JP2019096332A - Unmanned Aircraft Control System, Unmanned Aircraft Control Method, and Program - Google Patents

Abstract

To make an unmanned aircraft to fly by avoiding the no-fly area which changes according to the movement of the mobile object.SOLUTION: Mobile object position acquisition means 102 of an unmanned aircraft control system acquires mobile object position information regarding the current position of the mobile object moving on the earth. Based on the mobile object position information, area setting means 103 sets a no-fly area where the unmanned aircraft is prohibited from flying. Flight control means 105 controls the flight of the unmanned aircraft so as to avoid the no-fly area set based on the mobile object position information.SELECTED DRAWING: Figure 5

Description

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

  In the prior art, techniques for flying unmanned aerial vehicles are known so as to avoid a no-fly area prohibiting the flight. For example, Patent Document 1 describes a technique for setting a no-fly area based on the position of a real estate fixed on the ground so that an unmanned aerial vehicle does not contact real estate such as a steel tower or a power transmission line.

Japanese Patent Application Laid-Open No. 2003-127994

  Not only real estate, but mobile objects such as humans and trains exist on the ground. When the mobile moves, the no-fly area corresponding to the mobile changes. However, since the no-fly area in 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 object or the moving object may interfere with the unmanned aircraft. .

  The present invention has been made in view of the above problems, and it is an object of the present invention to make it possible to fly an unmanned aerial vehicle while avoiding a no-fly area which changes in accordance with the movement of a moving object.

  In order to solve the above problems, the unmanned aerial vehicle control system according to the present invention comprises a mobile position acquisition means for acquiring mobile position information on a current position of a mobile moving on the earth, and the mobile position information. An area setting means for setting a no-fly area for prohibiting the flight of the unmanned aircraft based on the flight control means for controlling the flight of the unmanned aircraft so as to avoid the no-fly area set based on the mobile object position information And control means.

  In the unmanned aerial vehicle control method according to the present invention, a flight of the unmanned aerial vehicle is performed based on the moving body position information acquiring step of acquiring the moving body position information regarding the current position of the moving body moving on the earth; Including an area setting step of setting a no-fly area to be prohibited, and a flight control step of controlling the flight of the unmanned aerial vehicle so as to avoid the no-fly area set based on the mobile object position information. It features.

  A program according to the present invention is a mobile body position acquisition means for acquiring mobile body position information on the current position of a mobile body moving on the earth, and a flight prohibition for prohibiting the flight of an unmanned aerial vehicle based on the mobile body position information. The computer functions as an area setting means for setting an area, and a flight control means for controlling the flight of the unmanned aerial vehicle so as to avoid the no-fly area set based on the moving body position information.

  Further, an information storage medium according to the present invention is a computer readable information storage medium storing the above program.

  Further, in one aspect of the present invention, the unmanned aircraft control system acquires unmanned aircraft position acquisition means for acquiring unmanned aircraft position information regarding the current position of the unmanned aircraft, and acquires destination information regarding a destination of the unmanned aircraft. The flight control means is configured to avoid the non-flying area from the current position of the unmanned aerial vehicle based on the unmanned aerial vehicle position information and the destination information. The flight of the unmanned aerial vehicle is controlled to reach the ground.

  In one aspect of the present invention, the area setting means determines at least one of the size and the shape of the no-fly area based on the moving body position information.

  Further, in one aspect of the present invention, the unmanned aerial vehicle control system further includes situation acquisition means for acquiring mobile body situation information related to the current situation of the mobile body, and the area setting means includes the mobile body situation information. And setting the no-fly area based on the information.

  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 is based on the current moving situation indicated by the moving body situation information. And setting the no-fly area.

  Further, in one aspect of the present invention, the unmanned aircraft control system further includes a property acquisition unit that acquires mobile object property information related to the property of the mobile object, and the area setting unit is based on the mobile object property information. And setting the no-fly area.

  Further, according to 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 the current position based on the moving body position information, and the area setting means And setting the no-fly area on the basis of the prediction result of the movement predicting means.

  Further, in one aspect of the present invention, the movement prediction means predicts the movement of the moving body in time series, and the area setting means is configured to estimate the no-fly area at each time point predicted by the movement prediction means. The flight control means may perform flight control of the unmanned aerial vehicle based on time-series changes of the no-fly area.

  Further, according to one aspect of the present invention, the unmanned aerial vehicle control system is information for acquiring time information on arrival time when the unmanned aircraft flies to a destination while avoiding the no-fly area and distance information on moving distance. The apparatus further comprises acquisition means, wherein 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 aircraft control system further includes designation accepting means for accepting designation regarding which of the arrival time or the movement distance is to be prioritized, and the flight control means includes the designation accepting means. And performing flight control of the unmanned aerial vehicle based on the designated result received by the controller.

