JP6733068B2 - Unmanned aerial vehicle control system, unmanned aerial vehicle control method, and program - Google Patents

Description

The present invention relates to an unmanned aerial vehicle control system, an unmanned aerial vehicle control method, and a program.

Conventionally, a technique of flying an unmanned aerial vehicle is known so as to avoid a flight prohibited area where flight is prohibited. For example, Patent Document 1 describes a technique of setting a flight prohibited area based on the position of real estate fixed on the ground so that an unmanned aerial vehicle does not come into contact with real estate such as a tower or a power transmission line.

JP, 2003-127994, A

On the ground, not only real estate but also moving bodies such as people and trains exist. When the moving body moves, the flight prohibited area corresponding to the moving body changes. However, since the flight prohibited area of Patent Document 1 considers only real estate fixed on the ground, there is a possibility that the unmanned aerial vehicle may interfere with the moving body or the moving body may interfere with the unmanned aerial vehicle. ..

The present invention has been made in view of the above problems, and an object of the present invention is to make it possible to fly an unmanned aerial vehicle while avoiding a flight prohibited area that changes according to the movement of a mobile body.

In order to solve the above-mentioned problems, the unmanned aerial vehicle control system according to the present invention includes a mobile unit position acquisition unit that acquires mobile unit position information regarding a current position of a mobile unit that moves on the earth, and the mobile unit position information. Area setting means for setting a flight prohibited area for prohibiting the flight of the unmanned aerial vehicle, and a flight for controlling the flight of the unmanned aerial vehicle so as to avoid the flight prohibited area set based on the moving body position information. And a control means.

An unmanned aerial vehicle control method according to the present invention includes a moving body position acquisition step of acquiring moving body position information regarding a current position of a moving body moving on the earth, and a flight of an unmanned aerial vehicle based on the moving body position information. An area setting step of setting a prohibited flight area, and a flight control step of controlling flight of the unmanned aerial vehicle so as to avoid the prohibited flight area set based on the moving body position information, Characterize.

A program according to the present invention is a mobile body position acquisition means for acquiring mobile body position information regarding a current position of a mobile body moving on the earth, and a flight prohibition for prohibiting flight of an unmanned aerial vehicle based on the mobile body position information. The computer is caused to function as area setting means for setting an area and flight control means for controlling flight of the unmanned aerial vehicle so as to avoid the flight prohibited area set based on the moving body position information.

An information storage medium according to the present invention is a computer-readable information storage medium in which the above program is stored.

Further, in one aspect of the present invention, the unmanned aerial vehicle control system acquires unmanned aerial vehicle position acquisition means for acquiring unmanned aerial vehicle position information regarding the current position of the unmanned aerial vehicle, and destination information regarding a destination of the unmanned aerial vehicle. Further comprising: destination acquisition means, wherein the flight control means avoids the flight prohibited area from the current position of the unmanned aerial vehicle, based on the unmanned aerial vehicle position information and the destination information. Controlling the flight of the unmanned aerial vehicle so as to reach the ground.

Further, according to an aspect of the present invention, the area setting unit determines at least one of a size and a shape of the flight prohibited area based on the moving body position information.

Further, in one aspect of the present invention, the unmanned aerial vehicle control system further includes a status acquisition unit that acquires mobile status information regarding a current status of the mobile, and the area setting unit adds the status information to the mobile status information. Based on the above, the flight prohibited area is set.

Further, in one aspect of the present invention, the moving body situation information relates to a current moving situation of the moving body, and the area setting means, based on the current moving situation indicated by the moving body situation information, The flight prohibited area is set.

Further, in one aspect of the present invention, the unmanned aerial vehicle control system further includes a property acquisition unit that acquires mobile body property information regarding a property of the mobile unit, and the area setting unit based on the mobile unit property information. The flight prohibited area is set.

Further, in one aspect of the present invention, the unmanned aerial vehicle control system further includes movement prediction means for predicting movement of the moving body from a current position based on the moving body position information, and the area setting means is The flight prohibited area is set based on the prediction result of the movement prediction means.

Further, in one aspect of the present invention, the movement prediction unit predicts movement of the moving body in time series, and the region setting unit sets the flight prohibited region at each time point predicted by the movement prediction unit. The flight control means controls the flight of the unmanned aerial vehicle based on a time-series change of the flight prohibited area.

Further, in one aspect of the present invention, the unmanned aerial vehicle control system obtains time information regarding arrival time and distance information regarding a travel distance when the unmanned aerial vehicle flies to a destination while avoiding the flight prohibited area. The flight control means further includes an acquisition means, and the flight control means performs flight control of the unmanned aerial vehicle based on the time information and the distance information.

Further, in one aspect of the present invention, the unmanned aerial vehicle control system further includes a designation receiving unit that receives a designation regarding which of the arrival time and the travel distance is prioritized, and the flight control unit includes the designation receiving unit. The flight control of the unmanned aerial vehicle is performed based on the designation result received by the.

Further, according to an aspect of the present invention, the flight control means controls the flight of the unmanned aerial vehicle so as to avoid the flight prohibited area by making the unmanned aerial vehicle stand by.

Further, in one aspect of the present invention, the moving body is a player or a golf cart moving on a golf course, and the moving body position acquisition means is based on a detection signal of a GPS sensor of the player terminal or the golf cart terminal. The moving body position information indicating the current position of the player or the golf cart is acquired, and the area setting unit sets the flight prohibited area based on the current position of the player or the golf cart, The flight control means controls the flight of the unmanned aerial vehicle carrying luggage to be carried to a predetermined point in the golf course so as to avoid the flight prohibited area set based on the current position of the player or the golf cart. , Is characterized.

According to the present invention, it is possible to fly an unmanned aerial vehicle while avoiding a flight prohibited area that changes according to the movement of a mobile body.

It is a figure which shows the whole structure of an unmanned aerial vehicle control system. It is a figure for explaining a luggage storage part, and is an external view of an unmanned aerial vehicle. It is a figure which shows a mode that a player orders goods. It is a figure which shows a mode that the product which the player ordered is delivered. It is a functional block diagram which shows an example of the function implement|achieved by an unmanned aerial vehicle control system. It is a figure which shows an example of map data. It is a figure which shows an example of the receiving point data. It is a figure which shows a mode that a flight prohibition area is set. It is a figure which shows a mode that a flight prohibition area is set. It is a figure which shows a mode that a flight prohibition area is set. It is a figure which shows a mode that a flight prohibition area is set. It is a figure which shows the flight route which avoids a flight prohibition area. It is a flow figure showing an example of processing performed in an unmanned aerial vehicle control system. It is a figure which shows the detail of a flight prohibition area avoidance process. It is a functional block diagram of a modification. It is a figure which shows the flight prohibition area set when a player is moving. It is a figure which shows the flight prohibition area set when a player is stopping. It is a figure which shows the setting method of the flight prohibition area|region in a modification (3).

[1. Overall configuration of unmanned aerial vehicle control system]
Hereinafter, an example of an embodiment of an unmanned aerial vehicle control system according to the present invention will be described. In the present embodiment, the processing related to the unmanned aerial vehicle control system will be described by exemplifying a scene in which an unmanned aerial vehicle delivers a product ordered by a player who is in a round at a golf course.

FIG. 1 is a diagram showing an overall configuration of an unmanned aerial vehicle control system. As shown in FIG. 1, the unmanned aerial vehicle control system 1 includes an administrator terminal 10, an unmanned aerial vehicle 20, and a mobile terminal 30. The administrator terminal 10, the unmanned aerial vehicle 20, and the mobile terminal 30 are connected to each other via a network so that data can be transmitted and received. In FIG. 1, the administrator terminal 10, the unmanned aerial vehicle 20, and the mobile terminal 30 are shown one by one, but a plurality of these may be provided.

The administrator terminal 10 is a computer operated by an administrator, and is, for example, a personal computer, a server computer, or a portable terminal (including a tablet terminal or a smartphone). The manager is a person who manages the unmanned aerial vehicle control system 1, and is, for example, a golf course clerk who provides a product delivery service. For example, the administrator terminal 10 may be operated by an administrator in or near a clubhouse on a golf course. The administrator terminal 10 includes a control unit 11, a storage unit 12, a communication unit 13, an operation unit 14, and a display unit 15.

The control unit 11 includes, for example, at least one microprocessor. The control unit 11 executes processing according to the programs and data stored in the storage unit 12. The storage unit 12 includes a main storage unit and an auxiliary storage unit. For example, the main storage unit is a volatile memory such as a RAM, and the auxiliary storage unit is a non-volatile memory such as a hard disk or a flash memory. The communication unit 13 includes a communication interface for wired communication or wireless communication. The communication unit 13 performs data communication via the network. The operation unit 14 is an input device, and is, for example, a touch panel, a pointing device such as a mouse, a keyboard, or the like. The operation unit 14 transmits the operation content to the control unit 11. The display unit 15 is, for example, a liquid crystal display unit, an organic EL display unit, or the like. The display unit 15 displays a screen according to an instruction from the control unit 11.

The unmanned aerial vehicle 20 is an aircraft that does not carry a person, and is, for example, a battery-driven unmanned aerial vehicle (so-called drone) or an engine-driven unmanned aerial vehicle. In this embodiment, it is assumed that the unmanned aerial vehicle 20 has a departure/arrival point near the clubhouse and is under the control of an administrator. The unmanned aerial vehicle 20 includes a control unit 21, a storage unit 22, a communication unit 23, a sensor unit 24, and a luggage storage unit 25. The hardware configurations of the control unit 21, the storage unit 22, and the communication unit 23 are the same as those of the control unit 11, the storage unit 12, and the communication unit 13, respectively, and thus description thereof will be omitted. The unmanned aerial vehicle 20 also includes a general physical structure such as a propeller motor battery, but the description thereof is omitted here.

