Control system, aircraft, and method

1. A control system comprising:

at least one first memory storing first program code; and

at least one first processor configured to read the first program code and operate in accordance with the first program code, wherein

the first program code includes:

acquisition code configured to cause the at least one first processor to acquire information indicating a location of a first point at which an aircraft, the aircraft configured to fly a predetermined route, detects a short visibility airspace that has shorter visibility than a predetermined distance and information indicating a location of a second point at which the aircraft determines that the aircraft has entered the short visibility airspace;

estimation code configured to cause the at least one first processor to estimate size of the short visibility airspace, based on the location of the first point and the location of the second point indicated by the acquired information and sensing information acquired at the first point by sensing performed by a first sensor that the aircraft mounts;

setting code configured to cause the at least one first processor to set a safe airspace having higher safety than the short visibility airspace, based on the estimated size of the short visibility airspace and the sensing information acquired at the first point; and

control code configured to cause the at least one first processor to perform control to cause the aircraft to move to the set safe airspace when it is determined that flight continuation along the route passing through the short visibility airspace is impracticable, based on information output from a second sensor that is mounted on the aircraft and that is different from the first sensor.

2. The control system according to claim 1 , wherein

the first sensor includes an image sensor configured to output information indicating an image that is acquired by optically sensing a space,

the sensing information includes the information that the image sensor outputs,

the aircraft includes:

at least one second memory storing second program code, the second program code being different from the first program code, and that is different from the at least one first memory; and

at least one second processor configured to read the second program code and operate in accordance with the second program code and that is different from the at least one first processor,

the second program code is configured to cause the at least one second processor of the aircraft to

detect the short visibility airspace, based on the sensing information output from the image sensor and

determine entry into the short visibility airspace by the aircraft, based on the sensing information output from the image sensor, and

the estimation code of the first program code is configured to cause the at least one first processor to

identify a direction pointing from the first point, at which the short visibility airspace is detected, to a boundary between the short visibility airspace and a non-short visibility airspace different from the short visibility airspace, based on the sensing information serving as a base for detection of the short visibility airspace,

estimate distance from the aircraft to the short visibility airspace at a time at which the sensing information serving as the base for the detection of the short visibility airspace is acquired, based on the location of the first point, at which the short visibility airspace is detected, and the location of the second point, at which the entry into the short visibility airspace is determined, and

estimate the size of the short visibility airspace, based on the estimated distance and the direction pointing from the first point to the boundary of the short visibility airspace.

3. The control system according to claim 2 , wherein

the first sensor mounted on the aircraft further includes a wind direction/velocity sensor configured to sense wind direction and wind velocity and output information indicating the sensed wind direction and wind velocity,

the sensing information further includes the information that the wind direction/velocity sensor outputs, and

the estimation code is configured to cause the at least one first processor to estimate the distance from the aircraft to the short visibility airspace at the time, further based on the wind direction and the wind velocity indicated by the sensing information output from the wind direction/velocity sensor.

4. The control system according to claim 3 , wherein

the estimation code is configured to cause the at least one first processor to

estimate a location of the short visibility airspace at the time, based on the location of the first point and the estimated size of the short visibility airspace,

estimate movement direction and movement velocity of the short visibility airspace, based on the wind direction and the wind velocity, and

estimate a location of the short visibility airspace after the time, based on the estimated movement direction and the estimated movement velocity.

5. The control system according to claim 4 , wherein

the second sensor mounted on the aircraft further includes an altitude sensor configured to output information indicating altitude from a ground surface to the aircraft, the altitude being acquired by performing optical sensing, and

the control code is configured to cause the at least one first processor to, in a first case where the information output from the altitude sensor satisfies an abnormality condition predetermined with respect to the altitude sensor, determine that flight continuation along the route is impracticable and perform the control to cause the aircraft to move to the set safe airspace.

6. The control system according to claim 5 , wherein

the control code is configured to cause the at least one first processor to, in the first case where the information output from the altitude sensor satisfies the abnormality condition predetermined with respect to the altitude sensor, perform first control to cause the aircraft to move to the safe airspace located at an altitude of the aircraft without performing altitude change control to cause the aircraft to change altitude of the aircraft.

7. The control system according to claim 6 , wherein

the second sensor mounted on the aircraft further includes a light detection and ranging (LiDAR) sensor configured to output information indicating coordinate values that are acquired by optically sensing a space and that are coordinate values of an obstruction having a possibility of obstructing flight of the aircraft, and

the control code is configured to cause the at least one first processor to, in the first case, in a second case where the information output from the LiDAR sensor satisfies an abnormality condition predetermined with respect to the LiDAR sensor, or in the first case and the second case, determine that flight continuation along the route is impracticable.

8. The control system according to claim 7 , wherein

the acquisition code is configured to cause the at least one first processor to, in the second case where the information that is output from the LiDAR sensor and that indicates the coordinate values of the obstruction satisfies the abnormality condition predetermined with respect to the LiDAR sensor, acquire, from a storage that is configured to store, in advance, information indicating a predetermined airspace and confirmation result information indicating a confirmation result of an obstruction in the predetermined airspace in association with each other, the confirmation result information associated with information indicating the short visibility airspace through which the route passes,

the confirmation result information includes existence confirmation information indicating that existence of an obstruction in the predetermined airspace has been confirmed, nonexistence confirmation information indicating that nonexistence of an obstruction in the predetermined airspace has been confirmed, and non-confirmation information indicating that neither existence nor nonexistence of an obstruction in the predetermined airspace has been confirmed, and

the control code is configured to cause the at least one first processor to

in a case of the second case and where the acquired confirmation result information is the existence confirmation information or the non-confirmation information, determine that flight continuation along the route is impracticable and perform the control to cause the aircraft to move to the set safe airspace and

in a case of the second case and where the acquired confirmation result information is the nonexistence confirmation information, determine that flight continuation along the route is possible and perform control to cause the aircraft to continue flight along the route.

