JP2018055656A - Unmanned aircraft control system, and control method and program for the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mechanism capable of limiting operation of an unmanned aircraft while the aircraft is not photographed with a network camera.SOLUTION: An unmanned aircraft control system in which an unmanned aircraft, a network camera capable of photographing the unmanned aircraft, and an information processing device for providing instructions to the unmanned aircraft are connected together via a network has: photographing status determination means for determining whether or not the network camera is photographing the unmanned aircraft; and operation limiting means for limiting operation of the unmanned aircraft upon determination by the photographing status determination means that the network camera is not photographing the unmanned aircraft.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an unmanned aerial vehicle control system capable of determining a communication method between an unmanned aerial vehicle and a remote control terminal according to a communication situation, a control method thereof, and a program.

  Conventionally, there is an unmanned aerial vehicle that is an aircraft on which a person is not on board. Unmanned aerial vehicles vary from large to small, but in recent years, small unmanned aerial vehicles (commonly called drones) that can be remotely controlled have attracted attention (hereinafter, small unmanned aerial vehicles are simply referred to as unmanned aerial vehicles). Called).

  An unmanned aerial vehicle is also called a quadcopter or a multicopter, and includes a plurality of rotor blades. By increasing or decreasing the number of rotations of the rotor blades, the unmanned aircraft advances, retreats, turns, and hovers.

  Such an unmanned aerial vehicle can be operated in response to an operation instruction from a remote operation terminal called a propo, and can be controlled from a console with an integrated monitor and input device.

  In addition, network cameras that can be connected to a network are used as weather cameras and surveillance cameras.

  In Patent Document 1, in a surveillance system including a surveillance camera that captures images from the ground and a flying device that includes a video unit that captures images from above, the image captured in the monitoring region is complemented, and the state of the region in the image A monitoring system that can obtain other images suitable for grasping the image has been proposed.

Japanese Patent Laid-Open No. 2006-118994

  In Japanese Patent Laid-Open No. 2004-26883, a place that cannot be photographed by the surveillance camera is supplemented by the flying device, so that an area that cannot be photographed by the surveillance camera can also be photographed by the flying device.

  However, as can be seen from the fact that the network camera is capable of setting the shootable area, there may be areas that should not be shot. In such a case, a problem may occur if an area that should not be photographed is freely flew and photographed by an unmanned aircraft, and there is a demand for setting a certain restriction. There is also a demand for the net camera to monitor the operation of the unmanned aircraft.

  Therefore, an object of the present invention is to provide a mechanism capable of restricting the operation of an unmanned aerial vehicle in a situation where no image is taken by a network camera.

  An unmanned aerial vehicle control system in which an unmanned aircraft, a network camera capable of photographing the unmanned aircraft, and an information processing apparatus for instructing the unmanned aircraft are connected via a network, the network camera being the unmanned aircraft An operation for restricting the operation of the unmanned aircraft when the network camera determines that the network camera is not photographing the unmanned aircraft by the photographing situation determination unit that determines whether or not the aircraft is photographed. And limiting means.

  Therefore, according to the present invention, it is an object of the present invention to provide a mechanism capable of restricting the operation of an unmanned aerial vehicle in a situation where no image is taken by a network camera.

It is a figure which shows an example of the system configuration | structure of an unmanned aerial vehicle control system in embodiment of this invention. 2 is a diagram illustrating an example of a hardware configuration of an unmanned aircraft 101. FIG. 2 is a diagram illustrating an example of a hardware configuration of a network camera 103. FIG. It is a figure which shows an example of a function structure of an unmanned aircraft control system. 5 is a diagram illustrating an example of an operation screen displayed on a control computer 105. FIG. 6 is a diagram illustrating an example of various data set in the network camera 103. FIG. It is a figure which shows an example of the positional information acquired from the unmanned aircraft 101. It is a figure which shows an example of the operation | movement restriction information of an unmanned aircraft control system. It is a flowchart which shows an example of the control process of an unmanned aerial vehicle in 1st Embodiment. It is a flowchart which shows an example of the control process of an unmanned aerial vehicle in 2nd Embodiment. It is a flowchart which shows an example of a function restriction | limiting process. It is a figure which shows an example of the state by which the unmanned aircraft in 2nd Embodiment was image | photographed.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. First, the first embodiment will be described.
FIG. 1 is a diagram showing a system configuration of an unmanned aerial vehicle control system according to the present embodiment.

