JP2018090012A - Unmanned aircraft control system, method for controlling unmanned aircraft control system, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a system that can reduce the possibility of obstructing an unmanned aircraft from imaging an imaging object due to influence from a wind in the vicinity of the imaging object.SOLUTION: An unmanned aircraft control system acquires location information of an unmanned aircraft, location information of an imaging object and information on a wind in the vicinity of the imaging object to determine a flight path of the unmanned aircraft to an imaging position to image the imaging object using the acquired location information of the unmanned aircraft, the location information of the imaging object and the information on the wind.SELECTED DRAWING: Figure 4

Description

  The present invention relates to an unmanned aerial vehicle control system, a control method for an unmanned aerial vehicle control system, and a program, and in particular, a mechanism for reducing the possibility that an image of an imaging object by an unmanned airplane will be hindered by the influence of wind near the imaging object. About.

  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 unmanned aerial vehicles fly on a flight route indicated by a computer that can communicate with the unmanned aerial vehicle. It is also possible to operate in response to an operation instruction from a remote operation terminal called a propo, or to control from a console with an integrated monitor and input device.

  Japanese Patent Application Laid-Open No. 2004-228561 discloses a mechanism for flying unattended when an unmanned aircraft that automatically flies to an imaging target object has an obstacle on the flight path to the imaging target object.

Japanese Patent Laid-Open No. 2015-113100

  By the way, when the object to be imaged is a natural phenomenon, the image becomes poor in visibility due to the natural phenomenon and the influence of the wind when the natural phenomenon occurs, or the unmanned aircraft is damaged due to the natural phenomenon There is a fear.

  Specifically, for example, when the imaging target is a volcano that is erupting and the unmanned aircraft is leeward against the volcano, the image may be poor in visibility due to smoke or unmanned due to cinders. The aircraft may be damaged.

  Since Patent Document 1 is a mechanism for identifying and avoiding obstacles, there is a possibility that volcanic plume may not be identified as an obstacle, and a volcanic block that has been suddenly scattered may not be identified as an obstacle. Even if the technology is used, the above problem may still occur.

  It is an object of the present invention to provide a mechanism that can reduce the possibility that the imaging of an imaging object by an unmanned airplane is hindered by the influence of wind near the imaging object.

  The present invention is an unmanned aerial vehicle control system including an unmanned aerial vehicle including an imaging unit and an information processing apparatus for instructing the unmanned aircraft, the position information of the unmanned aircraft and the imaging unit of the unmanned aircraft. The acquisition means for acquiring the position information of the imaging object that is the object to be imaged and the information about the wind in the vicinity of the imaging object, the position information of the unmanned aircraft acquired by the acquisition means, and the imaging object And determining means for determining a flight path of the unmanned aircraft up to an imaging position for imaging the imaging object using position information and information on the wind.

  Further, the present invention is a control method for an unmanned aerial vehicle control system including an unmanned aerial vehicle including an imaging unit and an information processing apparatus for instructing the unmanned aircraft, wherein the acquisition unit of the unmanned aircraft control system includes: An acquisition step of acquiring position information of the unmanned aerial vehicle, position information of an imaging target that is an object to be imaged by an imaging unit of the unmanned aircraft, and information related to a wind near the imaging target, and the unmanned aircraft control system The determination means uses the position information of the unmanned aircraft, the position information of the imaging object, and the information related to the wind acquired in the acquisition step to the imaging position where the imaging object is imaged. And a determining step for determining a flight path of the unmanned aerial vehicle.

  Further, the present invention is a program that can be read and executed by an unmanned aerial vehicle control system including an unmanned aerial vehicle including an imaging unit and an information processing apparatus for instructing the unmanned aircraft, and the unmanned aircraft control system includes: Acquisition means for acquiring position information of the unmanned aircraft, position information of an imaging object that is an object to be imaged by the imaging means of the unmanned aircraft, and information regarding wind near the imaging object, and acquisition by the acquisition means And determining means for determining a flight path of the unmanned aircraft up to an imaging position at which the imaging object is imaged using the positional information on the unmanned aircraft, the positional information on the imaging object, and information on the wind. It is made to function as.