  In one aspect of the present invention, the flight control means controls the flight of the unmanned aircraft to avoid the no-fly area by causing the unmanned aircraft to stand by.

  Further, in one aspect of the present invention, the moving body is a player or a golf cart that moves in a golf course, and the moving body position acquiring unit is based on a detection signal of a GPS sensor of the player terminal or the golf cart terminal. The mobile body position information indicating the current position of the player or the golf cart is acquired, and the area setting means 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 aircraft carrying a load carried at a predetermined point in the golf course so as to avoid the no-fly area set based on the current position of the player or the golf cart. , It is characterized.

  According to the present invention, it is possible to fly an unmanned aerial vehicle while avoiding a no-fly area that changes in accordance with the movement of a moving object.

It is a figure which shows the whole structure of an unmanned aerial vehicle control system. It is a figure for demonstrating a luggage | load storage part, and is an external view of a 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 goods which the player ordered are 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 receiver data. It is a figure which shows a mode that the flight prohibition area | region is set. It is a figure which shows a mode that the flight prohibition area | region is set. It is a figure which shows a mode that the flight prohibition area | region is set. It is a figure which shows a mode that the flight prohibition area | region is set. FIG. 5 illustrates a flight route that avoids a no-fly area. FIG. 5 is a flow diagram illustrating an example of a process performed in an unmanned aerial vehicle control system. It is a figure which shows the detail of a no-flying area | region avoidance process. It is a functional block diagram of a modification. It is a figure which shows the flight prohibition area set while a player is moving. It is a figure which shows the flight prohibition area set while a player stops. It is a figure which shows the setting method of the no-fly area in a modification (3).

[1. Overall Configuration of Unmanned Aircraft 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, a process according to the unmanned air vehicle control system will be described by taking a scene where an unmanned aircraft delivers a product ordered by a player in a round at a golf course as an example.

  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 so as to be able to transmit and receive data via the network. In addition, in FIG. 1, although the administrator terminal 10, the unmanned aerial vehicle 20, and the mobile terminal 30 are described 1 each, you may have two or more each of these.

  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 administrator is a person who manages the unmanned aerial vehicle control system 1, for example, a clerk at a golf course that provides a delivery service of goods. For example, the manager terminal 10 may be operated by a manager in or near a clubhouse of 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 in accordance with 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 a network. The operation unit 14 is an input device, and is, for example, a pointing device such as a touch panel or a mouse, a keyboard, or the like. The operation unit 14 transmits the content of the operation to the control unit 11. The display unit 15 is, for example, a liquid crystal display unit or an organic EL display unit. The display unit 15 displays a screen according to an instruction of the control unit 11.

  The unmanned aerial vehicle 20 is an aircraft which a person does not board, for example, an unmanned aerial vehicle (so-called drone) driven by a battery or an unmanned aircraft driven by an engine. In the present embodiment, the unmanned aerial vehicle 20 is located at a landing site near the clubhouse and is under the control of a manager. 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, and thus the description thereof will be omitted. The unmanned aerial vehicle 20 also includes general physical configurations such as a propeller motor battery, but the description is omitted here.

  The sensor unit 24 includes a camera 24A and a GPS sensor 24B. The camera 24A includes an imaging device such as a CCD image sensor or a CMOS image sensor, and records an image (still image or moving image) captured by the imaging device 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 may be an infrared sensor, an audio sensor (microphone), a wind direction / wind sensor, an acceleration sensor, a gyro sensor, a geomagnetic sensor, an altitude sensor, a displacement sensor, It may include a temperature sensor or a heat detection sensor.

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

  In addition, the luggage storage 25 includes an arm 25B for supporting a package being delivered so as not to fall downward, and a fixing member 25C having a known locking mechanism. When the administrator places the load on the arm 25B, the administrator closes the fixing member 25C to fix the load so as not to move in the horizontal direction. The arm 25B can be opened and closed by the rotation of a motor (not shown), and when the unmanned aerial vehicle 20 lands on a predetermined receiving location, the arm 25B opens downward and the number of luggage placed on the arm 25B It falls down about cm and can be placed on the ground.

  The package storage unit 25 may have any space for storing and fixing a package, and is not limited to the above example. For example, it may have an arm which fixes by pinching a load from the horizontal direction and the up-and-down direction, and may have a magnet which fixes a load by magnetic force. Also, 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 with the mobile, and is, for example, a portable terminal (including a tablet terminal or a smartphone) or a personal computer. A mobile 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, a mobile object is an object for which a no-fly area is set. In the present embodiment, the case where the player moving in the golf course is a moving object 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 components 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 and 32 may be supplied via a network. Moreover, the hardware configuration of the administrator terminal 10, the unmanned aerial vehicle 20, and the mobile terminal 30 is not limited to the above example, and various computer hardware may 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 Unmanned Aircraft Control System Processing]
Next, the outline of the process of the unmanned aerial vehicle control system 1 will be described with reference to FIGS. 3 and 4. FIG. 3 is a view showing the player ordering a product, and FIG. 4 is a view showing a delivery of the product ordered by the player.