  The unmanned aerial vehicle control system according to the present embodiment includes an unmanned aircraft 101, a transmitter 102, a network camera 103, a relay BOX 104, a control computer 105, and a console 106, a network 110 and a wireless LAN (including a mobile communication network) 120. It is connected so that communication connection is possible via. Note that the system configuration in FIG. 1 is an example, and there are various configuration examples depending on the application and purpose.

  An unmanned aerial vehicle 101, also called a drone, is an unmanned aircraft that can be remotely controlled by a prop 102. In response to an instruction from the propo 102, the plurality of rotor blades are operated to fly.

  By increasing or decreasing the rotational speed of the rotor blades, the unmanned aircraft moves forward, backward, turns, hovers, and the like. Although the unmanned aircraft 101 shown in FIG. 1 has four rotor blades, the present invention is not limited to this. There may be three, six, or eight.

  The unmanned aerial vehicle 101 includes those that fly by radio and those that fly by wire. In the present invention, either method may be used.

  The transmitter 102 is a transmitter (remote control terminal) for operating the unmanned aerial vehicle 101. Since it is a proportional system (proportional control system), the rotational speed of the rotor blades of the unmanned aerial vehicle 101 can be controlled in proportion to the amount of movement of the operation unit of the prop 102. The propo 102 may be a mobile terminal such as a so-called smartphone or tablet terminal.

  The network camera 103 is installed at a position where the unmanned aerial vehicle 101 can be photographed, and photographs the unmanned aircraft 101 or other photographing objects (the unmanned aircraft 101 flies over a position where the network camera 103 can photograph).

  For example, it can be used as a weather camera installed on the roof of a building, or can be used as a surveillance camera installed at the entrance of a building or in the city.

  The network camera 103 incorporates a lens and a camera, and has a pan function for moving the camera lens to the left and right, a tilt for moving the camera up and down, and a zoom function for making it telephoto and wide-angle in order to change the shooting direction. However, it can be operated from a remote location (PTZ control).

  The relay BOX 104 has a function of supplying power to the network camera 103 and the unmanned aircraft 101 and transmitting a control signal from the console 106.

  The control computer 105 (information processing apparatus) and the console 106 may be installed in a remote place that is physically separated from the place where the network camera 103 is installed. The general distance may be set at a short distance that is not so far away.

  It is also possible to set a centralized management center that collectively manages a plurality of unmanned aircraft 101 and network cameras 103.

  The control computer is a device that connects the control lines of the console 106 for controlling the plurality of unmanned aircraft 101 and the network camera 103, and the console 106 is a device for controlling the unmanned aircraft 101 and the network camera 103. It is.

  The network 110 and the wireless LAN 120 are networks that connect each device of the unmanned aerial vehicle control system. Each device is connected by a mobile communication network, whether connected by a network or a wireless LAN. However, this system can be implemented.

  FIG. 2 is a diagram illustrating a hardware configuration of the unmanned aerial vehicle 101. Note that 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 performing flight control 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. The external memory 280 connected to the ROM 202 or the peripheral bus I / F 304 stores a basic input / output system (BIOS) that is a control program of the CPU 201 and an operating system program.

  The external memory 280 (storage means) stores various programs and the like necessary for realizing the functions executed by the unmanned aircraft 101. A RAM 203 (storage means) functions as a main memory, work area, and the like for the CPU 201.

  The CPU 201 implements various operations by loading a program necessary for execution of processing into the RAM 203 and executing the program.

