JP2018103936A - Unmanned aircraft control system, control method thereof, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mechanism that prevents undesirable photographed images from being broadcasted when an unmanned aircraft approaches a flight prohibition region.SOLUTION: In an unmanned aircraft control system, an unmanned aircraft 101 and an information processing device for instructing the unmanned aircraft are connected via a network 110. The unmanned aircraft control system comprises: flight prohibition area acquisition means for acquiring the information of an area in which the unmanned aircraft is prohibited to fly; predetermined region acquisition means for acquiring, from the area information, a predetermined region provided in an area in which the unmanned aircraft is not prohibited to fly; flight position acquisition means for acquiring the flight position of the unmanned aircraft; operation restriction determination means for determining operation restriction to be executed on the unmanned aircraft when the acquired flight position of the unmanned aircraft coincides with the predetermined region acquired by the predetermined region acquisition means; and operation restriction means for executing the operation restriction determined by the operation restriction determination means.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an unmanned aircraft control system, a control method thereof, and a program.

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

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

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

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

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

  In addition, unmanned aerial vehicles may not be allowed to fly in the vicinity of airports or over population-intensive areas. In response to this, in Patent Document 2, when the flight path to be set in advance is in a prohibited flight area, There has been proposed an unmanned aerial vehicle device in which an unmanned aircraft control computer stops the operation of the unmanned aircraft or prohibits position input.

Japanese Patent Laid-Open No. 2006-118994 JP 2007-237873 A

  As described above, there may be a case where a network camera is used as a weather camera or a surveillance camera to switch and broadcast a video taken by a weather camera or a video taken by an unmanned aerial vehicle.

  However, if the technique of Patent Document 2 is used in this case, the video shot by the unmanned aerial vehicle is broadcast by stopping the operation or prohibiting the position input when the flight is prohibited. When you are, unwanted video shots may be broadcast, leading to broadcast accidents.

  Therefore, an object of the present invention is to provide a mechanism for preventing an unwanted photographed image from being broadcast when an unmanned aerial vehicle approaches a flight prohibited area.

  An unmanned aerial vehicle control system in which an unmanned aerial vehicle and an information processing apparatus for instructing the unmanned aircraft are connected via a network, and obtains a flight-banned area for obtaining zone information where the unmanned aircraft is prohibited from flying. Means, a predetermined area acquisition means for acquiring a predetermined area provided in an area where flight is not prohibited by the area information, a flight position acquisition means for acquiring a flight position of the unmanned aircraft, and the acquired unmanned aircraft When the flight position matches the predetermined area acquired by the predetermined area acquisition means, the operation restriction determination means for determining the operation restriction to be performed on the unmanned aircraft, and the action determined by the operation restriction determination means Operation restriction means for performing restriction.

  ADVANTAGE OF THE INVENTION According to this invention, when an unmanned aerial vehicle approaches the flight prohibition area | region, it can provide with the mechanism which prevents that an unwanted picked-up image is broadcast.

It is a figure which shows an example of the system configuration | structure of an unmanned aerial vehicle control system in embodiment of this invention. 2 is a diagram illustrating an example of a hardware configuration of an unmanned aircraft 101. FIG. 2 is a diagram illustrating an example of a hardware configuration of a network camera 103. FIG. It is a figure which shows an example of a function structure of an unmanned aircraft control system. 5 is a diagram illustrating an example of an operation screen displayed on a control computer 105. FIG. It is a figure which shows an example of a flight prohibition area. It is a figure which shows an example of the positional information acquired from the unmanned aircraft 101. It is a figure which shows an example of the operation | movement restriction information of an unmanned aircraft control system. It is a flowchart which shows an example of the control processing of an unmanned aircraft control system. It is a flowchart which shows an example of the operation | movement restriction | limiting process of an unmanned aircraft. It is an image figure which shows an example of the image of an operation | movement restriction | limiting of an unmanned aircraft.

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

  FIG. 1 is a diagram showing a system configuration of an unmanned aerial vehicle control system according to the present embodiment.

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

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

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

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

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

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

  For example, it can be used as a weather camera installed on the roof of a building, or can be used as a surveillance camera installed at the entrance of a building or in the city. The video taken by the weather camera is also used as a broadcast video, and the transmitted video may be broadcast by a television station.

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

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

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

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

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

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

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

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

  The CPU 201 comprehensively controls each device connected to the system bus. The external memory 280 connected to the ROM 202 or the peripheral bus I / F 304 stores a basic input / output system (BIOS) that is a control program of the CPU 201 and an operating system program.