The sensor unit 24 includes a camera 24A and a GPS sensor 24B. The camera 24A includes an image sensor such as a CCD image sensor or a CMOS image sensor, and records an image (still image or moving image) captured by the image sensor as digital data. The GPS sensor 24B includes a receiver that receives a signal from a satellite, and detects position information based on the signal received by the receiver. Note that any sensor may be mounted on the unmanned aerial vehicle 20, and the sensor unit 24 includes an infrared sensor, a voice sensor (microphone), a wind direction wind speed sensor, an acceleration sensor, a gyro sensor, a geomagnetic sensor, an altitude sensor, a displacement sensor, A temperature sensor, a heat detection sensor, or the like may be included.

The luggage storage unit 25 includes a fixing member for fixing luggage to the unmanned aerial vehicle 20. FIG. 2 is a diagram for explaining the luggage storage unit 25, and is an external view of the unmanned aerial vehicle 20. As shown in FIG. 2, for example, the luggage storage unit 25 includes a frame 25A having a space for storing luggage. For example, when the product ordered by the player is stored in a box and transported, the frame 25A has a size such that the box can be placed and fixed inside the frame 25A.

In addition, the luggage storage unit 25 includes an arm 25B that supports the luggage that is being delivered from falling down and a fixing member 25C that has a known locking mechanism. When the manager places the load on the arm 25B, the manager closes the fixing member 25C and fixes the load so that the load does not move in the horizontal direction. The arm 25B can be opened and closed by the rotation of a motor (not shown). When the unmanned aerial vehicle 20 lands at a predetermined receiving point, the arm 25B opens downward, and the number of pieces of luggage placed on the arm 25B increases. It can be placed on the ground by dropping down about cm.

Note that the luggage storage unit 25 is not limited to the above example as long as it has a space for storing and fixing luggage. For example, it may have an arm for fixing the luggage by sandwiching it from the left-right direction and the vertical direction, or may have a magnet for fixing the luggage by magnetic force. Further, for example, the luggage storage unit 25 may have a storage container for storing luggage, a net, a bag, or the like.

The mobile terminal 30 is a computer that moves together with the mobile, and is, for example, a portable terminal (including a tablet terminal or a smartphone) or a personal computer. The moving body is an object that moves on the earth, and is, for example, an animal such as a person, a car, a motorcycle, or a train. In other words, the moving body is an object that sets the flight prohibited area. In the present embodiment, a case where the player moving on the golf course is a moving body will be described. The mobile terminal 30 is a portable terminal and is stored, for example, in a pocket of clothes worn by the player.

The mobile terminal 30 includes a control unit 31, a storage unit 32, a communication unit 33, an operation unit 34, a display unit 35, and a GPS sensor 36. The hardware configurations of these are the same as those of the control unit 11, the storage unit 12, the communication unit 13, the operation unit 14, the display unit 15, and the GPS sensor 24B, and thus the description thereof will be omitted.

The programs and data described as being stored in the storage units 12, 22, 32 may be supplied via a network. The hardware configurations of the administrator terminal 10, the unmanned aerial vehicle 20, and the mobile terminal 30 are not limited to the above examples, and various computer hardware can be applied. For example, each of the administrator terminal 10, the unmanned aerial vehicle 20, and the mobile terminal 30 may include a reading unit (for example, an optical disk drive or a memory card slot) that reads a computer-readable information storage medium. In this case, the program or data stored in the information storage medium may be supplied via the reading unit.

[2. Overview of processing of unmanned aerial vehicle control system]
Next, the outline of the processing of the unmanned aerial vehicle control system 1 will be described with reference to FIGS. 3 and 4. FIG. 3 is a diagram showing how a player orders a product, and FIG. 4 is a diagram showing how a product ordered by a player is delivered.

As shown in FIG. 3, when the player operates the operation unit 34 to start a dedicated application or connects to a predetermined website from a web browser, an order screen 40A for selecting a hole being played. Is displayed on the display unit 35. When the player selects the hole being played from the order screen 40A, the order screen 40B indicating the place of receipt of the product is displayed. The merchandise receiving point is set, for example, at a predetermined place in a hole after the hole in play.

When the player selects the order button 41 on the order screen 40B, the order screen 40C showing the product list 42 is displayed. When the player selects the icon 43 in the list 42, the product can be added to the shopping cart. An upper limit is set for the total weight of the products that can be delivered by the unmanned aerial vehicle 20, and a relationship 44 between the total weight of the products placed in the shopping cart and the upper limit is displayed on the order screen 40C. When the player performs a predetermined operation for ordering the products placed in the shopping cart, the mobile terminal 30 transmits the order details to the administrator terminal 10, and a message indicating that the order is completed is displayed on the order screen 40D. ..

When the administrator terminal 10 receives the order details from the mobile terminal 30, the order acceptance screen 50 shown in FIG. 4 is displayed on the display unit 15. The administrator confirms the order contents from the order reception screen 50, puts the product in a dedicated box, stores it in the frame 25A of the luggage storage unit 25, and closes and locks the fixing member 25C. When the administrator operates the operation unit 14 and selects the delivery start button 51, a delivery instruction of the package is transmitted from the administrator terminal 10 to the unmanned aerial vehicle 20. In the present embodiment, it is assumed that the shortest flight route from the clubhouse C to the receiving point Q is included in the delivery instruction. It should be noted that the flight route may indicate not only the position to fly, but also a flight plan including passing times at the respective positions. The unmanned aerial vehicle 20 starts to fly based on the flight route included in the delivery instruction.

While the unmanned aerial vehicle 20 is flying, the administrator terminal 10 receives the current position from the unmanned aerial vehicle 20 and the mobile terminal 30 so that the unmanned aerial vehicle 20 does not fly near each player during the round and the expected trajectory of the shot. , Adjust the flight route. When the flight route needs to be changed, the administrator terminal 10 transmits the new flight route to the unmanned aerial vehicle 20. The unmanned aerial vehicle 20 changes the flight route based on the received new flight route. Thus, the unmanned aerial vehicle control system 1 avoids the vicinity of the player and the expected trajectory of the shot until the unmanned aerial vehicle 20 starts to deliver the merchandise, finishes delivering the merchandise, and returns to the club house C. It is supposed to adjust the flight route. Hereinafter, details of the technique will be described.

[3. Functions realized in unmanned aerial vehicle control systems]
FIG. 5 is a functional block diagram showing an example of functions implemented by the unmanned aerial vehicle control system 1. As shown in FIG. 5, in the unmanned aerial vehicle control system 1, the data storage unit 100, the unmanned aerial vehicle position acquisition unit 101, the mobile unit position acquisition unit 102, the area setting unit 103, the destination acquisition unit 104, and the flight control unit 105 are provided. Will be realized. In this embodiment, a case where each of these functions is realized in the administrator terminal 10 will be described.

[3-1. Data storage]
The data storage unit 100 is realized mainly by the storage unit 12. The data storage unit 100 stores data for determining the flight route of the unmanned aerial vehicle 20. Here, as the data stored in the data storage unit 100, map data of an area in which the unmanned aerial vehicle 20 flies and receiving point data indicating a receiving point which is an example of a destination of the unmanned aerial vehicle 20 will be described.

FIG. 6 is a diagram showing an example of map data. In the present embodiment, since the unmanned aerial vehicle 20 flies over the golf course, the map data may be a course map showing the layout of each course, as shown in FIG. The map indicated by the map data may be a two-dimensional map including only planar information or a three-dimensional map including height information. The map data of FIG. 6 shows the layout of each golf course of the first hole H1 to the ninth hole H9. For example, the map data includes latitude and longitude information of each position on the map. In other words, the map data includes latitude and longitude information of the area shown on the map. The latitude/longitude information is information for identifying the north-south position and the east-west direction position on the earth, and is indicated by numerical values of degrees, minutes, and seconds, for example.

It is assumed that an arbitrary position in the map indicated by the map data is registered in advance in the data storage unit 100 as a departure/arrival location of the unmanned aerial vehicle 20. In this embodiment, since the unmanned aerial vehicle 20 has a departure/arrival point near the club house C, the latitude/longitude information of the position P near the club house C is registered as the unmanned aerial vehicle 20 departure/arrival point.

FIG. 7 is a diagram showing an example of the receiving point data. As shown in FIG. 7, the receiving point data defines the relationship between the hole being played selected by the player from the order screen 40A and the receiving point identification information. For example, the latitude/longitude information of the receiving place may be stored as the identification information of the receiving place. In this embodiment, positions Q5 to Q9 near the tee ground of the fifth hole H5 to the ninth hole H9 are designated as the receiving point. Which of these five positions Q5 to Q9 is selected as the receiving point depends on the hole selected by the player.

The data stored in the data storage unit 100 is not limited to the above example. For example, the data storage unit 100 may store product data regarding products and player data regarding players. For example, in the product data, an image, detailed description, inventory, weight, volume, etc. of the product are stored for each product, which is referred to for displaying the order screen 40C. Further, the player data may store, for each player, an account of the player, personal information, settlement information of the product, identification information of the mobile terminal 30, and the like.

[3-2. Unmanned Aircraft Position Acquisition Department]
The unmanned aerial vehicle position acquisition unit 101 is realized mainly by the control unit 11. The unmanned aerial vehicle position acquisition unit 101 acquires unmanned aerial vehicle position information regarding the current position of the unmanned aerial vehicle 20. The unmanned aerial vehicle position information may be any information that can identify the position of the unmanned aerial vehicle 20, and here, the case where the latitude/longitude information detected by the GPS sensor 24B is used as the unmanned aerial vehicle position information will be described. The unmanned aerial vehicle position information may be base station information (for example, wireless LAN access point information) with which the communication unit 33 of the unmanned aerial vehicle 20 wirelessly communicates.