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

  The PMU 210 is a power management unit and can control power supply from the battery included in the unmanned aircraft 101 to the ESC 211. The ESC 211 is an electronic speed controller and can control the rotation speed of the motor 212 connected to the ESC 211. By rotating the motor 212 using the ESC 211, the propeller 213 (rotary blade) connected to the motor 212 is rotated.

  Note that a plurality of sets of ESCs 211, motors 212, and propellers 213 are provided according to the number of propellers 213. For example, in the case of a quadcopter, the number of propellers 213 is four, so four sets are required.

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

  The wireless LAN BB unit 230 is a baseband unit for performing communication via a wireless LAN. The wireless LAN BB unit 230 can generate a baseband signal from data or signals to be transmitted and send it to the modem circuit. Furthermore, original data and signals can be obtained from the received baseband signal.

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

  The mobile communication BB unit 240 is a baseband unit for performing communication via a mobile communication network. The mobile communication BB unit 240 can generate a baseband signal from data or signals to be transmitted and send it to the modem circuit. Furthermore, original data and signals can be obtained from the received baseband signal.

  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 GPS unit 250 is a receiver that can acquire the current position of the unmanned aerial vehicle 101 using a global positioning system. The GPS unit 250 can receive a signal from a GPS satellite and estimate the current position.

  The sensor 260 is a sensor for measuring the tilt, direction, speed, and surrounding environment of the unmanned aircraft 101. The unmanned aircraft 101 includes a gyro sensor, an acceleration sensor, an atmospheric pressure sensor, a magnetic sensor, an ultrasonic sensor, and the like as the sensor 260. Based on the data acquired from these sensors, the CPU 201 controls the attitude and movement of the unmanned aerial vehicle 101.

  The GCU 270 is a gimbal control unit and is a unit for controlling the operations of the camera 271 and the gimbal 272. The unmanned aerial vehicle 101 will vibrate or become unstable when the unmanned aerial vehicle 101 flies. Therefore, the gimbal 272 absorbs the vibration of the unmanned aerial vehicle 101 so that the camera 271 does not shake when captured by the camera 271. Maintain level. Further, the camera 271 can be remotely operated by the gimbal 272.

Various programs and the like used by the unmanned aerial vehicle 101 of the present invention to execute various processes, which will be described later, are recorded in the external memory 280 and are executed by the CPU 201 by being loaded into the RAM 203 as necessary. . Furthermore, definition files and various information tables used by the program according to the present invention are stored in the external memory 280.
FIG. 3 is a configuration diagram illustrating a hardware configuration of the network camera 102.
The CPU 301 comprehensively controls each device and controller connected to the system bus 304.

  Further, the ROM 302 or the external memory 305 is necessary for realizing the functions executed by the BIOS (Basic Input / Output System), the operating system program (hereinafter referred to as OS), and the image processing server 108, which are control programs of the CPU 301. Various programs to be described later are stored. A RAM 303 functions as a main memory, work area, and the like for the CPU 301.

  The CPU 301 implements various operations by loading a program or the like necessary for execution of processing into the RAM 303 and executing the program.

  The memory controller (MC) 306 is a compact connected via an adapter to a hard disk (HD) or PCMCIA card slot for storing a boot program, various applications, font data, user files, editing files, various data, image data, and the like. Controls access to an external memory 305 such as a flash memory or smart media (registered trademark).

  The camera unit 307 is connected to the image processing unit 308 and performs photoelectric conversion on the light obtained through the lens directed toward the monitoring target by a light receiving cell such as a CCD or CMOS, and then outputs an RGB signal. Or a complementary color signal is output to the image processing unit 308.

  The image processing unit 308 performs white balance adjustment, gamma processing, and sharpness processing based on the RGB signal and the color collection signal, and further performs YC signal processing to generate a luminance signal Y and a chroma signal (hereinafter referred to as YC signal). Then, the YC signal is compressed in a predetermined compression format (for example, JPEG format or Motion JPEG format), and the compressed data is temporarily stored in the external memory 305 as image data.