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

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

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

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

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

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

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

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

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

  The mobile communication RF unit 241 is an RF (Radio Frequency) unit for performing communication via a mobile communication network. The mobile communication RF unit 241 can modulate the baseband signal transmitted from the mobile communication BB unit 240 into the frequency band of the mobile communication network and transmit it from the antenna. Further, when a signal in the frequency band of the mobile communication network is received, it can be demodulated into a baseband signal.

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

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

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

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

  FIG. 3 is a configuration diagram illustrating a hardware configuration of the network camera 103.

  The CPU 301 comprehensively controls each device and controller connected to the system bus 304.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  Further, the control computer 105 includes a flight prohibited area acquisition unit 421, a predetermined area acquisition unit 422, a flight position acquisition unit 423, and an operation restriction unit 424 as functional units.

  The prohibited flight area acquisition unit 421 has a function of causing the network camera 103 to photograph an unmanned aerial vehicle.

  The predetermined area acquisition unit 422 has a function of acquiring a predetermined area (preliminary area) specified by the boundary line shown in FIG.

  The flight position acquisition unit 423 has a function of acquiring position information where the unmanned aircraft is flying (or exists) by acquiring position information from the unmanned aircraft.

  The operation restriction unit 424 is a control unit that performs a predetermined function restriction on the unmanned aircraft that receives the function restriction. It operates as an operation restriction determination means, and determines an operation restriction to be performed on the unmanned aircraft. The function restriction information used for function restriction is stored as the function restriction information shown in FIG. The function restriction information may be stored in a storage device included in the unmanned aerial vehicle control system, or information stored in an external system may be acquired and used as necessary.

  FIG. 5 is a diagram illustrating an example of an operation screen displayed on the control computer 105.

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

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

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

  Similarly, when the network camera 503 is opened, which console is connected is displayed.

  On console 508, console A 509, console 510, and console C 511 are displayed in a selectable manner. The operator console and the drone are selected, and the connection button 506 is pressed so that the operation is possible. When the disconnect 507 is pressed, the connection is disconnected.

  In the illustrated example, it can be seen that the console A509 is connected to the drone 02 and the camera 01.

  FIG. 6 is a diagram illustrating an example of a prohibited flight area map.

  The no-fly zone is an area where unmanned aircraft are not allowed to travel in the sky, and is determined based on rules determined in each country or region.

  A prohibited flight area map 601 displays a prohibited flight area in the displayed area, and the outside is a prohibited flight area 607 and the inside is a permitted flight area 608 across a boundary line 602 with the prohibited flight. .

  In addition, an area indicated by a dotted line is set as a reserved area inside the boundary line 602. In the embodiment, the distance to the prohibited flight area is set at a position of 5 m, and reserved at the boundary lines 603 and 10 m of the reserved area. A region boundary line 604 is set.

  The reserve area is an area within the flightable area, which is not an area subject to flight restrictions, but is located in the vicinity of the no-fly area, so it is possible to restrict functions to unmanned aircraft in preparation for broadcast accidents etc. It is an area.

  A broadcast accident is when a video taken by an unmanned aerial vehicle is relayed and broadcast on a television station, etc., and a malfunction occurs in the broadcast due to restrictions imposed by the unmanned aerial aircraft entering the no-fly zone. Point to.

  For example, when entering a prohibited flight area, there are restrictions such as the restriction that the shooting function of the unmanned aircraft becomes invalid and the restriction that the unmanned airplane cannot be operated.

  The weather camera 606 is a camera installed at a predetermined position, and images taken by the weather camera 606 can also be relayed and broadcast with a television station.

  A drone (unmanned aerial vehicle) 605 can also broadcast an image taken with a television station in the same manner as the weather camera 606.

  In addition, either or both of the videos can be broadcast by switching the video shot by the drone 605 and the video shot by the weather camera 606 at an arbitrary timing.

  FIG. 7 is a diagram illustrating an example of position information acquired from the unmanned aerial vehicle 101.

  It is information that can be acquired by an unmanned aircraft that is actually flying, and information on longitude 702, latitude 703, altitude 704, and remarks 705 is acquired from each drone and recorded corresponding to drone No701.

  One drone No. 701 is assigned to one unmanned aircraft. Therefore, in the examples, No. 1 to No. 3 has position information of three unmanned aerial vehicles.

  Further, since one unmanned aircraft moves, the latest one is displayed. Further, a plurality of pieces of position information may be stored as a history in association with the time when the position information is acquired.

  The unmanned aerial vehicle control system uses this information to determine the position of the unmanned aerial vehicle from the prohibited flight area and to perform a predetermined function restriction.

  FIG. 8 is a diagram illustrating an example of operation restriction information of the unmanned aircraft control system.

  In the present invention, predetermined function restriction is performed according to the positional relationship between the unmanned aircraft 101 and the flight prohibited area 607, and the function restriction information will be described.