For example, the unmanned aerial vehicle position acquisition unit 101 executes a timekeeping process, and acquires the latest unmanned aerial vehicle position information every time a fixed time elapses. In the present embodiment, since the unmanned aerial vehicle position acquisition unit 101 is realized by the administrator terminal 10, the unmanned aerial vehicle position acquisition unit 101 acquires the unmanned aerial vehicle position information for the unmanned aerial vehicle 20 every time a certain period of time elapses. Submit your request. Upon receiving the acquisition request, the unmanned aerial vehicle 20 transmits the latitude and longitude information detected by the GPS sensor 24B to the administrator terminal 10 as the unmanned aerial vehicle position information. The unmanned aerial vehicle position acquisition unit 101 receives the transmitted unmanned aerial vehicle position information.

Even if the acquisition request is not transmitted as described above, the unmanned aerial vehicle 20 executes the timekeeping process, and the unmanned aerial vehicle 20 transmits the unmanned aerial vehicle position information to the administrator terminal 10 every time a predetermined time elapses. You may do it. In addition, in the present embodiment, the case where the unmanned aerial vehicle position acquisition unit 101 periodically acquires the unmanned aerial vehicle position information has been described. The position information may be acquired.

[3-3. Mobile unit position acquisition unit]
The moving body position acquisition unit 102 is realized mainly by the control unit 11. The moving body position acquisition unit 102 acquires moving body position information regarding the current position of the moving body moving on the earth. The moving body position information may be any information as long as the position of the moving body can be specified, and here, the case where the latitude/longitude information detected by the GPS sensor 36 is used as the moving body position information will be described. That is, in the present embodiment, since the mobile terminal 30 is provided with the GPS sensor 36, the mobile position acquisition unit 102 determines the current position of the player based on the detection signal of the GPS sensor 36 of the mobile terminal 30. The mobile unit position information indicating is acquired. The mobile body position information may be base station information (for example, wireless LAN access point information) with which the communication unit 33 of the mobile terminal 30 wirelessly communicates.

For example, the moving body position acquisition unit 102 determines whether the unmanned aerial vehicle 20 has approached a predetermined location based on the unmanned aerial vehicle position information acquired by the unmanned aerial vehicle position acquisition unit 101. Then, when it is determined that the unmanned aerial vehicle 20 has approached the predetermined place, the mobile body position acquisition unit 102 transmits a mobile body position information acquisition request to the mobile body terminal 30. Since the unmanned aerial vehicle 20 should not interfere with all players in the round, the acquisition request is transmitted to the mobile terminals 30 of all the players in the round as well as the ordering player. When the mobile terminal 30 of each player receives the acquisition request, the latitude/longitude information detected by the GPS sensor 36 is transmitted to the administrator terminal 10 as mobile body position information. The mobile body position acquisition unit 102 receives the transmitted mobile body position information.

For example, the predetermined place may be each hole in the golf course. Therefore, the moving body position acquisition unit 102 determines whether or not the unmanned aerial vehicle 20 has approached any hole based on the unmanned aerial vehicle position information and the map data. When the mobile body position acquisition unit 102 determines that the unmanned aerial vehicle 20 approaches any of the halls, the mobile body position acquisition unit 102 transmits an acquisition request to each mobile terminal 30.

Note that the moving body position information is not acquired at the timing according to the position of the unmanned aerial vehicle 20 as described above, but the moving body position acquisition unit 102 irregularly moves the moving body position information at a randomly determined timing or the like. May be obtained. Further, the moving body position acquisition unit 102 may periodically acquire the moving body position information, instead of irregularly acquiring the moving body position information. For example, the mobile body position acquisition unit 102 may perform timekeeping processing and acquire the latest mobile body position information every time a certain period of time elapses. In this case, the mobile body position acquisition unit 102 may transmit a mobile body position information acquisition request to the mobile terminal 30 each time a certain period of time elapses. Even if the acquisition request is not transmitted as described above, the mobile terminal 30 executes the timekeeping process, and the mobile terminal 30 transmits the mobile position information to the administrator terminal 10 every time a predetermined time elapses. It may be done.

Moreover, although the case where the mobile body position information is acquired by using the GPS sensor 36 of the mobile terminal 30 has been described, the mobile body position information is acquired by using the camera 24A of the unmanned aerial vehicle 20. Good. In this case, the moving body position information may be information indicating a relative positional relationship between the unmanned aerial vehicle 20 and the player. Alternatively, for example, when the sensor unit 24 includes a heat detection sensor, the moving body position information may be acquired based on the detection result of the heat detection sensor.

[3-4. Area setting section]
The area setting unit 103 is realized mainly by the control unit 11. The area setting unit 103 sets a flight prohibited area in which the unmanned aerial vehicle 20 is prohibited from flying based on the moving body position information. In the present embodiment, the case where the golf player is a moving body will be described. Therefore, the area setting unit 103 sets the flight prohibited area based on the current position of the player.

The flight prohibited area is set to an area where the unmanned aerial vehicle 20 may fly, and may mean, for example, an area where the unmanned aerial vehicle 20 interferes with the flight of the unmanned aerial vehicle 20, or the player may fly the unmanned aerial vehicle 20. It may mean an obstructing area. In other words, the flight prohibited area may mean an area where the unmanned aerial vehicle 20 may come into contact with the player or a hit ball when the unmanned aerial vehicle 20 flies, or when the unmanned aerial vehicle 20 flies, the player uncomfortable or annoyed. It may also mean a potentially dangerous area.

The area setting unit 103 sets a flight prohibited area at a position determined based on the moving body position information. For example, the area setting unit 103 may set the flight prohibited area so as to include the position indicated by the mobile body position information. In this case, the position indicated by the mobile body position information may be any position within the flight prohibited area, for example, it may be the center of gravity of the flight prohibited area, or a position different from the center of gravity. You may do it. Further, for example, the area setting unit 103 may set the flight prohibited area within a predetermined distance from the position so that the position indicated by the mobile unit position information is not included. In this case, the area setting unit 103 may set the flight prohibited area so as to surround the position indicated by the moving body position information, or may be set between the position indicated by the unmanned aircraft position information and the position indicated by the moving body position information. You may set the no-fly zone.

The size and shape of the flight prohibited area may be a fixed size and a fixed shape irrespective of the mobile body position information, but in the present embodiment, the area setting unit 103 determines the flight prohibited area based on the mobile body position information. A case will be described where at least one of the size and the shape is determined. In other words, at least one of the size and the shape of the flight prohibited area changes according to the moving body position information. The size means the area of the flight prohibited area, and the shape means the contour shape of the flight prohibited area. Here, the case where both the size and the shape of the flight prohibited area are variable will be described, but only one of them may be variable.

The relationship between the moving body position information and the size and shape of the flight prohibited area may be described in the program, or may be stored in the data storage unit 100 as data in a mathematical expression format or a table format. It can be said that the above relationship shows the relationship between the position on the earth and the size and shape of the no-fly area. The area setting unit 103 sets a flight prohibited area having a size and shape associated with the moving body position information acquired by the moving body position acquisition unit 102. In addition, in this embodiment, the said relationship shall be defined for every hole in a golf course.

8 to 11 are diagrams showing how the flight prohibited area is set. Here, the flight prohibited area set when the player is in the ninth hole H9 will be described as an example. As shown in FIG. 8, the ninth hole H9 is divided into a plurality of small areas H91 to H93. The small areas H91 to H93 are areas in the early stages of holes, the middle stages, and the final stages, respectively. Since the range in which the unmanned aerial vehicle 20 flies when the unmanned aerial vehicle 20 flies is different for each small area, the size and shape of the flight prohibited area are made to differ depending on the small area.

For example, when the position indicated by the moving body position information is included in the small area H91, the area setting unit 103 sets the moving body position information and the reference direction V91 associated with the small area H91 as shown in FIG. Based on this, the flight prohibited area A91 is set. The reference direction V91 is a standard projecting direction when the ball is in the small area H91, and is, for example, the front direction when viewed from the tee ground. That is, the reference direction V91 is the direction in which the player is expected to fly the ball from the small area H91, or the direction in which the player in the small area H91 is expected to see. In other words, the reference direction V91 is a direction in which the flight prohibited area A91 expands when viewed from the position M1 indicated by the mobile body position information.

In the example illustrated in FIG. 9, the area setting unit 103 sets a flight prohibited area A91 including a circular area having a radius L1 including the position M1 and a fan-shaped area determined based on the position M1 and the reference direction V91. The fan-shaped region is a region having a predetermined center angle with the position M1 as the center and a line segment of length L2 extending from the position M1 in the reference direction V91 as the radius. The circular area is for preventing the unmanned aerial vehicle 20 from flying around the player. That is, the circular area is for preventing the unmanned aerial vehicle 20 from coming into contact with the player and for preventing the flight sound of the unmanned aerial vehicle 20 from disturbing the ears of the player. On the other hand, the fan-shaped region is for preventing the unmanned aerial vehicle 20 from flying around the trajectory, and prevents the unmanned aerial vehicle 20 from being in the sight of the player and prevents the unmanned aerial vehicle 20 from contacting the ball. It is also for doing.

Further, for example, when the position indicated by the moving body position information is included in the small region H92, the region setting unit 103, as illustrated in FIG. 10, the moving body position information and the reference direction V92 associated with the small region H92. The flight prohibited area A92 is set based on For example, the area setting unit 103 sets a flight prohibited area A92 including a circular area having a radius L3 including the position M2 indicated by the moving body position information, and a fan-shaped area determined based on the position M2 and the reference direction V92. The reference direction V92 is a direction different from the reference direction V91, and is, for example, a direction from any point in the small region H92 toward a pin in the green. The radii L3 and L4 are different from the radii L1 and L2, respectively. Therefore, the size and shape of the flight prohibited area A92 are different from the size and shape of the flight prohibited area A91.