  A communication I / F controller (communication I / FC) 309 connects and communicates with an external device via a network, executes communication control processing on the network, and stores an image stored in the external memory 305. Data is transmitted to the external device by the communication I / F controller 309.

  FIG. 4 is a diagram illustrating an example of a functional configuration of the unmanned aerial vehicle control system. Note that the functional configurations of the unmanned aerial vehicle 101 and the network camera 103 shown in FIG. 4 are merely examples, and there are various configuration examples depending on applications and purposes.

  The unmanned aircraft 101 includes a flight control unit 411, a wireless LAN communication control unit 412, a mobile communication control unit 413, a GPS control unit 414, a sensor control unit 415, and an imaging control unit 416 as functional units.

  The flight control unit 411 is a functional unit for controlling the flight of the unmanned aircraft 101. A plurality of rotor blades included in the unmanned aerial vehicle 101 are rotated in accordance with instructions from the transmitter 102, the relay BOX 104, and the control computer 105 to perform forward movement, backward movement, turning, hovering, and the like.

  The wireless LAN communication control unit 412 is a functional unit for performing communication with the transmitter 102 via the wireless LAN.

  The mobile communication control unit 413 is a functional unit for performing communication with the transmitter 102 via the mobile communication network. The mobile communication control unit 413 controls the mobile communication BB unit 240 and the mobile communication RF unit 241, modulates the frequency to the mobile communication network, transmits a signal, and transmits the frequency band of the mobile communication network. When the signal is received, it is demodulated.

  The GPS control unit 414 is a functional unit for acquiring the current position of the unmanned aircraft 101. The GPS control unit 414 controls the GPS unit 250 to receive a signal from a GPS satellite, and estimates the current position of the unmanned aircraft 101.

  The sensor control unit 415 is a functional unit for acquiring information detected by the sensor 260. Information detected by various sensors such as a gyro sensor, an acceleration sensor, an atmospheric pressure sensor, a magnetic sensor, and an ultrasonic sensor included in the unmanned aircraft 101 is always acquired and used for flight control of the flight control unit 411.

  The imaging control unit 416 is a functional unit for obtaining image data by causing the camera 271 to perform an imaging operation via the GCU 270. The camera 271 captures an image in response to an instruction from the transmitter 102, and the generated image data is stored in the external memory 280 or the like. Alternatively, the generated image data may be transmitted to the transmitter 102, the relay BOX 103, and the control computer 105.

  In addition, the imaging control unit 416 can also control the imaging direction of the camera 271 by controlling the operation of the gimbal 272 via the GCU 270 in response to an instruction from the transmitter 102 or the like.

The control computer 105 includes an unmanned aircraft imaging unit 421, an unmanned aircraft detection unit 422, a network camera control unit 423, and an unmanned aircraft control unit 424 as functional units.
The unmanned aerial photography 421 has a function of causing the network camera 103 to photograph an unmanned aircraft.

  The unmanned aerial vehicle detection unit 422 has a function of acquiring position information where the unmanned aircraft is flying (or present) by acquiring position information from the unmanned aircraft.

  The network camera control unit 423 can control the network camera in accordance with an instruction received by the unmanned aircraft imaging unit 421, or can actually control the network camera.

The unmanned aerial vehicle control unit 424 is a control unit that performs a predetermined function restriction on the unmanned aerial vehicle subjected to the operation restriction.
FIG. 5 is a diagram illustrating an example of an operation screen displayed on the control computer 105.

  The operation screen 501 is a screen for connecting to a console 508 for operating the drone 502 (unmanned aircraft) and the network camera 503.

  The drone 502 and the network camera 503 can be switched and displayed by tabs.

In the example shown in the drawing, the tab of the drone 502 is displayed, the drone 01 (504) and the drone 03 (505) are not connected, and the drone 02 (504) is connected to the console A. In other words, the console A is connected so that the drone 02 and the camera 01 can be controlled.
Similarly, when the network camera 503 is opened, which console is connected is displayed.