  As described with reference to FIG. 6, the first boundary line 603 or the second boundary line 604 (also referred to collectively as a boundary line) is set in the flightable area 608, and the unmanned aircraft 101 has these boundary lines. Beyond that, certain functional restrictions are imposed, even though it is a flightable area.

  The function number is numbered in the function number 801, and the function restriction content is recorded in the function restriction 802.

  For example, in the case of a warning due to blinking, a warning can be given by notifying an unidentified aircraft body or an operator console so as to be identifiable by causing blinking. Other function restrictions 802 will be described later.

  In the boundary line 803, which boundary line is set when the boundary line is exceeded is set. In the embodiment, the first and second boundary lines are set. However, there may be one boundary line, and it is also possible to set more boundary lines than the third and fourth boundaries. .

  FIG. 9 is a flowchart illustrating an example of control processing for an unmanned aerial vehicle.

  In step S901, when selection of an unmanned aircraft (drone) is accepted from the console, in step S902, information such as a prohibited flight area and a boundary line of the unmanned aircraft is acquired from the prohibited flight area information of FIG.

  In step S903, the control of the unmanned aircraft is permitted and the operation of the unmanned aircraft is accepted. The operation may be performed from a console or from a radio.

  In step S904, it is determined whether the drone is in operation. If the drone is in operation, the flight position is obtained from FIG. 7 of the unmanned aircraft and the flight area is determined, and the processing up to step S910 is repeated in the flight state. When it runs out, the process ends.

  In step S905, it is determined whether or not the current flight position is a flight prohibited area from the position information acquired from the drone and the flight prohibited area information. If the current flight position matches the prohibited flight area, the process proceeds to step S907. If it is not a prohibited area (a flightable area), the process proceeds to step S908.

  In step S907, the operation is restricted according to the prohibited flight area. For example, a function that is set and shipped in advance by a manufacturer of an unmanned aerial vehicle is a function that forcibly terminates shooting, stops operation, or returns to a base station. After returning to the restricted area after the restriction, the process proceeds to step S908.

  In step S908, it is determined whether or not the position where the unmanned aircraft is flying is a spare area that is a predetermined area. Whether or not it is a spare area can be identified by a boundary line for the spare area provided in the flightable area.

  If it is determined that the area is a spare area, the process proceeds to step S910, the operation restriction process shown in FIG. 10 is performed, and the process proceeds to step S904. If it is determined that the area is not a spare area, no special operation restriction is performed. The process proceeds to S904 and the process is repeated.

  FIG. 10 is a flowchart illustrating an example of an operation restriction process for an unmanned aerial vehicle.

  In step S1001, the operation restriction information shown in FIG. 8 is acquired, and in step S1002, the function restriction corresponding to the currently flying position is determined. For example, if the flight flies from the permitted flight area to the prohibited flight area and crosses the second boundary line, the function No. 1-No. 3 is restricted, and if the first boundary is exceeded, function No. 4-No. 5 is limited.

  Operation restriction is <No. If it is determined that 1>, the process proceeds to step S1003, a warning by blinking is given to the unmanned aircraft and the console, and the process is terminated.

  Operation restriction is <No. 2-No. If it is determined that 4>, the process proceeds to step S1004 to determine whether it is impossible to move forward. If advance is possible, <No. 2> or <No. 3> and <No. In the case of 2>, the process proceeds to step S1007, and the unmanned aircraft is stopped on the spot. The image at that time will be described with reference to FIG.

  FIG. 11 is an image diagram illustrating an example of an operation restriction image of an unmanned aerial vehicle.

  <No. In the case of 2>, the vehicle cannot move forward and is stagnated. When the boundary line is exceeded, the vehicle is stopped on the spot so that the unmanned aircraft cannot move.

  In step S1008, all (gold) is impossible, but control is performed so as to move up and down and left and right. The image will be described with reference to FIG.

  <No. In the case of 3>, it is possible to continue shooting of the shooting target by moving up and down or moving left and right along the boundary line.

  If it is determined in step S1004 that the vehicle cannot move forward, <No. 4>, and in step S1005, the traveling speed of the unmanned aerial vehicle is reduced. As a result, it is possible to broadcast with less image blur. The image will be described with reference to FIG.

  <No. In the case of 4>, when the boundary line is exceeded, the operation restriction is performed so that the speed is reduced more than before and the progress is continued.

  In step S1002, the operation restriction is <No. If it is determined that 5>, the process proceeds to step S1005, and operation restriction is performed to switch the video being shot by the unmanned aircraft to another video. The image will be described with reference to FIG.

  <No. In the case of 5>, the video being shot by the unmanned aircraft is switched to another video and broadcast. You may be able to replay and transmit the previously captured video, that is, the video that was shot and recorded before the unmanned aircraft crossed the boundary line, or stop the video transmission from the unmanned aircraft and shoot with the weather camera You may make it switch to an image | video. These settings can be set in advance by the administrator.