9. The control system according to claim 8 , wherein

the control code is configured to cause, in a case of the second case and where it is determined that flight continuation along the route is impracticable, the at least one first processor to

perform the first control to cause the aircraft to move to the safe airspace located at the altitude of the aircraft without performing the altitude change control and

when, before the aircraft exits the short visibility airspace, the aircraft has moved over a predetermined movement distance since the first control was started or a predetermined period has elapsed, perform second control to cause the aircraft to move to the safe airspace located above the aircraft by performing the altitude change control.

10. The control system according to claim 2 , wherein

the setting code is configured to cause the at least one first processor to

detect a location of an obstruction having a possibility of obstructing flight of the aircraft, based on the sensing information output from the image sensor, and

set a plurality of non-short visibility airspaces as the safe airspaces, based on the detected location of the obstruction.

11. The control system according to claim 10 , wherein

the setting code is configured to cause the at least one first processor to

detect one or more of a location of a person and a location of a house, based on the sensing information output from the image sensor and

set a priority for each of the plurality of safe airspaces, based on one or more of the detected location of the person and the detected location of the house, and

the control code is configured to cause the at least one first processor to perform the control to cause the aircraft to move to an airspace that is selected from among the plurality of safe airspaces, based on set priorities.

12. The control system according to claim 11 , wherein

the acquisition code is configured to cause the at least one first processor to acquire information indicating a location of a predetermined point, and

the setting code is configured to cause the at least one first processor to set a higher priority for the safe airspace between which and the point indicated by the acquired information the short visibility airspace does not exist than the priority of the safe airspace between which and the point the short visibility airspace exists.

13. The control system according to claim 3 , wherein

the setting code is configured to cause the at least one first processor to

detect a location of an obstruction having a possibility of obstructing flight of the aircraft, based on the sensing information output from the image sensor, and

set a plurality of non-short visibility airspaces as the safe airspaces, based on the detected location of the obstruction.

14. The control system according to claim 4 , wherein

the setting code is configured to cause the at least one first processor to

detect a location of an obstruction having a possibility of obstructing flight of the aircraft, based on the sensing information output from the image sensor, and

set a plurality of non-short visibility airspaces as the safe airspaces, based on the detected location of the obstruction.

15. The control system according to claim 5 , wherein

the setting code is configured to cause the at least one first processor to

detect a location of an obstruction having a possibility of obstructing flight of the aircraft, based on the sensing information output from the image sensor, and

set a plurality of non-short visibility airspaces as the safe airspaces, based on the detected location of the obstruction.

16. The control system according to claim 6 , wherein

the setting code is configured to cause the at least one first processor to

detect a location of an obstruction having a possibility of obstructing flight of the aircraft, based on the sensing information output from the image sensor, and

set a plurality of non-short visibility airspaces as the safe airspaces, based on the detected location of the obstruction.

17. The control system according to claim 7 , wherein

the setting code is configured to cause the at least one first processor to

detect a location of an obstruction having a possibility of obstructing flight of the aircraft, based on the sensing information output from the image sensor, and

set a plurality of non-short visibility airspaces as the safe airspaces, based on the detected location of the obstruction.

18. The control system according to claim 8 , wherein

the setting code is configured to cause the at least one first processor to

detect a location of an obstruction having a possibility of obstructing flight of the aircraft, based on the sensing information output from the image sensor, and

set a plurality of non-short visibility airspaces as the safe airspaces, based on the detected location of the obstruction.

19. An aircraft configured to fly a predetermined route, comprising:

at least one memory storing program code; and

at least one processor configured to read the program code and operate in accordance with the program code, wherein

the program code includes:

acquisition code configured to cause the at least one processor to acquire information indicating a location of a first point at which the aircraft detects a short visibility airspace that has shorter visibility than a predetermined distance and information indicating a location of a second point at which the aircraft determines that the aircraft has entered the short visibility airspace;

estimation code configured to cause the at least one processor to estimate size of the short visibility airspace, based on the location of the first point and the location of the second point indicated by the acquired information and sensing information acquired at the first point by sensing performed by a first sensor that the aircraft mounts;

setting code configured to cause the at least one processor to set a safe airspace having higher safety than the short visibility airspace, based on the estimated size of the short visibility airspace and the sensing information acquired at the first point; and

control code configured to cause the at least one processor to perform control to cause the aircraft to move to the set safe airspace when it is determined that flight continuation along the route passing through the short visibility airspace is impracticable, based on information output from a second sensor that is mounted on the aircraft and that is different from the first sensor.

20. A method that an aircraft configured to fly a predetermined route or a control system configured to control the aircraft executes, the method comprising:

acquiring, by the aircraft or the control system, information indicating a location of a first point at which the aircraft detects a short visibility airspace that has shorter visibility than a predetermined distance and information indicating a location of a second point at which the aircraft determines that the aircraft has entered the short visibility airspace;

estimating, by the aircraft or the control system, size of the short visibility airspace, based on the location of the first point and the location of the second point indicated by the acquired information and sensing information acquired at the first point by sensing performed by a first sensor that the aircraft mounts;

setting, by the aircraft or the control system, a safe airspace having higher safety than the short visibility airspace, based on the estimated size of the short visibility airspace and the sensing information acquired at the first point; and

performing, by the aircraft or the control system, control to cause the aircraft to move to the set safe airspace when it is determined that flight continuation along the route passing through the short visibility airspace is impracticable, based on information output from a second sensor that is mounted on the aircraft and that is different from the first sensor.