On console 508, console A 509, console 510, and console C 511 are displayed in a selectable manner. The operator console and the drone are selected, and the connection button 506 is pressed so that the operation is possible. When the disconnect 507 is pressed, the connection is disconnected.
In the illustrated example, it can be seen that the console A509 is connected to the drone 02 and the camera 01.
FIG. 6 is a diagram illustrating an example of various data set in the network camera 103.

  A camera No. 601, a pan operation range 602, a tilt operation range 603, a remark 604, and a non-photographing area 606 are set.

  The camera number is set with a camera number or an identifying name. The pan operation range 602 stores pan angle data that is obtained by combining the true north direction and pan angle data with the installation.

  The tilt operating range 603 is set to the tilt operating range, and the remarks 604 is set to limit the area of the network camera.

The non-photographing prohibited area 606 is an area that cannot be photographed by the network camera, and is set as a non-photographing area of the unmanned aerial vehicle, which restricts the function of the unmanned aircraft. A shootable area (shootable area storage unit) that stores a shootable area may be used.
FIG. 7 is a diagram illustrating an example of position information acquired from the unmanned aerial vehicle 101.

It is information that can be acquired by an unmanned aircraft that is actually flying, and information on longitude 702, latitude 703, altitude 704, and remarks 705 is acquired from each drone and recorded corresponding to drone No701.
The unmanned aerial vehicle control system uses this information to limit the functions of the unmanned aerial vehicle.
FIG. 8 is a diagram illustrating an example of operation restriction information of the unmanned aircraft control system.

In the present invention, when the predetermined condition is not satisfied, the operation restriction of the unmanned aircraft is performed, and the operation restriction information will be described.
Information on camera No. 801, drone No. 802, and function restriction 803 is included.

  Camera No. 801 is No. 3 (camera 01) to No.3. Three cameras up to 3 (camera 03) may be set, and may be distinguished by the area where they are installed.

  In the drone No. 802, the number of the drone set together with the camera No. is recorded. No. 1 has a drone No. 1-No. 3 is associated.

  In the function restriction 803, the contents of the function restriction are recorded. The function restriction of the drone 01 associated with the camera 01 is set to “cannot go outside the restricted area”, and the drone 01 functions so as not to go outside the area set for the camera 01. Limited.

  When “follow network camera panning” is selected, panning is performed in conjunction with network camera operation, and when “camera image is cut off”, the video is masked, blackened, or text information is displayed. Output and restrict the video.

In the case of “capable of photographing”, the photographing function of the corresponding drone is limited to be turned off, and in the case of “stop sensor function”, the function of the sensor of the drone is stopped. It should be noted that all sensors may be subject to function stop, or the function of a pre-selected type of sensor may be stopped.
In the case of “returning to the base”, the drone is controlled to return to the predetermined base.
FIG. 9 is a flowchart illustrating an example of control processing for an unmanned aerial vehicle according to the first embodiment.

  If the selection of the unmanned aircraft (drone) is accepted from the console in step S901, the corresponding network camera is specified from the function restriction information in FIG. 8 in step S902.

  When the network camera information is acquired, the control of the unmanned aircraft is permitted and the operation of the unmanned aircraft is accepted. The operation may be performed from a console or from a radio.

  In step S904, it is determined whether the drone is being operated. If the drone is being operated, the flight position of the unmanned aircraft is acquired, the flight region is determined, the processing up to step S913 is repeated, and the operation ends. The process ends.

  In step S905, latitude information is acquired from the position information acquired from the drone stored in FIG. 7, and it is determined whether it corresponds to the non-shooting prohibited area 606 set in FIG.

  If it is determined that the area is not a non-photographing area (within range), the process proceeds to step S906 (no particular processing is performed), and the process proceeds to step S908. On the other hand, if it is determined that the area is a non-photographing area (out of range), the process proceeds to step S907 to perform an operation restriction process.