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

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

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

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

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

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

  As another program supply method, a browser on a client computer is used to connect to an Internet home page. The computer program itself of the present invention or a compressed file including an automatic installation function can be downloaded from the homepage by downloading it to a recording medium such as a hard disk.

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

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

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

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

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

101 Unmanned Aircraft 102 Propo 103 Network Camera

Claims (9)

An unmanned aerial vehicle control system in which an unmanned aerial vehicle and an information processing device for instructing the unmanned aerial vehicle are connected via a network,
A no-fly zone acquisition means for acquiring zone information where the unmanned aircraft is prohibited from flying;
Predetermined area acquisition means for acquiring a predetermined area provided in an area where flight is not prohibited by the area information;
Flight position acquisition means for acquiring the flight position of the unmanned aircraft;
If the acquired flight position of the unmanned aerial vehicle matches the predetermined area acquired by the predetermined area acquiring unit, an operation restriction determining unit that determines an operation limit to be performed on the unmanned aircraft;
Operation restriction means for performing the action restriction determined by the action restriction decision means;
An unmanned aerial vehicle control system. The operation restriction is to notify that the unmanned aircraft has entered the predetermined area in an identifiable manner,
2. The unmanned aerial vehicle control system according to claim 1, wherein when the flight position acquired by the flight position acquisition unit enters the predetermined area, the operation limiting unit notifies the fact. The operation restriction is a restriction on the progress of the unmanned aircraft,
3. The unmanned operation according to claim 1, wherein when the flight position acquired by the flight position acquisition unit enters the predetermined area, the operation restricting unit stops the progress of the unmanned aircraft. Aircraft control system. The operation restriction is a restriction on the progress of the unmanned aircraft,
When the flight position acquired by the flight position acquisition unit enters the predetermined area, the operation restriction unit controls to stop the unmanned aircraft from moving forward and to move left and right or up and down. The unmanned aerial vehicle control system according to any one of claims 1 to 3. The operation restriction is a restriction on the progress of the unmanned aircraft,
5. The operation restriction unit according to claim 1, wherein when the flight position acquired by the flight position acquisition unit enters the predetermined area, the speed of the unmanned aircraft is reduced. The unmanned aerial vehicle control system according to any one of the above. The operation restriction is a restriction on transmission of video of the unmanned aircraft,
When the flight position acquired by the flight position acquisition unit enters the predetermined area, the operation restriction unit stops transmission of a video imaged by the unmanned aircraft, and the unmanned aircraft moves to the predetermined area. The unmanned aerial vehicle control system according to any one of claims 1 to 5, wherein an image captured before entering the vehicle is transmitted. The operation restriction is a restriction on transmission of video of the unmanned aircraft,
When the flight position acquired by the flight position acquisition unit enters the predetermined area, the operation restriction unit stops transmission of an image captured by the unmanned aircraft, and is an imaging device different from the unmanned aircraft. The unmanned aerial vehicle control system according to any one of claims 1 to 6, wherein an image captured by the transmission is transmitted. A control method for an unmanned aerial vehicle control system in which an unmanned aerial vehicle and an information processing apparatus for instructing the unmanned aerial vehicle are connected via a network,
A non-flight zone acquisition step of acquiring zone information where the unmanned aircraft is prohibited from flying; and
A predetermined area acquisition step for acquiring a predetermined area provided in an area where flight is not prohibited by the area information;
A flight position acquisition step of acquiring a flight position of the unmanned aircraft;
When the acquired flight position of the unmanned aircraft matches the predetermined area acquired in the predetermined area acquisition step, an operation restriction determination step for determining an operation restriction to be performed on the unmanned aircraft;
An operation restriction step for performing the operation restriction determined by the operation restriction determination step;
A control method for an unmanned aerial vehicle control system, comprising: A program readable by an unmanned aerial vehicle control system in which an unmanned aerial vehicle and an information processing apparatus for instructing the unmanned aircraft are connected via a network,
The unmanned aerial vehicle control system,
A no-fly zone acquisition means for acquiring zone information where the unmanned aircraft is prohibited from flying;
Predetermined area acquisition means for acquiring a predetermined area provided in an area where flight is not prohibited by the area information;
Flight position acquisition means for acquiring the flight position of the unmanned aircraft;
If the acquired flight position of the unmanned aerial vehicle matches the predetermined area acquired by the predetermined area acquiring unit, an operation restriction determining unit that determines an operation limit to be performed on the unmanned aircraft;
Operation restriction means for performing the action restriction determined by the action restriction decision means;
A program for causing an unmanned aircraft control system to function.

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