Further, for example, when the position indicated by the mobile unit position information is included in the small region H93, the region setting unit 103, as shown in FIG. 11, prohibits the flight of the circular region of radius L5 including the position M3 indicated by the mobile unit position information. The area A93 is set. In this way, the flight prohibited area A93 may be set without using the reference direction. Further, since the small area H93 has a green, the radius L5 may be set longer than the radii L3 and L4 so that the player can easily concentrate on the putt. The flight prohibited area A93 does not include a fan-shaped area, and thus is different from the size and shape of the flight prohibited areas A91 and A92.

The flight prohibited area may have any shape, and is not limited to the above-described circular shape, fan shape, or a combination thereof. The flight prohibited area may be a polygon such as a triangle or a quadrangle, or may be an ellipse.

[3-5. Destination acquisition section]
The destination acquisition unit 104 is realized mainly by the control unit 11. The destination acquisition unit 104 acquires destination information regarding the destination of the unmanned aerial vehicle 20. The destination is the destination of the unmanned aerial vehicle 20, and in the present embodiment, the receiving place of the product ordered by the player or the departure/arrival place of the unmanned aerial vehicle 20 which has finished the delivery. Therefore, in the present embodiment, the destination acquisition unit 104 acquires the latitude/longitude information of any of the receiving points indicated in the receiving point data or the latitude/longitude information registered as the departure/arriving point as the destination information. It will be.

When the destination of the unmanned aerial vehicle 20 can be freely set, the destination may be input from the operation units 14 and 34. That is, the destination acquisition unit 104 may acquire the destination information from the data storage unit 100, or may acquire the destination information input from the operation units 14 and 34. Further, although the case where the destination is set will be described in the present embodiment, the destination may not be set particularly as in the case where the unmanned aerial vehicle 20 circulates over the golf course. ..

[3-6. Flight controller]
The flight control unit 105 is realized mainly by the control unit 11. The flight control unit 105 controls the flight of the unmanned aerial vehicle 20 so as to avoid the flight prohibited area set based on the mobile body position information. In the present embodiment, the case where the flight control unit 105 is realized in the administrator terminal 10 will be described. Therefore, transmitting the flight route to the unmanned aerial vehicle 20 corresponds to controlling the flight of the unmanned aerial vehicle 20. ..

For example, the flight control unit 105 determines a flight route that avoids the flight prohibited area based on the route search algorithm. A flight route that avoids a no-fly zone means that the flight route does not enter the no-fly zone at all, or the distance, percentage, or flight time of the flight route in the part that is in the no-fly zone is less than a threshold value. Means Various known algorithms can be applied to the route search algorithm itself, and for example, a shortest route search algorithm such as the Dijkstra method or the Aster method may be used. For example, the flight control unit 105 determines a flight route that avoids the flight prohibited area by setting a flight prohibited area as an obstacle in these publicly known route search algorithms and executing a route search that avoids the obstacle.

For example, the flight control unit 105 may compare the current flight route with the flight prohibited area to determine whether the current flight route avoids the flight prohibited area. The flight control unit 105 does not change the flight route when it determines that the current flight route avoids the flight prohibited area. On the other hand, when the flight control unit 105 determines that the current flight route does not avoid the flight prohibited area, the flight control unit 105 newly acquires a flight route that avoids the flight prohibited area.

FIG. 12 is a diagram showing a flight route that avoids a flight prohibited area. As shown in FIG. 12, since the current flight route R0 crosses the flight prohibited area A92, the flight control unit 105 determines that the current flight route R0 does not avoid the flight prohibited area A92. Then, the flight control unit 105 acquires a new flight route R1 that avoids the flight prohibited area A92 based on the route search algorithm. In the example of FIG. 12, the new flight route R1 is a flight route in which the unmanned aerial vehicle 20 flies to the destination without passing through the flight prohibited area.

For example, in the case of an outbound flight, the flight control unit 105 sets the current position of the unmanned aerial vehicle 20 or the position of the departure point as the departure point, the position of the receiving point as the arrival point, and the flight prohibited area as the obstacle. Then, the route search algorithm may be executed to acquire a new flight route. On the other hand, if it is the return flight, the flight control unit 105 sets the current position of the unmanned aerial vehicle 20 or the position of the receiving point as the departure point, the position of the departure point of the unmanned aircraft 20 as the arrival point, and the flight prohibited area. A new flight route may be obtained by executing the route search algorithm after setting the obstacle as an obstacle.

As described above, in the present embodiment, the destination of the unmanned aerial vehicle 20 is determined, and thus the flight control unit 105 determines from the current position of the unmanned aerial vehicle 20 based on the unmanned aerial vehicle position information and the destination information. The flight of the unmanned aerial vehicle 20 is controlled so as to reach the destination while avoiding the no-fly area. Further, in the present embodiment, the case where the golf player is a moving body will be described. Therefore, the flight control unit 105 determines whether or not the flight prohibition area set based on the player's current position is set within the golf course. It will control the flight of the unmanned aerial vehicle 20 with the luggage carried to the point.

The method of acquiring the flight route that avoids the flight prohibited area is not limited to the above example. For example, the flight control unit 105 may move a portion of the current flight route included in the flight prohibited area toward the outside of the flight prohibited area without recalculating a new flight route by the route search algorithm. May obtain a new flight route. That is, the flight control unit 105 may acquire the flight route that bypasses the flight prohibited area by an arbitrary method.

[4. Processing executed in unmanned aerial vehicle control system]
FIG. 13 is a flowchart showing an example of processing executed in unmanned aerial vehicle control system 1. The processing illustrated in FIG. 13 is executed by the control units 11, 21, and 31 operating according to the programs stored in the storage units 12, 22, and 32, respectively. In the present embodiment, the functional blocks shown in FIG. 5 are realized by executing the processing described below.

As shown in FIG. 13, first, in the mobile terminal 30, the control unit 31 causes the display unit 35 to display the order screen 40 and accepts the product order from the player (S1). In S1, an order operation is performed according to the flow described with reference to FIG. For example, the hole selected by the player from the order screen 40A is transmitted from the mobile terminal 30 to the administrator terminal 10, and the information on the receiving point associated with the selected hole in the receiving point data is transferred from the administrator terminal 10 to the moving terminal. It is transmitted to the terminal 30. When the player selects the order button 41 on the order screen 40B, a predetermined notification is transmitted from the mobile terminal 30 to the administrator terminal 10, and the product information indicated by the product data is transmitted from the administrator terminal 10 to the mobile terminal 30. It The order is confirmed when the player selects a product from the order screen 40C and performs a predetermined operation.

When a predetermined operation is performed on the order screen 40C, the control unit 31 transmits the order details to the administrator terminal 10 (S2). The order content transmitted in S2 includes the identification information of the mobile terminal 30 and the information about the product ordered by the player. In the administrator terminal 10, when the order content is received, the control unit 11 causes the display unit 15 to display the order acceptance screen 50 for notifying the administrator of the ordered product (S3). After that, the administrator puts the product ordered by the player in a box and stores and fixes it in the luggage storage unit 25.

When the administrator selects the delivery instruction button 51, the control unit 11 determines the shortest route to the receiving point as the initial flight route of the outward route based on the map data and the receiving point data, and starts the delivery to the unmanned aerial vehicle 20. The instruction is transmitted (S4). In S4, the control unit 11 acquires the latitude/longitude information of the departure point registered in the storage unit 12 and the latitude/longitude information of the receiving point stored in the receiving point data. Then, the control unit 11 refers to the map data, acquires the latitude/longitude information on the shortest route from the departure point to the receiving point, and determines it as the initial flight route of the outward route. The delivery start instruction includes the initial flight route on the outward route.

In the unmanned aerial vehicle 20, when the delivery start instruction is received, the control unit 21 starts the flight based on the initial flight route of the outward route (S5). Note that various known autonomous flight controls can be applied to the method itself for flying based on the designated flight route. For example, the unmanned aerial vehicle 20 controls the rotation of each propeller so that the unmanned aerial vehicle position information detected by the GPS sensor 24B is set as the current position of the own aircraft and the unmanned aerial vehicle 20 moves on the latitude and longitude indicated by the flight route. For example, the unmanned aerial vehicle 20 does not move in the horizontal direction when the rotation speeds of the propellers are the same or substantially the same, and when the rotation speeds of the propellers are different, the unmanned aerial vehicle 20 advances in the direction of the propeller having a relatively small rotation speed. Therefore, the parameter indicating the rotation speed of each propeller may be determined so that the rotation speed of the propeller on the flight direction side indicated by the flight route is relatively lowered. The unmanned aerial vehicle 20 may identify the attitude and orientation of the own aircraft by using a gyro sensor or a geomagnetic sensor.

When the unmanned aerial vehicle 20 starts to fly, a flight prohibited area avoidance process is executed between the administrator terminal 10 and the unmanned aerial vehicle 20 to avoid the flight prohibited area on the outward route (S6).

FIG. 14 is a diagram showing details of the flight prohibited area avoidance processing. As shown in FIG. 14, in the unmanned aerial vehicle 20, the control unit 21 periodically transmits the unmanned aerial vehicle position information detected by the GPS sensor 24B to the administrator terminal 10 (S100). In S100, the control unit 21 executes the timekeeping process, and transmits the latest unmanned aircraft position information to the administrator terminal 10 every time a fixed time has elapsed.

In the administrator terminal 10, when the unmanned aerial vehicle position information is received, the control unit 11 determines which hall the unmanned aerial vehicle 20 has approached based on the unmanned aerial vehicle position information and the map data (S101). Since the latitude and longitude information of each hole is shown in the map data, the control unit 11 determines in S101 whether the distance between the position indicated by the unmanned aircraft position information and each hole is less than a threshold value. become.