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

  When the player selects the order button 41 on the order screen 40B, the order screen 40C showing the list 42 of the products is displayed. When the player selects the icon 43 in the list 42, the product can be put into the shopping cart. Note that the total weight of the items that can be delivered by the unmanned aerial vehicle 20 has an upper limit value set, and the order screen 40C displays a relation 44 between the total weight of the items put in the shopping cart and the upper limit value. When the player performs a predetermined operation for ordering a product placed in the shopping cart, the mobile terminal 30 transmits the content of the order 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 content from the mobile terminal 30, the order reception screen 50 shown in FIG. 4 is displayed on the display unit 15. The administrator confirms the order content from the order reception screen 50, places the product in a dedicated box, stores the product in the frame 25A of the luggage storage 25, and closes and locks the fixing member 25C. When the administrator operates the operation unit 14 to select the delivery start button 51, a delivery instruction of a package is transmitted from the administrator terminal 10 to the unmanned aerial vehicle 20. In this embodiment, it is assumed that the shortest flight route from the club house C to the receiving place Q is included in the delivery instruction. The flight route may not only indicate the position to fly but also may indicate a flight plan including the passing time of each position. The unmanned aerial vehicle 20 starts flight based on the flight route included in the delivery instruction.

  During the flight of the unmanned aerial vehicle 20, the administrator terminal 10 receives the current position from the unmanned aerial vehicle 20 and the mobile terminal 30, and prevents the unmanned aerial vehicle 20 from flying near each player in the round and near the expected ballistics of the shot. Adjust the flight route. If it is necessary to change the flight route, the administrator terminal 10 transmits a new flight route to the unmanned aircraft 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 departs for delivery of goods and then returns to the club house C after the completion of delivery of goods. The flight route is to be adjusted. Hereinafter, the details of the technology will be described.

[3. Functions Implemented in Unmanned Aircraft Control System]
FIG. 5 is a functional block diagram showing an example of functions implemented by the unmanned aircraft control system 1. As shown in FIG. 5, in the unmanned aircraft control system 1, the data storage unit 100, the unmanned aircraft position acquisition unit 101, the mobile object position acquisition unit 102, the area setting unit 103, the destination acquisition unit 104, and the flight control unit 105 To be realized. In the present embodiment, a case where each of these functions is realized in the administrator terminal 10 will be described.

[3-1. Data storage unit]
The data storage unit 100 is mainly implemented 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 a region where the unmanned aircraft 20 flies and receiver data indicating a receiver, which is an example of a destination of the unmanned aircraft 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 above the golf course, as shown in FIG. 6, the map data may be a course map indicating the layout of each course. In addition, the map which map data shows may be two-dimensional which consists only of planar information, and may be three-dimensional including the information of height. Map data of FIG. 6 shows the layout of each golf course the first hole H _{1 ~} ninth hole H _9. For example, the map data includes latitude and longitude information of each position on the map. In other words, the map data includes the latitude and longitude information of the area indicated on the map. The latitude and longitude information is information for specifying the position in the north-south direction and the position in the east-west direction on the earth, and is indicated by numerical values of degrees, minutes, and seconds, for example.

  In addition, 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 point of the unmanned aerial vehicle 20. In the present embodiment, since there is a landing place of the unmanned aerial vehicle 20 near the clubhouse C, the latitude and longitude information of the position P near the clubhouse C is registered as the landing place of the unmanned aerial vehicle 20.

FIG. 7 is a diagram showing an example of receiver data. As shown in FIG. 7, in the receiver data, a relationship between a hole being played selected by the player from the order screen 40A and identification information of the receiver is defined. For example, the latitude and longitude information of the receiver may be stored as identification information of the receiver. In the present embodiment, the position Q ₅ to Q ₉ in the vicinity of the tee of the fifth hole H _{5 ~} 9 holes H ₉ is assumed to be designated as a receiving office. Any of these five positions Q ₅ to Q ₉ is selected as the receiving stations would determined by holes the player selects.

  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 on a product or player data on a player. For example, in the product data, an image, a detailed description, an inventory, a weight, a volume, and the like of the product are stored for each product, and are referred to for displaying the order screen 40C. The player data may store, for each player, the player's account, personal information, payment information of goods, identification information of the mobile terminal 30, and the like.