  According to the present invention, it is possible to reduce the possibility that the imaging of the imaging object by the unmanned airplane is hindered by the influence of the wind near the imaging object.

The figure which shows the system configuration of the unmanned aerial vehicle control system The figure which shows the hardware constitutions of the unmanned aircraft 101 The figure which shows the hardware constitutions of the information processing apparatus applicable to the computer 103 for control The figure which shows operation | movement of the unmanned aircraft 101 in 1st Embodiment. The figure which shows an example of the flowchart which shows the operation control of the unmanned aircraft 101 by the computer 103 for control in 1st Embodiment. The figure which shows operation | movement of the unmanned aircraft 101 in 2nd Embodiment. The figure which shows an example of the flowchart which shows the operation | movement control of the unmanned aircraft 101 by the control computer 103 in 2nd Embodiment. The figure which shows operation | movement of the unmanned aircraft 101 in 3rd Embodiment. The figure which shows an example of the flowchart which shows the operation control of the unmanned aircraft 101 by the control computer 103 in 3rd Embodiment. Data table showing active volcano location information

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The embodiment described below shows an example when the present invention is specifically implemented, and is one of the specific embodiments having the configurations described in the claims.
FIG. 1 is a diagram showing a system configuration of an unmanned aerial vehicle control system according to the present embodiment.

  In the unmanned aerial vehicle control system of the present embodiment, the unmanned aircraft 101, the relay BOX 102, and the control computer 103 are connected via a network 110 and a wireless LAN (including a mobile communication network) 120 so as to be communicably connected. Note that the system configuration in FIG. 1 is an example, and there are various configuration examples depending on the application and purpose.

  The unmanned aerial vehicle 101, also called a drone, is an unmanned aircraft that automatically flies in accordance with instructions from the control computer 103. In response to an instruction from the control computer, 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 unmanned aerial vehicle 101 has a camera and has a pan function for moving the camera lens to the left and right, a tilt for moving the lens up and down, and a zoom function for making the telephoto and the wide angle in order to change the shooting direction. Operation (PTZ control) can be performed from a remote location.

The relay BOX 102 has a function of supplying power to the unmanned aircraft 101 and transmitting a control signal from the control computer 103.
The control computer 103 (information processing apparatus) is a device for controlling the unmanned aircraft 101.

  Further, the control computer 103 (information processing apparatus) acquires weather information from the weather sensor 104, determines a flight route of the unmanned aircraft 101 according to the acquired weather information, and unmanned aircraft so as to fly along the determined flight route. 101 has a function of controlling.

  The computer 103 for control may be installed in a remote place physically separated from the place where the unmanned aircraft 101 is stored. For example, the control computer 103 is not so far away from the physical distance in the same site or the like. It may be installed at a distance.

  The control computer 103 can also be set in a centralized management center that collectively manages a plurality of unmanned aircraft 101.

  The meteorological sensor 104 has a function of detecting wind force and wind direction near the volcano and transmitting them to the control computer 103.

  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.

Next, the hardware configuration of the unmanned aerial vehicle 101 shown in FIG. 1 will be described with reference to FIG.
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.

  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.

  Next, the hardware configuration of the information processing apparatus applicable to the control computer 103 shown in FIG. 1 will be described using FIG.

  In FIG. 3, reference numeral 301 denotes a CPU that comprehensively controls each device and controller connected to the system bus 304. Further, the ROM 302 or the external memory 311 has a BIOS (Basic Input / Output System), an operating system program (hereinafter referred to as OS), which is a control program of the CPU 301, and various types of functions described later that are necessary for realizing the functions executed by the PC. Programs and so on 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 from the ROM 302 or the external memory 311 to the RAM 303 and executing the loaded program.

  An input controller 305 controls input from a pointing device such as a keyboard (KB) 309. A video controller 306 controls display on a display device such as a CRT display (CRT) 310. In FIG. 2, although described as CRT 310, the display device may be not only the CRT but also other display devices such as a liquid crystal display.