If it is not determined that the player has approached any of the holes (S101; N), the flight prohibited area avoidance processing ends. In this case, since it is highly likely that the unmanned aerial vehicle 20 has not flew near the course and there is no player nearby, it is assumed that there is no need to change the flight route, and flight continues with the current flight route.

On the other hand, when it is determined that the player has approached any of the holes (S101; Y), the control unit 11 transmits a mobile unit position information acquisition request to each mobile unit terminal 30 and acquires the mobile unit position information. (S102). In S102, the control unit 11 transmits the acquisition request to the mobile terminal 30 of not only the player who placed the order but also all the players in the round to acquire the mobile body position information.

It is assumed that the administrator terminal 10 and the mobile terminal 30 of each player are connected in advance so that data can be transmitted and received. Further, identification information (for example, IP address or individual identification information) for identifying the mobile terminal 30 of each player is stored in the storage unit 12 in advance, and the control unit 11 determines the mobile unit based on the identification information. Send a request to acquire location information. It is assumed that the mobile terminal 30 of each player is preset to automatically provide the mobile position information when the acquisition request is received.

The control unit 11 determines whether or not the player is in the hole approached by the unmanned aerial vehicle 20, based on the map data and the moving body position information (S103). In S103, the control unit 11 determines whether or not the moving body position information within the hall to which the unmanned aerial vehicle 20 approaches or within a predetermined distance from the hall is detected.

When it is determined that there is no player (S103; N), the flight prohibited area avoidance processing ends. In this case, there is no player in the hole where the unmanned aerial vehicle 20 is approaching, and it is safe to cross the hole as it is, so the flight is continued with the current flight route.

On the other hand, when it is determined that there is a player (S103; Y), the control unit 11 sets the flight prohibited area in the hole approached by the unmanned aerial vehicle 20 based on the moving body position information (S104). In step S104, the control unit 11 determines the size and shape of the flight prohibited area based on the position information of the moving body within the hole that the unmanned aerial vehicle 20 approaches or within a predetermined distance from the hole. The control unit 11 sets the flight prohibited area having the determined size and shape on the map indicated by the map data.

The control unit 11 determines whether the current flight route crosses the flight prohibited area set in S104 (S105). In S105, the control unit 11 determines whether the latitude/longitude information on the flight route is included in the flight prohibited area.

If it is not determined to cross the flight prohibited area (S105; N), the flight prohibited area avoidance processing ends. In this case, although the player is in the hole to which the unmanned aerial vehicle 20 is approaching, it does not fly in the vicinity of the unmanned aerial vehicle 20 and may cross the hole as it is.

On the other hand, when it is determined to cross the flight prohibited area (S105; Y), the control unit 11 determines a new flight route so as to avoid the flight prohibited area set in S104 and transmits it to the unmanned aerial vehicle 20. Yes (S106). In S106, the control unit 11 sets the flight prohibited area from the latest unmanned aircraft position information to the destination (the receiving point for the outbound flight, the departure point for the return flight) based on the route search algorithm. Calculate the detour flight route.

In the unmanned aerial vehicle 20, when the new flight route is received, the control unit 21 changes to the new flight route (S107), and the flight prohibited area avoidance process ends. In S107, the control unit 21 switches the flight route referred to in the autonomous flight control to a new flight route.

Returning to FIG. 13, when the flight prohibited area avoidance process of S6 is executed, in the unmanned aerial vehicle 20, the control unit 21 determines whether or not the unmanned aerial vehicle has arrived at the receiving point based on the unmanned aerial vehicle position information detected by the GPS sensor 24B. A determination is made (S7). In S7, the control unit 21 determines whether the unmanned aerial vehicle position information matches the latitude/longitude information at the end point of the outward flight route.

If it is not determined that the vehicle has arrived at the receiving point (S7; N), the flight prohibited area avoiding process of S6 is executed again, and the flight route is adjusted so as to avoid the flight prohibited area until the vehicle arrives at the receiving point.

On the other hand, when it is determined that the item has arrived at the receiving point (S7; Y), the control unit 21 places the product at the receiving point and transmits a predetermined delivery completion notification to the administrator terminal 10 (S8). In S8, control unit 21 lowers the rotation speed of each propeller to lower the altitude of unmanned aerial vehicle 20 and land it on the ground. In addition, a predetermined mark for guiding the landing place may be arranged at the receiving point, and the control unit 21 may increase the accuracy of the landing position by detecting the mark with the camera 24A. When the unmanned aerial vehicle 20 lands, the control unit 21 controls the motor so that the arm 25B of the luggage storage unit 25 opens, and causes the luggage to drop downward by several cm. The control unit 21 may determine that the unmanned aerial vehicle 20 has landed when the number of revolutions of the propeller is 0, or arranges a pressure-sensitive sensor on the surface of the unmanned aerial vehicle 20 in contact with the ground. Landing may be detected based on the detection signal of the pressure sensor. The delivery completion notification may be given in a predetermined data format.

In the administrator terminal 10, when the delivery completion notification is received, the control unit 11 determines the initial flight route of the return route and transmits the return start instruction (S9). In S9, the control unit 11 acquires the latitude/longitude information of the departure point and the registration point in the storage unit 12 and the latest unmanned aircraft position information or the latitude/longitude information of the reception point. Then, the control unit 11 refers to the map data, acquires the current position of the unmanned aerial vehicle 20 or the latitude/longitude information on the shortest route from the receiving point to the departure point, and determines it as the initial flight route for the return route. The return start instruction includes the initial flight route on the outward route.

In the unmanned aerial vehicle 20, when the return start instruction is received, the control unit 21 starts the return to the departure point based on the return flight initial flight route included in the return start instruction (S10). Between the administrator terminal 10 and the unmanned aerial vehicle 20, a flight prohibited area avoidance process is executed for the unmanned aerial vehicle 20 to avoid the flight prohibited area on the outward route (S11). In S11, the processes of S100 to S107 are executed again, and when the unmanned aerial vehicle 20 approaches any hole on the return route, the flight route is adjusted so as not to fly near the player in that hole. It will be.

In the unmanned aerial vehicle 20, the control unit 21 determines whether the unmanned aerial vehicle 20 has returned to the departure point based on the unmanned aerial vehicle position information detected by the GPS sensor 26B (S12). In S12, the control unit 21 determines whether or not the unmanned aircraft position information and the latitude/longitude information at the end point of the return flight route match.

If it is not determined that the flight has returned to the departure point (S12; N), the flight prohibited area avoidance process of S11 is executed again, and the flight route is adjusted so as not to cross the flight prohibited area until the arrival point is reached. On the other hand, if it is determined that the vehicle has returned to the departure point (S12; Y), this process ends. In this case, the unmanned aerial vehicle 20 lowers the rotation speed of the propeller so that the unmanned aerial vehicle 20 will land at the departure point.

According to the unmanned aerial vehicle control system 1 described above, since the unmanned aerial vehicle 20 flies so as to avoid the flight prohibited area set based on the moving body position information, the flight prohibited area that changes according to the movement of the moving body is avoided. The unmanned aerial vehicle 20 can be flown. That is, even if the flight prohibited area changes in accordance with the movement of the moving body, it is possible to fly the unmanned aerial vehicle so as to avoid the flight prohibited area. Therefore, it is possible to reliably prevent the unmanned aerial vehicle 20 from interfering with the moving body on the ground and the moving body on the ground from interfering with the unmanned aerial vehicle 20.

In addition, the flight control unit 105 determines the flight route to the destination such as the receiving point and the departure point while avoiding the flight prohibited area, and thus reaches the destination from the current position of the unmanned aerial vehicle 20 while avoiding the flight prohibited area. The unmanned aerial vehicle 20 may be flown as described above. Therefore, the unmanned aerial vehicle 20 can reach the destination more reliably. Furthermore, it is also possible to prevent the unmanned aerial vehicle 20 from interfering with a moving body that is up to the destination, and prevent the moving body that is up to the destination from interfering with the unmanned aerial vehicle 20.

In addition, the area setting unit 103 can fly the unmanned aerial vehicle 20 so as to avoid the flight prohibited area in which the size and shape are determined based on the moving body position information. That is, since the size and shape of the flight prohibited area can be optimized according to the position information of the moving body, the unmanned aerial vehicle 20 interferes with the moving body, or the moving body interferes with the unmanned aerial vehicle 20. Can be reliably prevented.

Further, as described in the embodiment, when the moving body position information indicates the position of the player who plays on the golf course, the unmanned aerial vehicle 20 is avoided by avoiding the flight prohibited area that changes according to the movement of the player on the golf course. Can be flown. Therefore, when the unmanned aerial vehicle 20 delivers the luggage at the golf course, the unmanned aerial vehicle 20 interferes with the player during the round (for example, visually or audibly obstructs concentration and reduces the concentration of the unmanned aerial vehicle 20). It is possible to reliably prevent the player from hitting the ball or hitting the unmanned aircraft 20 by the player (for example, a hit ball hitting the unmanned aircraft 20). As a result, the unmanned aerial vehicle 20 can reliably complete the delivery of the luggage and the return to the clubhouse.

[5. Modification]
The present invention is not limited to the embodiment described above. Modifications can be made as appropriate without departing from the spirit of the present invention.

FIG. 15 is a functional block diagram of a modified example. As shown in FIG. 15, in the modified example described below, in addition to the functions of the embodiment, a situation acquisition unit 106, a property acquisition unit 107, a movement prediction unit 108, an information acquisition unit 109, and a designation reception unit 110 are realized. To be done. Here, a case where each of these functions is realized by the administrator terminal 10 will be described.

