108, the CPU 401 of the server device 103 determines whether or not the evaluation information generation process of step S1107 has been completed for all the flight information tables 800 acquired in step S1102. If it is determined that the evaluation information generation process has not been completed for all the flight information tables 800, the process is returned to step S1102, and it is determined that the evaluation information generation process has been completed for all the flight information tables 800. If so, the process proceeds to step S1109.

In step S1109, the CPU 401 of the server device 103 acquires the report template stored in the external memory 411. The report template is data that has only layout information for injecting the accident occurrence date, accident occurrence location, evaluation score, and the like. A report can be created by pouring the values calculated in steps S1103 to S1108 and the information on the unmanned aerial vehicle 101 corresponding to the flight information table acquired in step S1102 into the template.

In step S1110, the CPU 401 of the server device 103 creates a report by pouring the values calculated in steps S1103 to S1108 and the information about the unmanned aerial vehicle 101 corresponding to the flight information table acquired in step S1102 into the template. .. An example of the report generated by the accident report report creation process between unmanned aerial vehicles is the report 1900 shown in FIG. As shown in FIG. 19, in Report 1900, the evaluation regarding the flight state of the unmanned aerial vehicles 101 in which the impact position 1005 and the impact date and time 1006 are within a predetermined range is displayed in parallel, and thus the impact position is displayed. By displaying the evaluations of the unmanned aerial vehicles 101 in which 1005 and the impact date and time 1006 are within a predetermined range side by side, it is possible to easily grasp what the flight state of each unmanned aerial vehicle 101 was. it can. Furthermore, by comparing the total points, which is a comprehensive evaluation, by the user, it is possible to easily grasp which unmanned aerial vehicle 101 has a problem in the flight state.

This completes the detailed processing of the accident report report creation process between unmanned aerial vehicles shown in FIG. As shown in FIG. 11, by evaluating the flight state of the unmanned aerial vehicle 101 based on a plurality of items, it is possible to notify the user of the appropriate evaluation content regarding the flight state until the unmanned aerial vehicle 101 crashes. There is an effect that makes it possible.
Returning to the description of FIG.

In step S911, the CPU 401 of the server device 103 performs an independent accident report report creation process. The detailed processing flow of the single accident report creation process will be described later with reference to FIG.

FIG. 12 is a flowchart illustrating a detailed processing flow of a single accident report report creation process. It should be noted that steps S1201 to S1207 of the single accident report report creation process are the same processes as steps S1101 to S1107 of the accident report report creation process between unmanned aerial vehicles in FIG. 11, and steps S1208 to S1209 are steps S1109. -Since the process is the same as in step S1110, the description thereof will be omitted.

The report generated in this way is the report 1800 shown in FIG. As shown in Report 1800, it is possible to generate a report that can identify the flight state of the unmanned aerial vehicle 101, and the user can easily know the flight state of the shocked unmanned aerial vehicle 101 by referring to this report. It will be possible.

This is the end of the detailed processing flow of the single accident report report creation process of FIG.
Returning to the description of FIG.

In step S912, the CPU 401 of the server device 103 displays the report 1800 or the report 1900 (corresponding to the evaluation content) created in step S910 or step S911 on the display 410 (corresponding to the notification control means). By displaying the report on the display 410 in this way, it is possible to more preferably notify the user of the evaluation content. In the present embodiment, as a method of notifying the user, the created report is displayed to notify the user, but as another form, the evaluation result may be notified to the user by e-mail. Often, the form of notification is not limited to this.

As described above, according to the present invention, there is an effect that the user can easily grasp the flight state of the unmanned aerial vehicle that has become impossible to fly.

The present invention can be, for example, an embodiment as a system, an apparatus, a method, a program, a storage medium, or the like, and specifically, may be applied to a system composed of a plurality of devices, or 1 It may be applied to a device consisting of two devices. The present invention includes a software program that realizes the functions of the above-described embodiments, which is directly or remotely supplied to a system or an apparatus. The present invention also includes a case where the information processing device of the system or the device is also achieved by reading and executing the supplied program code.

Therefore, in order to realize the functional processing of the present invention in the information processing device, the program code itself installed in the information processing device also realizes the present invention. That is, the present invention also includes a computer program itself for realizing the functional processing of the present invention.

In that case, as long as it has a program function, it may be in the form of an object code, a program executed by an interpreter, script data supplied to the OS, or the like.

Recording media for supplying programs include, for example, flexible disks, hard disks, optical disks, magneto-optical disks, MOs, CD-ROMs, CD-Rs, CD-RWs, and the like. There are also magnetic tapes, non-volatile memory cards, ROMs, DVDs (DVD-ROM, DVD-R) and the like.

In addition, as a program supply method, a browser of a client computer is used to connect to an Internet homepage. Then, the computer program itself of the present invention or a compressed file including the automatic installation function can be supplied from the homepage by downloading it to a recording medium such as a hard disk.

It can also be realized by dividing the program code constituting the program of the present invention into a plurality of files and downloading each file from different homepages. That is, the present invention also includes a WWW server that allows a plurality of users to download a program file for realizing the functional processing of the present invention in the information processing apparatus.