  A memory controller 307 is provided in an external storage device (hard disk (HD)), a flexible disk (FD), or a PCMCIA card slot for storing a boot program, various applications, font data, user files, editing files, various data, and the like. Controls access to an external memory 311 such as a CompactFlash (registered trademark) memory connected via an adapter.

  A communication I / F controller 308 is connected to and communicates with an external device via a network, and executes communication control processing on the network. For example, communication using TCP / IP is possible.

  Note that the CPU 301 enables display on the CRT 310 by executing, for example, outline font development (rasterization) processing on a display information area in the RAM 303. Further, the CPU 301 enables a user instruction with a mouse cursor (not shown) on the CRT 310.

  Various programs to be described later for realizing the present invention are recorded in the external memory 311 and are executed by the CPU 301 by being loaded into the RAM 303 as necessary. Further, a setting file used when executing the above program is also stored in the external memory 311, and a detailed description thereof will be described later.

Next, a first embodiment of the present invention will be described with reference to FIGS.
FIG. 4 is a diagram illustrating the operation of the unmanned aerial vehicle 101 according to the first embodiment of the present invention, and is a diagram of the unmanned aircraft 101 and the volcano as viewed from above.

  When the volcano erupts, the unmanned aerial vehicle 101 performs automatic flight at the shortest distance (401 route in FIG. 4) toward the volcano according to the instruction from the control computer 103 obtained from the Japan Meteorological Agency. Take a picture.

  The position information of the volcano is managed by, for example, the data table shown in FIG. 10 in the external memory 311 of the control computer 103, and the flight route of the unmanned aircraft 101 is determined based on the position information.

However, if the wind direction is west as shown in FIG. 4 as shown in FIG. 4 and the unmanned aircraft 101 flies toward the volcano from the west to the east, that is, the unmanned aircraft 101 moves from the lee to the volcano. When shooting, it may be difficult to properly shoot images due to volcanic plumes.
Furthermore, the volcanic blocks scattered from the volcano may hit the unmanned aircraft 101 and the unmanned aircraft 101 may be damaged.

  Therefore, the control computer 103 in the first embodiment of the present invention acquires information on the wind direction and wind speed near the volcano from the weather sensor 104 in advance, so that the unmanned aircraft is not taken from the downwind. The flight route of 101 is changed (in the case of FIG. 4, the detour route indicated by 403 is caused to fly).

  Now, a flowchart showing operation control of the unmanned aerial vehicle 101 by the control computer 103 in the first embodiment of the present invention will be described with reference to FIG.

  Each process illustrated in FIG. 5 is a process executed by the CPU 301 of the control computer 103 operating each function unit.

  In step S501, the control computer 103 determines whether or not a volcano has erupted. If the volcano has not erupted, wait. Whether or not a volcano has erupted may be determined by the control computer 103 receiving eruption information transmitted from the Japan Meteorological Agency system, or information on earthquakes that occur when the volcano erupts is detected by a sensor. It may be determined that an eruption has occurred by detecting at.

  In step S502, the control computer 103 accesses the weather sensor 104 in the vicinity of the volcano, and acquires wind power / wind direction information on the site.

  Step S502, step S703 and step S902, which will be described later, are the position information of the unmanned aerial vehicle in the present invention, the position information of the imaging object that is the object to be imaged by the imaging means of the unmanned aircraft, and the vicinity of the imaging object It is an example of the acquisition means which acquires the information regarding a certain wind.

  In step S <b> 503, the control computer 103 determines whether the flight path to the destination of the unmanned aircraft 101 is leeward based on the on-site wind power / wind direction information. If the wind power is weak at this time, the control computer 103 determines that the influence is slight and does not determine that the wind is downwind.

  The control computer 103 has acquired in advance the information in the data table of FIG. 10 and the information of the GPS unit 250 included in the unmanned aerial vehicle 101 (acquiring means in the present invention). Since the position of the installation point 101 is known, it can be determined from the wind direction information whether the flight path is leeward.