(1) For example, even if the player is in the same position, the flight prohibited area may be different depending on the situation at that time. For example, when the player is moving, the shot is not taken immediately, and there is a high probability that the unmanned aerial vehicle 20 will not get in the way even if the unmanned aerial vehicle 20 enters the player's field of view or the direction of the ball being hit. Good. On the other hand, when the player is not moving, the player is entering the address or checking the shot direction, and it is highly probable that the unmanned aerial vehicle 20 will get in the way of the player's field of view or the ball striking direction. May be set wide. Therefore, in this modification, a case where the flight prohibited area is set according to the current situation of the player will be described.

The unmanned aerial vehicle control system 1 of the modified example (1) includes the situation acquisition unit 106. The situation acquisition unit 106 is realized mainly by the control unit 11. The status acquisition unit 106 acquires mobile body status information regarding the current status of the mobile body. Note that, in the following modified examples, the player will be described as an example of the moving body, as in the embodiment, so that the moving body situation information indicates the current situation of the player.

For example, the moving body status information may indicate the moving status of the player, the movement of the player, the orientation of the player, or the like. Here, a case where the moving body situation information is related to the current movement situation of the player will be described. The movement status may indicate whether or not the vehicle is moving, and may indicate the moving direction or the moving speed. Here, a case where the movement status indicates whether or not the vehicle is moving will be described. In addition, moving means that the amount of movement per unit time (the amount of change in moving body position information) is equal to or greater than a threshold value.

For example, the situation acquisition unit 106 acquires the moving body situation information based on the time series change of the moving body position information. If the amount of change in the mobile unit position information per unit time is less than the threshold value, the status acquisition unit 106 determines that the mobile unit is not moving, and acquires the mobile unit status information indicating that the mobile unit is not moving. On the other hand, if the amount of change in the mobile unit position information per unit time is equal to or greater than the threshold value, the situation acquisition unit 106 determines that the mobile unit is moving and acquires the mobile unit status information indicating that the mobile unit is moving.

The area setting unit 103 sets a flight prohibited area based on the moving body situation information. The relationship between the moving body condition information and the flight prohibited area may be described in a program, or may be stored in the data storage unit 100 as data in a mathematical expression format or a table format. In this relationship, the moving body condition information and at least one of the position, size, and shape of the flight prohibited area may be defined. The area setting unit 103 sets a flight prohibited area associated with the moving body situation information acquired by the situation acquisition unit 106.

Here, since the case where the moving body status information indicates the moving status will be described, the area setting unit 103 sets the flight prohibited area based on the current moving status indicated by the moving body status information. For example, the area setting unit 103 makes at least one of the position, the size, and the shape of the flight prohibited area different depending on whether the player is moving or not.

FIG. 16 is a diagram showing a flight prohibited area set when the player is moving, and FIG. 17 is a diagram showing a flight prohibited area set when the player is stopped. As shown in FIG. 16, when the moving body situation information indicates that the moving body situation information is moving, the area setting unit 103 sets a circle with a radius L6 centered on the position M4 of the player indicated by the moving body position information as the flight prohibited area A94. Set. That is, if the player is moving, the shot is not taken immediately, so a relatively small flight-prohibited area A94 may be set that does not particularly consider the hitting direction.

Further, for example, as shown in FIG. 17, when the moving body situation information indicates that the moving body situation information is not moving, the area setting unit 103 moves the position M5 of the player indicated by the moving body position information in a predetermined direction by a predetermined distance. An ellipse having a minor axis L7 and a major axis L8 centered on the position M6 is set as a flight prohibited area A95. That is, if the player does not move, he or she may shoot immediately, so a relatively large flight prohibited area A95 may be set in consideration of the hitting direction.

As shown in FIGS. 16 and 17, for example, the area setting unit 103 performs the flight so that the flight prohibited area when the player is not moving is wider than the flight prohibited area when the player is moving. The prohibited area may be determined. The flight control unit 105 determines a flight route that avoids the flight prohibited area set by the area setting unit 103 according to the moving body situation information. The method of determining the flight route that avoids the flight prohibited area may be the same as the method described in the embodiment. This point is the same in the modified example described later.

According to the modification (1), it is possible to fly the unmanned aerial vehicle 20 so as to avoid the flight prohibited area corresponding to the moving body situation information. By setting the flight prohibited area according to the situation of the player at that time, it is possible to more reliably prevent the unmanned aerial vehicle 20 from interfering with the player and the player from interfering with the unmanned aerial vehicle 20. it can. Furthermore, for example, it is possible to prevent the flight prohibited area from being set unnecessarily large in the situation of the player at that time, so that it is possible to prevent the unmanned aerial vehicle 20 from unnecessarily making a large detour. As a result, the power consumption of the unmanned aerial vehicle 20 can be reduced and the arrival time at the destination can be shortened.

Further, when the moving body situation information indicates the movement situation of the player, the unmanned aerial vehicle 20 can be caused to fly so as to avoid the flight prohibited area corresponding to the movement situation of the player. That is, it is possible to set an optimum flight prohibited area according to the movement situation of the player.

It should be noted that what kind of flight prohibited area is set according to the moving body status information may be determined according to the scene in which the unmanned aerial vehicle control system 1 is used, the type of moving body, and the like. For example, when the moving body is a train or the like, in order to secure a spatial margin for avoiding contact with the unmanned aerial vehicle 20, the area setting unit 103 moves in the opposite manner to the above-described modification example. Even if the flight prohibited area is set so that the flight prohibited area when the body condition information indicates that it is moving is wider than the flight prohibited area when the body condition information indicates that the body condition information is not moving. Good.

Further, for example, as described above, the movement status may indicate the movement direction, and in this case, the status acquisition unit 106 may acquire the movement direction based on the time-series change of the mobile body position information. For example, the area setting unit 103 may set a wide flight prohibited area on the moving direction side indicated by the moving body situation information.

Further, for example, the movement status may indicate the movement speed, and in this case, the status acquisition unit 106 may acquire the movement speed based on the time-series change of the moving body position information. For example, in order to secure a spatial margin for avoiding contact with the unmanned aerial vehicle 20, the area setting unit 103 increases the flight-prohibited area as the moving speed indicated by the moving body condition information increases, and the moving speed increases. The slower the flight prohibited area, the smaller. Further, for example, contrary to the above, the area setting unit 103 estimates whether the player is in the address according to the moving speed as described in the modification, and the faster the moving speed indicated by the moving body situation information is, the more the flight is performed. The prohibited area may be reduced, and the flight prohibited area may be increased as the moving speed becomes slower.

Further, for example, as described above, the moving body situation information may indicate a situation other than the moving situation. For example, when the moving body situation information indicates the type of motion, the situation acquisition unit 106 determines that the moving body position information The type of motion may be acquired based on the change of, or the type of motion may be acquired based on the image captured by the camera 24A of the unmanned aerial vehicle 20. In this case, the area setting unit 103 sets the flight prohibited area according to the operation. For example, the area setting unit 103 may make the flight prohibited area larger when the player is performing an addressing operation than when the player is performing a walking operation.

Further, for example, when the moving body situation information indicates a direction (for example, the orientation of the face or body of the player), the situation acquisition unit 106 acquires the orientation based on the change in the moving body position information. Alternatively, the orientation may be acquired based on the image captured by the camera 24A of the unmanned aerial vehicle 20. In this case, the area setting unit 103 sets the flight prohibited area according to the direction. For example, the area setting unit 103 may set a flight-prohibited area that widens in the face direction and body direction of the player.

(2) Further, for example, although the case where the moving body is a person has been described in the embodiment, as described above, the moving body may be an automobile, a motorcycle, a train, or the like. Since people, automobiles, motorcycles, and trains move in different ways, the flight prohibited areas may be different depending on what the moving body is.

The unmanned aerial vehicle control system 1 of the modified example (2) includes the property acquisition unit 107. The property acquisition unit 107 is realized mainly by the control unit 11. The property acquisition unit 107 acquires mobile body property information regarding the property of the mobile body. The property is information indicating what the moving body is. In other words, the property may be a taxonomically defined classification, the type or purpose of use of the mobile, the capability or performance of the mobile, etc. Here, a case will be described in which the mobile body property information indicates whether it is a person, a car, a motorcycle, or a train.

For example, the property acquisition unit 107 may acquire the mobile property information based on the content of communication with the mobile terminal 30. The property acquisition unit 107 acquires the identification information of the mobile terminal 30 from the mobile terminal 30, and acquires the mobile property information based on the identification information. In this case, it is assumed that the data indicating the relationship between the identification information of the mobile terminal 30 and the mobile property information is stored in the data storage unit 100 in advance. In this relationship, for example, one mobile terminal 30 moves with a person, and another mobile terminal 30 moves with a car. The property acquisition unit 107 will acquire the mobile property information associated with the identification information acquired from the mobile terminal 30. Thereby, the unmanned aerial vehicle control system 1 can specify what the moving body is.

The mobile body property information may be input from the operation units 14 and 34. In this case, the property acquisition unit 107 acquires the mobile unit property information input from the operation units 14 and 34. Alternatively, for example, the moving body property information may be acquired based on the image captured by the camera 24A of the unmanned aerial vehicle 20. In this case, the property acquisition unit 107 may acquire the mobile object property information by performing image analysis on the captured image of the ground captured by the camera 24A. In this image analysis, template matching using a template image showing a typical shape of a person, an automobile, etc. may be performed.

The area setting unit 103 sets a flight prohibited area based on the moving body property information. The relationship between the moving body property information and the flight prohibited area may be described in a program, or may be stored in the data storage unit 100 as data in a mathematical expression format or a table format. In this relationship, the moving body property information and at least one of the position/size/shape of the flight prohibited area may be defined. The area setting unit 103 sets the flight prohibited area associated with the moving body property information acquired by the property acquisition unit 107.

For example, the area setting unit 103 may set a flight prohibited area having a size and shape associated with the moving body property information, at a position associated with the moving body property information. In other words, the area setting unit 103 changes the flight prohibited area to be set according to the property indicated by the moving body property information.