In addition, the program of the present invention is encrypted, stored in a storage medium such as a CD-ROM, distributed to users, and the key information for decrypting the encryption is downloaded from the homepage to the user who clears the predetermined conditions. Let me. Then, by using the downloaded key information, it is also possible to execute an encrypted program and install it in the information processing device.

Further, the function of the above-described embodiment is realized by the information processing apparatus executing the read program. In addition, based on the instruction of the program, the OS or the like running on the information processing apparatus performs a part or all of the actual processing, and the function of the above-described embodiment can be realized by the processing.

Further, the program read from the recording medium is written to the memory provided in the function expansion board inserted in the information processing device and the function expansion unit connected to the information processing device. After that, based on the instruction of the program, the function expansion board, the CPU provided in the function expansion unit, or the like performs a part or all of the actual processing, and the function of the above-described embodiment is also realized by the processing.

It should be noted that the above-described embodiments merely show examples of embodiment in carrying out the present invention, and the technical scope of the present invention should not be construed in a limited manner by these. That is, the present invention can be implemented in various forms without departing from the technical idea or its main features.

101 Unmanned aerial vehicle 102 Operation controller 103 Server device

Claims (16)

A determination means for determining the crash of the unmanned aerial vehicle, at least according to whether the unmanned aerial vehicle has plummeted and the unmanned aerial vehicle has received an impact satisfying a predetermined condition.
An acquisition means for acquiring information on the flight state of the unmanned aerial vehicle stored in the unmanned aerial vehicle according to the result of the determination.
A transmission means for transmitting the acquired flight state information to the server device, and
An unmanned aerial vehicle characterized by having. Before SL-size constant means, using said at least one of information indicating information and acceleration of the unmanned aircraft a high degree of unmanned aircraft, and judging whether the unmanned aircraft has plummeted, claim The unmanned aerial vehicle according to 1. Before SL-size constant means, using the information indicating the impact which the unmanned aircraft has received, and judging whether the unmanned aircraft is subjected to the predetermined condition is satisfied impact to claim 1 or 2 Described unmanned aerial vehicle. The information regarding the flight state includes the first information indicating the position of the unmanned aerial vehicle, the second information indicating the altitude of the unmanned aerial vehicle, the third information indicating the impact received by the unmanned aerial vehicle, and the first information. It is characterized by including at least one of a fourth information indicating when any of the second information and the third information is recorded, and a fifth information indicating the remaining battery level of the unmanned aerial vehicle. The unmanned aerial vehicle according to any one of claims 1 to 3. The unmanned aerial vehicle according to any one of claims 1 to 4 , wherein the server device is a server device accessible to the insurance company of the unmanned aerial vehicle. The unmanned aerial vehicle according to any one of claims 1 to 5 , wherein the transmitting means communicates with the server device via a mobile communication network. The unmanned aerial vehicle according to any one of claims 1 to 6 , wherein the drone is capable of flying by a plurality of rotary wings. A determination means for determining the crash of the unmanned aerial vehicle, at least according to whether the unmanned aerial vehicle has plummeted and the unmanned aerial vehicle has received an impact satisfying a predetermined condition.
An acquisition step of acquiring information on the flight state of the unmanned aerial vehicle stored in the unmanned aerial vehicle according to the result of the determination, and
A transmission step of transmitting the acquired flight state information to the server device, and
A method of controlling an unmanned aerial vehicle, characterized in having. A program characterized by operating a computer as an unmanned aerial vehicle according to any one of claims 1 to 7. Receiving information about flight conditions at multiple time points before the unmanned aerial vehicle crashes, transmitted from the unmanned aerial vehicle when at least the unmanned aerial vehicle plummets and the unmanned aerial vehicle receives an impact that meets certain conditions. Means and
Using information on the received flight status, and evaluation means for pre-Symbol unmanned aircraft to assess the flight conditions up to the crash,
A server device characterized by having. The unmanned aerial vehicle is the first unmanned aerial vehicle,
Said evaluation means, and wherein the first unmanned aircraft with further information regarding the flight status of the different second unmanned aircraft, before Symbol first unmanned aircraft to assess the flight conditions up to the crash The server device according to claim 10. The information regarding the flight state includes the first information indicating the position of the unmanned aerial vehicle, the second information indicating the altitude of the unmanned aerial vehicle, the third information indicating the impact received by the unmanned aerial vehicle, and the first information. It is characterized by including at least one of a fourth information indicating when any of the second information and the third information is recorded, and a fifth information indicating the remaining battery level of the unmanned aerial vehicle. The server device according to claim 10 or 11. The server device according to any one of claims 10 to 12 , further comprising a generation means for generating a report in which the evaluation result is input. The server device according to any one of claims 10 to 13 , wherein the evaluation means calculates a score related to the flight state for each evaluation item. Receiving information about flight conditions at multiple time points before the unmanned aerial vehicle crashes, transmitted from the unmanned aerial vehicle when at least the unmanned aerial vehicle plummets and the unmanned aerial vehicle receives an impact that meets certain conditions. Steps and
Using information on the received flight status, and evaluating step of pre-Symbol unmanned aircraft to assess the flight conditions up to the crash,
A method of controlling a server device, which comprises. A program according to any one of claims 10 to 14, wherein the computer functions as the server device.

Images