  In the case of FIG. 4, when the volcano is east and the wind direction is west with respect to the installation point of the unmanned aerial vehicle 101, it can be determined that it is leeward. As for wind power, when the wind speed is 3 m or less, the control computer 103 determines that the wind is weak and the scattering state of the cinder and smoke is not affected by the wind, and the flight path of the unmanned aircraft 101 is not changed.

  In step S504, if the flight path is not leeward, the control computer 103 determines that the flight path is not changed (the unmanned aircraft 101 flies to the destination with the shortest distance (path)).

  In step S505, when the flight path is leeward, the control computer 103 changes the flight path in order to prevent the unmanned aircraft 101 from being damaged by a cinder or the like, and to prevent the image from being poorly visible due to fumes. (Unmanned aerial vehicle 101 selects a detour route).

  Steps S503 to S505, Steps S704 to S708, Steps S903 to S905, and Steps S908 to S909, which will be described later, are the position information of the unmanned aircraft acquired by the acquisition unit according to the present invention, and the imaging object. It is an example of the determination means which determines the flight path | route of the said unmanned aircraft to the imaging position which images the said imaging target object using a positional information and the information regarding the said wind.

  In step S506, the control computer 103 causes the unmanned aircraft 101 to fly along the flight path selected in steps S504 and S505.

In step S507, the control computer 103 causes the unmanned aircraft 101 to perform aerial photography. Also, the recording function of the unmanned aircraft 101 is turned on to record the video.
Above, description of 1st Embodiment is complete | finished.

Next, a second embodiment of the present invention will be described with reference to FIGS.
FIG. 6 is a diagram illustrating the operation of the unmanned aerial vehicle 101 according to the second embodiment of the present invention, and is a diagram of the unmanned aircraft 101 and the volcano as viewed from above.
When the flight path of the unmanned aerial vehicle 101 is leeward, the point of changing the flight path is the same as in the first embodiment.

  However, even if the flight route is changed as in the first embodiment, if the volcanic eruption level is high, volcanic blocks scattered from the volcano may hit the unmanned aircraft 101 even if it is not leeward, and the unmanned aircraft 101 may be damaged. There is.

  Therefore, in the second embodiment, the control computer 103 acquires information related to the volcano warning level from the Japan Meteorological Agency in advance, and controls the unmanned aircraft 101 so that it is farther from the volcano than usual when the volcano warning level is high. .

  Now, a flowchart showing the operation control of the unmanned aerial vehicle 101 by the control computer 103 in the second embodiment of the present invention will be described with reference to FIG.

  Each process illustrated in FIG. 7 is a process executed by the CPU 301 of the control computer 103 operating each function unit.

  In step S701, the control computer 103 determines whether the volcano erupted. If the volcano has not erupted, wait.

  In step S <b> 702, the control computer 103 acquires information related to the eruption warning level from the Japan Meteorological Agency.

  In step S703, the control computer 103 accesses the weather sensor 104 in the vicinity of the volcano, and acquires the wind power / wind direction information at the site.

  In step S <b> 704, the control computer 103 determines whether the flight path to the destination of the unmanned aircraft 101 is leeward based on the wind power / wind direction information at the site. At this time, if the wind power is weak, it is judged that the influence is minor and not downwind.

  In step S705, if the flight path is not leeward, the control computer 103 determines that the flight path is not changed (the unmanned aircraft 101 flies to the destination with the shortest distance).

  In step S706, when the flight path is leeward, the control computer 103 changes the flight path to prevent the unmanned aircraft 101 from being damaged by a cinder or the like, and to prevent the image from being poorly visible due to the fumes. (Unmanned aerial vehicle 101 selects a detour route).

  In step S707, the control computer 103 checks whether the eruption warning level acquired in step S702 is 5 or higher. When the eruption warning level is less than 5, the control computer 103 determines not to change the target position.

  In step S708, if the eruption warning level is 5 or more, the control computer 103 determines that a large amount of volcanic blocks are scattered, and resets the target position of the unmanned aircraft 101 to a point away from the crater.

  In step S709, the control computer 103 causes the unmanned aircraft 101 to fly along the flight path selected in steps S705 and S706.