  In step S908, it is determined whether the longitude is within the range as in step S905. If it is within the range, the process proceeds to step S909. If it is out of the range (non-shooting prohibited area), the process proceeds to step S910, and the operation restriction process is performed. I do.

  In step S911, as in step S905 and step S908, it is determined whether the pan operation is within the range.

  If it is within the pan operation range, the process proceeds to step S912, and if it is out of the pan operation range, the process proceeds to step S913 to limit the operation.

As described above, in the first embodiment, the area limitation of the network camera corresponding to the drone is used, and the operation is limited when the drone falls outside the area limitation of the network camera.
FIG. 10 is a flowchart illustrating an example of control processing for an unmanned aerial vehicle according to the second embodiment.

  In the second embodiment, the operation is restricted when the drone is not ready to shoot from the corresponding network camera. Details will be described.

If selection of an unmanned aerial vehicle (drone) is accepted from the console in step S1001, it is determined in step S1002 whether the corresponding network camera can shoot. Whether or not shooting is possible can be determined using the shooting situation such as whether or not the network camera and the drone can communicate and whether or not the target drone can be shot by the network camera.
FIG. 12 is a diagram illustrating an example of a state in which an unmanned aerial vehicle according to the second embodiment is captured.

Description will be made assuming that the network camera 1201 and the unmanned aircraft 1203 are associated with each other. As shown in FIG. 8, the correspondence is a pair of the camera 03 (Ikebukuro) and the drone 07. If the unmanned aircraft 1203 exists in the shooting range 1202 of the network camera, the operation is limited. There will be no.
When the operation is restricted, the camera is controlled to return to the base when it is not photographed from the network camera.

  Returning to the description of FIG. If it is determined in step S1002 that the drone cannot be photographed, the process ends without permitting the drone to fly. On the other hand, if the photographing is possible, the flight is permitted and the process proceeds to step S1003.

  In step S1003, it is determined whether or not the drone is in flight. If the drone is in flight, the process up to step S1006 is repeated, and the process ends when the flight ends.

  In step S1004, it is determined whether or not the drone in flight can be photographed with a network camera (step S1002 is whether or not the drone before flight can be photographed). The process proceeds to step S1003, and the process returns to the determination of whether or not the flight is in progress.

On the other hand, if it is determined that the image cannot be taken by the network camera, the process proceeds to step S1006 to perform an operation restriction process.
FIG. 11 is a flowchart illustrating an example of the operation restriction process.

  In step S1101, the function restriction corresponding to the combination of the target network camera and the drone is acquired from the operation restriction information in FIG.

  In step S1102, the function restriction is determined. If “operation is invalid”, the process proceeds to step S1103. If “camera image is cut off”, the process proceeds to step S1104. If “return to base” is performed, the process proceeds to step S1105. .

  Needless to say, the function restrictions other than those shown in this flowchart are targets set as operation restriction information.

  In step S1103, the drone operation is temporarily invalidated, and the process ends. The disabled state is canceled by enabling the network camera to take a picture again.

  In step s1104, the output of the camera image taken by the drone is cut off, and the process ends. Examples of video interruptions include masks, black painting, and characters.

  In step S1105, control is performed to return the target drone to the base set for the drone, and the process ends.

  The present invention can be implemented as a system, apparatus, method, program, storage medium, or the like, and can be applied to a system including a plurality of devices. You may apply to the apparatus which consists of one apparatus.

  Note that the present invention includes a software program that implements the functions of the above-described embodiments directly or remotely from a system or apparatus. The present invention also includes a case where the system or the computer of the apparatus is achieved by reading and executing the supplied program code.

  Therefore, in order to realize (executable) the functional processing of the present invention by a computer, the program code itself installed in the computer also realizes the present invention. In other words, the present invention includes a computer program itself for realizing the functional processing of the present invention.