For example, the area setting unit 103 may set a larger flight prohibited area when the moving body property information indicates a car or a train than when the moving body property information indicates a person. Further, for example, since the direction in which an automobile or a train can move is limited and a sudden direction change is not possible, the area setting unit 103 determines that the moving body property information indicates a person when the moving body property information indicates a car or a train. Compared with the case, a wider flight prohibited area may be set on the moving direction side.

According to the modification (2), it is possible to fly the unmanned aerial vehicle 20 so as to avoid the flight prohibited area corresponding to the moving body property information. That is, the flight prohibited area changes depending on what the moving body is, so that it is possible to more reliably prevent the unmanned aerial vehicle 20 from interfering with the moving body or the moving body from interfering with the unmanned aerial vehicle 20. it can. Furthermore, for example, it is possible to prevent an unnecessarily large flight prohibited area from being set depending on the nature of the moving body, so that it is possible to prevent the unmanned aerial vehicle 20 from making unnecessary detours. As a result, the power consumption of the unmanned aerial vehicle 20 can be reduced and the arrival time at the destination can be shortened.

Even if the objects have the same taxonomical name, it may be better to make the flight prohibited area different depending on the type. For example, even if the trains are the same, since the moving speeds of the Shinkansen and conventional lines are different, the flight prohibited areas may be different depending on the type of train. In this case, the moving body property information indicates the type of train, and when the moving body property information indicates the Shinkansen, the area setting unit 103 has a larger flight prohibition than when the moving body property information indicates the conventional line. The area may be set.

Further, for example, even if the vehicles are the same, since the traveling speeds of the highway and the general road are different, the flight prohibited areas may be different depending on where the vehicles are traveling. In this case, the mobile body property information indicates where the vehicle is traveling, and when the mobile body property information indicates a car on a highway, the area setting unit 103 determines that the mobile body property information is a general road. A larger prohibited area may be set than that of the case where the vehicle is shown.

Further, for example, even if the buses are the same, it may be better to make the flight-prohibited areas different between the shared bus and the sightseeing bus. For example, a shared bus often stops immediately after a passenger is placed at a stop to load passengers, but a sightseeing bus often stops after stopping for a while and sightseeing ends. The moving body property information may indicate the purpose of use of the moving body, and the area setting unit 103 may set the flight prohibited area based on the purpose of use indicated by the moving body property information. For example, in the case of a shared bus, the area setting unit 103 may set a larger flight prohibited area than that of a sightseeing bus.

Further, for example, some players are capable of achieving a flight distance and some are not capable of achieving a flight distance, and thus the flight prohibited area may be changed according to the flight distance of the player. In this case, the moving body property information indicates the flight distance of the player (that is, the player's ability), and the area setting unit 103 causes the area setting unit 103 to fly as the flying distance indicated by the moving body property information increases. The prohibited area may be made wider and the flight prohibited area may be made narrower as the flight distance indicated by the moving body property information is shorter.

(3) Further, for example, the case where the unmanned aerial vehicle control system 1 of the embodiment adjusts the flight route flexibly according to the position of the player at that time when the unmanned aerial vehicle 20 in flight approaches the course has been described. However, the flight route may be determined by predicting the movement of the player in advance. In this modification, the unmanned aerial vehicle control system 1 predicts the movement of each player from the current position before the unmanned aerial vehicle 20 departs, and acquires a flight route that avoids the flight prohibited area based on the prediction result. Will be described as an example.

The unmanned aerial vehicle control system 1 of the modified example (3) includes the movement prediction unit 108. The movement prediction unit 108 is realized mainly by the control unit 11. The movement prediction unit 108 predicts the movement of the player from the current position based on the moving body position information. The movement prediction unit 108 may predict the position of the player at one future time point, or may predict the position of the player at a plurality of future time points in time series. Here, a case where the movement prediction unit 108 predicts the movement of the player in time series will be described.

The relationship between the moving body position information and the position of the player at each future time point may be described in the program, or may be stored in advance in the data storage unit 100 in a mathematical expression format or a table format. It can be said that this relationship is defined by the relationship between the player's current position and the future position. For example, the relationship between the current position of the player and the current position n minutes later (n is an arbitrary numerical value) may be defined in this relationship. The future position may be defined according to the standard play progress on the golf course.

The area setting unit 103 sets the flight prohibited area based on the prediction result of the movement prediction unit 108. The area setting unit 103 sets a flight prohibited area based on the position of the player at each time point in the future predicted by the movement prediction unit 108. The method for setting the flight prohibited area at each time point may be the same as the method described in the embodiment or the above-described modified example. That is, the area setting unit 103 may set the flight prohibited area for each time point after the present in the same manner as the method described in the embodiment.

FIG. 18 is a diagram showing a method of setting a flight prohibited area in the modification example (3). The t-axis shown in FIG. 18 is a time axis. Here, as shown in FIG. 18, there are three sets of players in a round, and the positions indicated by the mobile unit position information of each set are described by reference signs M7 to M9. The position M7 at a certain time point t1 indicates the position of the player playing the third hole H3, the position M8 indicates the position of the player playing the fourth hole, and the position M9 indicates the position playing the fifth hole. The position of the player is shown.

For example, since the player shoots the ball so that it approaches the pin and plays each hole in order, the future position of the player is closer to the pin than the current position or a position in the later hole in order. Shall be specified in. Therefore, the positions M7 to M9 at the time point t2 after the time point t1 are moving toward the pin or moving to the next hole than the positions M7 to M9 at the time point t1. Similarly, the positions M7 to M9 at time t3 after the time t2 are moving toward the pin or moving to the next hole than the positions M7 to M9 at time t2.

In this modification, since the time-series movement as shown in FIG. 18 is predicted, the area setting unit 103 sets the flight prohibited area at each time predicted by the movement prediction unit 108. That is, the area setting unit 103 predicts a time series change of the flight prohibited area based on the time series change of the position of the player, and the flight control unit 105 determines the time series change of the flight prohibited area. Based on this, flight control of the unmanned aerial vehicle will be performed.

For example, in the movement prediction example as shown in FIG. 18, when the unmanned aerial vehicle 20 flies from the position P to the receiving point Q6 and attempts to fly near the third hole H3 to the fifth hole H5 at the time t1, the flight prohibited area A7. ~A9 is so dense that unmanned aerial vehicle 20 must make a large detour. Therefore, the flight control unit 105 acquires a flight route that waits for departure or waits in the middle of flight so that the unmanned aerial vehicle 20 flies through the third hole H3 to the fifth hole H5 at time t2 or t3. You may.

According to the modified example (3), the movement of the player from the current position can be predicted, and the unmanned aerial vehicle 20 can be made to fly so as to avoid the flight prohibited area based on the prediction result. Can fly to avoid the no-fly zone. By predicting the position of the player, the frequency with which the mobile unit position information is acquired can be reduced, and thus the communication amount can be reduced.

Further, when the flight prohibited area is set in time series based on the player's movement prediction, the optimum flight prohibited area can be set based on the detailed movement prediction corresponding to each time point.

(4) Further, for example, the unmanned aerial vehicle control system 1 may determine the flight route in consideration of the arrival time and the movement distance. At this time, the player, the administrator, or the like may be allowed to specify whether the unmanned aerial vehicle 20 should be given priority to the arrival time or the movement distance.

The unmanned aerial vehicle control system 1 of the present modification example includes an information acquisition unit 109 and a designation reception unit 110. These are realized mainly by the control unit 11. The information acquisition unit 109 acquires time information regarding the arrival time and distance information regarding the travel distance when the unmanned aerial vehicle flies to the destination while avoiding the flight prohibited area. The flight control unit 105 may acquire a plurality of flight route candidates, and in this case, the information acquisition unit 109 may acquire time information and distance information for each flight route candidate. Based on the route search algorithm, the shortest route between the departure point and the receiving point and the route whose distance difference from the shortest route is less than the threshold value may be acquired as the flight route candidates.

The information acquisition unit 109 acquires time information and distance information based on the flight route acquired by the flight control unit 105. For example, the information acquisition unit 109 acquires distance information by calculating the total flight distance based on the latitude and longitude information on the flight route. Further, for example, the information acquisition unit 109 acquires time information by dividing the total flight distance of the flight route by a predetermined flight speed. The flight speed is a standard speed of the unmanned aerial vehicle 20, and may be a predesignated numerical value.

The designation receiving unit 110 receives a designation regarding which of the arrival time and the travel distance is prioritized. For example, the designation receiving unit 110 receives designation based on an input from the operation unit 14 or the operation unit 34.

The flight control unit 105 controls the flight of the unmanned aerial vehicle 20 based on the time information and the distance information. For example, the flight control unit 105 controls the flight of the unmanned aerial vehicle 20 based on the designation result received by the designation receiving unit 110. When the designation to prioritize the arrival time is received, the flight control unit 105 controls the flight of the unmanned aerial vehicle 20 based on the flight route having the shortest arrival time. On the other hand, the flight control unit 105 controls the flight of the unmanned aerial vehicle 20 based on the flight route having the shortest moving distance when the designation that the moving distance is prioritized is received.

According to the modification (4), the unmanned aerial vehicle 20 can be caused to fly based on the flight route in which the arrival time and the moving distance are taken into consideration. Therefore, it is possible to cause the unmanned aerial vehicle 20 to fly without waste.

In addition, the unmanned aerial vehicle 20 can be caused to fly by giving priority to the arrival time, or the unmanned aerial vehicle 20 can be made to fly by giving priority to the moving distance. Therefore, for example, it is possible to fly the unmanned aerial vehicle 20 along the flight route according to the player or the administrator.