In step S710, the control computer 103 causes the unmanned aircraft 101 to perform aerial photography. Also, the recording function of the unmanned aircraft 101 is turned on to record the video.
This is the end of the description of the second embodiment.
Next, a third embodiment of the present invention will be described with reference to FIGS.

  FIG. 8 is a diagram illustrating the operation of the unmanned aerial vehicle 101 according to the third embodiment of the present invention, and is a diagram of the unmanned aircraft 101 and the volcano as viewed from above.

  When the flight path of the unmanned aerial vehicle 101 is leeward, the flight route is changed in the same way as in the first and second embodiments.

  However, if the flight route is changed as in the first and second embodiments, or if the volcano warning level is high, the unmanned aircraft 101 may be controlled to move away from the volcano more than usual, depending on the case. There is also a possibility that the cinder scattered from the volcano will fly to the position of the unmanned aircraft 101.

  Therefore, in the third embodiment, when the control computer 103 determines that the unmanned aircraft 101 has contacted a cinder or the like by acquiring the information of the sensor 260 included in the unmanned aircraft 101 from the unmanned aircraft 101, In order to prevent the unmanned aircraft 101 from being damaged, the unmanned aircraft 101 is controlled so that the air stop position is kept away from the crater.

  Now, a flowchart showing the operation control of the unmanned aircraft 101 by the control computer 103 in the third embodiment of the present invention will be described with reference to FIG.

  Each process illustrated in FIG. 9 is a process executed by the CPU 301 of the control computer 103 operating each function unit.

  In step S901, the control computer 103 determines whether the volcano erupted. If the volcano has not erupted, wait.

  In step S <b> 902, the control computer 103 accesses the weather sensor 104 in the vicinity of the volcano, and acquires wind power / wind direction information on the site.

  In step S903, the control computer 103 determines whether or not the flight route to the destination of the unmanned aircraft 101 is leeward from the wind power / wind direction information at the site. At this time, if the wind power is weak, it is judged that the influence is minor and not downwind.

  In step S904, if the flight path is not leeward, the control computer 103 determines that the flight path is not changed (the unmanned aircraft 101 flies to the destination with the shortest distance).

  In step S905, when the flight path is leeward, the control computer 103 changes the flight path to prevent the unmanned aircraft 101 from being damaged by cinders and the like, and to prevent the image from being poorly visible due to the fumes. (Unmanned aerial vehicle 101 selects a detour route).

  In step S906, the control computer 103 causes the unmanned aircraft 101 to fly along the flight path selected in steps S904 and S905.

  In step S907, the control computer 103 causes the unmanned aircraft 101 to perform aerial photography. Also, the recording function of the unmanned aircraft 101 is turned on to record the video.

  In step S911, the control computer 103 acquires the information of the sensor 260 (specifically, the attitude sensor) of the unmanned aircraft 101 from the unmanned aircraft 101 while performing the aerial photography of the unmanned aircraft 101. It is confirmed whether or not the sensor 260 is greatly inclined. If the sensor 260 is not tilted significantly, shooting is continued and the process is terminated.

If the sensor 260 is greatly inclined, the control computer 103 determines in step S912 that the unmanned aircraft 101 has come into contact with a cinder or the like, and in order to prevent the unmanned aircraft 101 from being damaged, the aerial stop position of the unmanned aircraft 101 is determined. Keep away from the crater.
This is the end of the description of the third embodiment.

  Note that as another embodiment of the second and third embodiments, after the process of FIG. 7 is executed, the process after step S908 of FIG. 9 may be performed.

  In each embodiment of the present invention, volcanic eruption is assumed, but other disasters may be targeted.For example, when a fire occurs, the location information of the fire occurrence site, the wind direction, the wind direction When the information is acquired and the flight route to the destination of the unmanned aircraft 101 becomes leeward, the detour route may be caused to fly.

  In addition, when lightning or storms are generated on the flight path to the destination of the unmanned aircraft 101, a flight route that avoids them may be caused to fly.