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

  Examples of the recording medium for supplying the program include a flexible disk, hard disk, optical disk, magneto-optical disk, MO, CD-ROM, CD-R, and CD-RW. In addition, there are magnetic tape, nonvolatile memory card, ROM, DVD (DVD-ROM, DVD-R), and the like.

  As another program supply method, a browser on a client computer is used to connect to an Internet home page. The computer program itself of the present invention or a compressed file including an automatic installation function can be downloaded 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 a different homepage. That is, a WWW server that allows a plurality of users to download a program file for realizing the functional processing of the present invention on a computer is also included in the present invention.

  In addition, the program of the present invention is encrypted, stored in a storage medium such as a CD-ROM, distributed to users, and key information for decryption is downloaded from a homepage via the Internet to users who have cleared predetermined conditions. Let It is also possible to execute the encrypted program by using the downloaded key information and install the program on a computer.

  Further, the functions of the above-described embodiments are realized by the computer executing the read program. In addition, based on the instructions of the program, an OS or the like running on the computer performs part or all of the actual processing, and the functions of the above-described embodiments can also be realized by the processing.

  Further, the program read from the recording medium is written in a memory provided in a function expansion board inserted into the computer or a function expansion unit connected to the computer. Thereafter, the CPU of the function expansion board or function expansion unit performs part or all of the actual processing based on the instructions of the program, and the functions of the above-described embodiments are realized by the processing.

  The above-described embodiments are merely examples of implementation in carrying out the present invention, and the technical scope of the present invention should not be construed as being limited thereto. That is, the present invention can be implemented in various forms without departing from the technical idea or the main features thereof.

101 Unmanned Aircraft 102 Propo 103 Network Camera

Claims (7)

An unmanned aircraft control system in which an unmanned aircraft, a network camera capable of photographing the unmanned aircraft, and an information processing device for instructing the unmanned aircraft are connected via a network,
A shooting situation determination means for determining whether the network camera is shooting the unmanned aircraft;
An operation restricting means for restricting the operation of the unmanned aircraft when the photographing situation determining means determines that the network camera is not photographing the unmanned aircraft;
An unmanned aerial vehicle control system. The shooting situation determination means can determine whether the network camera is in a state in which the unmanned aircraft can be shot,
3. The unmanned aerial vehicle control system according to claim 2, wherein when the shooting situation determination unit determines that the unmanned aircraft is not in a state in which the unmanned aircraft can be shot, the unmanned aircraft control system is controlled so as not to operate.   The unmanned aircraft control system according to claim 1 or 2, wherein the operation restriction cuts off a camera image taken by the unmanned aircraft.   The unmanned aircraft control system according to any one of claims 1 to 3, wherein the operation restriction returns the unmanned aircraft to a base of the unmanned aircraft. And further comprising a shootable area storage means for storing a shootable area of a network camera capable of shooting the unmanned aircraft,
5. The unmanned aerial vehicle control system according to claim 1, wherein the operation restriction is performed so as not to go out of a shootable area of the network camera. A control method for an unmanned aerial vehicle control system in which an unmanned aircraft, a network camera capable of photographing the unmanned aircraft, and an information processing apparatus for instructing the unmanned aircraft are connected via a network,
A shooting situation determination step for determining whether the network camera is shooting the unmanned aircraft;
An operation restriction step for restricting the operation of the unmanned aircraft when the photographing situation determination means determines that the network camera is not photographing the unmanned aircraft;
A control method for an unmanned aerial vehicle control system, comprising: A program readable by an unmanned aerial vehicle control system in which an unmanned aircraft, a network camera capable of photographing the unmanned aircraft, and an information processing apparatus for instructing the unmanned aircraft are connected via a network,
The unmanned aerial vehicle control system,
A shooting situation determination means for determining whether the network camera is shooting the unmanned aircraft;
An operation restricting means for restricting the operation of the unmanned aircraft when the photographing situation determining means determines that the network camera is not photographing the unmanned aircraft;
A program for causing an unmanned aircraft control system to function.

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