The method in which the flight control unit 105 performs flight control based on the time information and the distance information is not limited to the above example, and the arrival time or the travel time may not be designated in particular. For example, the flight control unit 105 may acquire a predetermined evaluation value based on the time information and the distance information and determine the flight route based on the evaluation value. The evaluation value may indicate costs in terms of time, distance, and energy consumption. For example, a mathematical formula for calculating the evaluation value may be defined. In this formula, the time information and the distance information are variables, and the time information and the distance information may be weighted differently from each other. The flight control unit 105 may acquire the flight route that minimizes the cost indicated by the evaluation value.

(5) Also, for example, even if the current flight route crosses the flight prohibited area, if the player moves, that portion may not be included in the flight prohibited area. Therefore, the flight control unit 105 may control the flight of the unmanned aerial vehicle 20 so that the unmanned aerial vehicle 20 is on standby to avoid the flight prohibited area.

Here, as described in the embodiment, a case will be described in which the unmanned aerial vehicle 20 avoids the flight-prohibited area of the approaching course. For example, the flight control unit 105 determines whether the current flight route avoids the flight prohibited area, and if it determines that the current flight route does not avoid the flight prohibited area, it causes the unmanned aerial vehicle 20 to stand by immediately before the flight prohibited area. Immediately before is a place within a predetermined distance from the flight prohibited area.

When the flight control unit 105 is realized by the administrator terminal 10, the flight control unit 105 transmits a predetermined standby command to the unmanned aerial vehicle 20. The standby command may be transmitted in a predetermined data format. In addition, hovering the unmanned aerial vehicle 20 on the spot, landing on the ground, or traveling around a certain fixed range (for example, an area within a radius of 5 m) and staying there corresponds to waiting.

The mobile body position acquisition unit 102 repeatedly acquires mobile body position information while the unmanned aerial vehicle 20 is on standby. The area setting unit 103 sets a flight prohibited area every time the mobile body position information is acquired. The flight control unit 105 compares the latest flight prohibited area with the flight route, and determines whether the flight route avoids the latest flight prohibited area. When it is determined that the flight route does not avoid the latest prohibited area, the flight control unit 105 continues waiting the unmanned aerial vehicle 20 and determines that the flight route avoids the latest prohibited area. In case of failure, a predetermined flight restart instruction is transmitted to the unmanned aerial vehicle 20. The flight restart instruction may be transmitted in a predetermined data format. When the unmanned aerial vehicle 20 receives the flight restart instruction, it ends the waiting and starts the flight on the flight route.

According to the modification (5), it is possible to prevent the unmanned aerial vehicle 20 from detouring unnecessarily. As a result, the unmanned aerial vehicle 20 can arrive at the destination earlier and the power consumption of the unmanned aerial vehicle 20 can be reduced.

The place where the unmanned aerial vehicle 20 waits may not be immediately before the flight prohibited area. For example, like the modification (3), when predicting the flight prohibited area in advance, the unmanned aerial vehicle 20 may be made to wait at the departure point and the departure may be delayed. Further, for example, while the unmanned aerial vehicle 20 is flying, the movement prediction unit 108 is caused to predict the change of the flight prohibited area by the same method as in the modification example (3), and the flight control unit 105 adds the new information as described in the embodiment. It may be determined whether or not the unmanned aerial vehicle 20 should wait based on the arrival time or the moving distance when flying the flight route and the arrival time or the moving distance when waiting to fly the current flight route. .. In this case, the arrival time and the traveled distance may be acquired by the same method as in the modification (4). The flight control unit 105 may make the unmanned aerial vehicle 20 stand by if the arrival time is earlier than the new flight route by waiting and flying on the current flight route. If the flying distance is shorter than the new flight route, the unmanned aerial vehicle 20 may be put on standby. The flight control unit 105 may determine whether to place the unmanned aerial vehicle 20 on standby in accordance with which of the arrival time and the travel distance is prioritized.

(6) Further, for example, any two or more of the modified examples (1) to (5) may be combined.

Further, for example, the mobile terminal 30 may be a golf cart terminal arranged in the golf cart. In this case, the moving body is a golf cart. The golf cart terminal may be, for example, a terminal for providing the player with details of the course. The moving body position acquisition unit 102 may acquire moving body position information indicating the current position of the golf cart based on the detection signal of the GPS sensor 36 of the moving body terminal 30 which is the golf cart terminal. The area setting unit 103 sets the flight prohibited area based on the current position of the golf cart, and the flight control unit 105 flies so as to avoid the flight prohibited area set based on the current position of the golf cart. become.

Further, for example, the case where the unmanned aerial vehicle 20 carries the luggage has been described as an example, but the unmanned aerial vehicle control system 1 may be applied to a scene in which the unmanned aerial vehicle 20 flies over a moving body. For example, the unmanned aerial vehicle control system 1 may be applied to a case where the unmanned aerial vehicle 20 photographs the situation of a predetermined place with the camera 24A to provide information.

Further, for example, the case where the administrator terminal 10, the unmanned aerial vehicle 20, and the mobile terminal 30 are included in the unmanned aerial vehicle control system 1 has been described, but if the unmanned aerial vehicle control system 1 includes one or more computers. Of course, other computers may be included. For example, when unmanned aerial vehicle 20 detects mobile body position information, mobile terminal 30 may not be included in unmanned aerial vehicle control system 1. Furthermore, when the unmanned aerial vehicle 20 has the function of the administrator terminal 10, the administrator terminal 10 may not be included in the unmanned aerial vehicle control system 1.

Further, for example, each function described above may be realized by any computer of the unmanned aerial vehicle control system 1, and the functions described as being realized by the administrator terminal 10 include the unmanned aerial vehicle 20, the mobile It may be realized by the body terminal 30 or another computer. For example, the data storage unit 100 may be realized by the unmanned aerial vehicle 20. In addition, for example, when the moving body position acquisition unit 102 is realized by the unmanned aerial vehicle 20, the unmanned aerial vehicle 20 may directly acquire the moving body position information from the moving body terminal 30, or its own sensor unit. The moving body position information may be acquired based on the detected contents of 24. Further, for example, when the area setting unit 103 is realized by the unmanned aerial vehicle 20, the unmanned aerial vehicle 20 may set the flight prohibited area based on the map data. When the flight control unit 105 is implemented by the unmanned aerial vehicle 20, the unmanned aerial vehicle 20 may control the flight by determining the flight route by itself and controlling the rotation of the propeller. Further, among the functions described above, the functions other than the moving body position acquisition unit 102, the area setting unit 103, and the flight control unit 105 may be omitted.

Claims (11)

A moving object position acquiring means for acquiring vehicle location information about the current position of a moving body that moves on the earth,
Status acquisition means for acquiring mobile status information indicating whether or not the mobile is moving,
Said vehicle location information, the movable body status information, based on a region setting means for setting a fly area to prohibit the flight of unmanned aircraft,
Flight control means for controlling the flight of the unmanned aerial vehicle so as to avoid the flight prohibited area;
An unmanned aerial vehicle control system comprising: The area setting means makes at least one of the position, size, and shape of the flight prohibited area different depending on whether the moving body is moving or not.
The unmanned aerial vehicle control system according to claim 1, wherein: The area setting unit sets the flight prohibited area such that the flight prohibited area when the moving body is not moving is wider than the flight prohibited area when the moving body is moving,
The unmanned aerial vehicle control system according to claim 2, wherein: The moving body is a player moving on a golf course,
The unmanned aerial vehicle control system according to claim 3, wherein: The area setting means sets the flight prohibited area such that the flight prohibited area when the moving body is moving is wider than the flight prohibited area when the moving body is not moving,
The unmanned aerial vehicle control system according to claim 2, wherein: The unmanned aerial vehicle control system further includes a property acquisition unit that acquires mobile property information indicating whether the mobile is a human or a vehicle, or mobile property information regarding a type of the mobile that is a vehicle. ,
The area setting means further sets the flight prohibited area based on the moving body property information,
The unmanned aerial vehicle control system according to any one of claims 1 to 5. The unmanned aerial vehicle control system further includes movement prediction means for predicting movement of the moving body at a plurality of future time points in time series based on the moving body position information,
The area setting means, for each time point predicted by the movement prediction means, further sets the flight prohibited area based on the prediction result of the movement prediction means,
The flight control means acquires a flight route so that the unmanned aerial vehicle at each of the plurality of time points avoids the flight prohibited area at that time point, and controls the flight of the unmanned aerial vehicle,
7. The unmanned aerial vehicle control system according to claim 1. The unmanned aerial vehicle flies on a flight route to a predetermined destination,
When the flight route is included in the flight prohibited area, the flight control means causes the unmanned aerial vehicle to wait in front of the flight prohibited area, thereby avoiding the flight prohibited area. To control the
The unmanned aerial vehicle control system according to any one of claims 1 to 7, wherein: The mobile unit position acquisition unit acquires the mobile unit position information based on a signal from a satellite received by a mobile unit terminal that moves together with the mobile unit,
9. The unmanned aerial vehicle control system according to claim 1. The current vehicle location acquisition step of acquiring mobile location information on the position of the moving body which moves on the earth,
A status acquisition step of acquiring mobile status information indicating whether or not the mobile is moving,
Said vehicle location information, the movable body status information, based on a region setting step of setting a fly area to prohibit the flight of unmanned aircraft,
A flight control step of controlling the flight of the unmanned aerial vehicle to avoid the no-fly zone;
A method for controlling an unmanned aerial vehicle, comprising: Mobile location obtaining means for obtaining a mobile location information about the current position of a moving body that moves on the earth,
Status acquisition means for acquiring mobile status information indicating whether or not the mobile is moving,
The movable body position information, the movable body status information, based on a region setting means for setting a fly area to prohibit the flight of unmanned aircraft,
Flight control means for controlling the flight of the unmanned aerial vehicle so as to avoid the no-fly zone;
A program that causes a computer to function as a computer.

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