  In each embodiment of the present invention, the control computer 103 executes the processing shown in FIGS. 5, 7, and 9. However, as another embodiment, the CPU 201 of the unmanned aircraft 101 operates each functional unit. Thus, the processing shown in FIGS. 5, 7, and 9 may be executed.

  As described above, according to the present invention, it is possible to reduce the possibility that the imaging of the imaging object by the unmanned airplane is hindered by the influence of the wind near the imaging object.

  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.

  Accordingly, since the functions of the present invention are implemented by computer, the program code installed in the computer also implements 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, or 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 aerial vehicle 102 Relay BOX
103 Control Computer 104 Weather Sensor

Claims (9)

An unmanned aerial vehicle control system including an unmanned aerial vehicle including an imaging unit and an information processing apparatus for instructing the unmanned aircraft,
Acquisition means for acquiring position information of the unmanned aircraft, position information of an imaging target that is an object to be imaged by the imaging means of the unmanned aircraft, and information relating to a wind near the imaging target;
Using the position information of the unmanned aircraft, the position information of the imaging object, and the information related to the wind acquired by the acquisition unit, the flight path of the unmanned aircraft to the imaging position for imaging the imaging object An unmanned aerial vehicle control system comprising: determining means for determining The information on the wind includes the wind direction,
The determining means determines a flight path of the unmanned aircraft so that the unmanned aircraft flies along the shortest path to the imaging position when the unmanned aircraft is not leeward with respect to the imaging target, When the imaging target is leeward, the flight path of the unmanned aircraft is determined so as to fly to the imaging position after flying to a position where it does not become leeward without flying the shortest path. The unmanned aerial vehicle control system according to claim 1. The information about the wind includes wind speed,
When the wind speed value is smaller than a predetermined value, the determining means is configured to fly the shortest path even when the unmanned aircraft is leeward with respect to the imaging object. The unmanned aircraft control system according to claim 2, wherein a flight path of the unmanned aircraft is determined. The acquisition means further acquires information on whether an object has contacted the unmanned aircraft,
The determination unit, when acquiring the information that the object is in contact with the unmanned aircraft by the acquisition unit, than not acquiring the information that the object is in contact with the unmanned aircraft by the acquisition unit 4. The unmanned aerial vehicle control system according to claim 1, wherein a flight path of the unmanned aircraft is determined such that the imaging position is located away from the imaging target. 5.   The unmanned aircraft control system according to claim 1, wherein the imaging object is a natural phenomenon.   The unmanned aerial vehicle control system according to claim 5, wherein the imaging object is an erupting volcano. The acquisition means further acquires eruption warning level information,
When the eruption warning level acquired by the acquisition unit is equal to or higher than a predetermined level, the determination unit is a position where the imaging position is farther from the volcano than when the eruption warning level is lower than a predetermined level. The unmanned aerial vehicle control system according to claim 6, wherein a flight path of the unmanned aircraft is determined so that A control method for an unmanned aerial vehicle control system including an unmanned aerial vehicle including an imaging unit and an information processing apparatus for instructing the unmanned aircraft,
The acquisition unit of the unmanned aerial vehicle control system acquires the position information of the unmanned aircraft, the position information of the imaging target that is the target to be imaged by the imaging unit of the unmanned aircraft, and the information about the wind near the imaging target. An acquisition process to
The determination unit of the unmanned aerial vehicle control system images the imaging object using the position information of the unmanned aircraft, the position information of the imaging object, and the information related to the wind acquired in the acquisition step. And a determining step of determining a flight path of the unmanned aircraft up to the imaging position. A program that can be read and executed by an unmanned aerial vehicle control system that includes an unmanned aerial vehicle including an imaging unit and an information processing apparatus for instructing the unmanned aircraft.
The unmanned aerial vehicle control system,
Acquisition means for acquiring position information of the unmanned aircraft, position information of an imaging target that is an object to be imaged by the imaging means of the unmanned aircraft, and information relating to a wind near the imaging target;
Using the position information of the unmanned aircraft, the position information of the imaging object, and the information related to the wind acquired by the acquisition unit, the flight path of the unmanned aircraft to the imaging position for imaging the imaging object A program characterized by functioning as a determination means for determining

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