[3-2. Unmanned Aircraft Position Acquisition Department]
The unmanned aircraft position acquisition unit 101 is mainly realized by the control unit 11. The unmanned aerial vehicle position acquisition unit 101 acquires unmanned aerial vehicle position information on the current position of the unmanned aerial vehicle 20. The unmanned aerial vehicle position information may be any information that can specify the position of the unmanned aerial vehicle 20. Here, a case will be described where the latitude and longitude information detected by the GPS sensor 24B is used as unmanned aerial vehicle position information. The unmanned aerial vehicle position information may be base station information (for example, access point information of a wireless LAN) 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 timekeeping processing, and acquires the latest unmanned aerial vehicle position information each time a predetermined time passes. In the present embodiment, since the unmanned aircraft position acquisition unit 101 is realized by the administrator terminal 10, the unmanned aircraft position acquisition unit 101 acquires unmanned aircraft position information with respect to the unmanned aircraft 20 each time a predetermined time passes. Send a request When the unmanned aerial vehicle 20 receives the acquisition request, it transmits the latitude and longitude information detected by the GPS sensor 24B to the administrator terminal 10 as unmanned aerial vehicle position information. The unmanned aircraft position acquisition unit 101 receives the transmitted unmanned aircraft position information.

  Note that, even if the acquisition request is not transmitted as described above, the unmanned aerial vehicle 20 executes timekeeping processing, and the unmanned aerial vehicle position information is transmitted from the unmanned aerial vehicle 20 to the administrator terminal 10 each time a predetermined time passes. You may do so. In the present embodiment, the unmanned aircraft position acquisition unit 101 periodically acquires unmanned aircraft position information. However, the unmanned aircraft position acquisition unit 101 periodically unmanned aircraft according to timing etc. determined randomly. You may acquire position information.

[3-3. Mobile position acquisition unit]
The mobile body position acquisition unit 102 is realized mainly by the control unit 11. The mobile body position acquisition unit 102 acquires mobile body position information regarding the current position of a mobile body moving on the earth. The mobile body position information may be any information that can specify the position of the mobile body. Here, a case will be described where the latitude and longitude information detected by the GPS sensor 36 is used as mobile body position information. 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. To obtain mobile object position information. The mobile body position information may be base station information (for example, access point information of a wireless LAN) with which the communication unit 33 of the mobile terminal 30 performs wireless communication.

  For example, based on the unmanned aircraft position information acquired by the unmanned aircraft position acquisition unit 101, the mobile object position acquisition unit 102 determines whether the unmanned aircraft 20 has approached a predetermined location. Then, when it is determined that the unmanned aerial vehicle 20 has approached a predetermined location, the moving body position acquisition unit 102 transmits an acquisition request for moving body position information to the mobile terminal 30. In addition, since the unmanned aerial vehicle 20 must not be in the way of all players in the round, the acquisition request is transmitted not only to the player who made the order but also to the mobile terminals 30 of all players in the round. Upon receiving the acquisition request, the mobile terminal 30 of each player transmits the latitude and longitude information detected by the GPS sensor 36 to the administrator terminal 10 as mobile 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 the unmanned aerial vehicle 20 approaches any hole based on the unmanned aerial vehicle position information and the map data. When it is determined that the unmanned aerial vehicle 20 has approached any of the holes, the mobile body position acquisition unit 102 transmits an acquisition request to each mobile terminal 30.

  The mobile object position information is not acquired at the timing according to the position of the unmanned aerial vehicle 20 as described above, but the mobile object position acquisition unit 102 irregularly detects the mobile object position information according to the timing determined randomly. You may get Furthermore, the moving body position acquisition unit 102 may periodically acquire moving body position information instead of periodically acquiring moving body position information. For example, the mobile object position acquisition unit 102 may execute time counting processing and acquire the latest mobile object position information each time a predetermined time passes. In this case, the mobile object position acquisition unit 102 may transmit an acquisition request for mobile object position information to the mobile terminal 30 each time a predetermined time elapses. Note that, even if the acquisition request is not transmitted as described above, the mobile terminal 30 executes timekeeping processing, and mobile position information is transmitted from the mobile terminal 30 to the administrator terminal 10 each time a predetermined time passes. It may be done.

  Also, although the case has been described where mobile location information is acquired using the GPS sensor 36 of the mobile terminal 30, mobile location information is acquired using the camera 24A of the unmanned aerial vehicle 20 It is also good. In this case, the mobile body position information may be information indicating the relative positional relationship between the unmanned aerial vehicle 20 and the player. In addition, for example, when the sensor unit 24 includes a heat detection sensor, the mobile 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 no-fly area where the unmanned aircraft 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 object will be described, so the area setting unit 103 sets the no-fly area based on the current position of the player.

  The no-fly area is set in an area where the unmanned aerial vehicle 20 may fly, and may mean, for example, an area that gets in the way of the player when the unmanned aerial vehicle 20 flies. It may mean an area that becomes an obstacle. In other words, the no-fly area may mean an area where the unmanned aircraft 20 may come into contact with a player or a hit ball, etc. When the unmanned aircraft 20 flies, the unsightly or disturbed player may be injured. It may mean an area of concern.

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

  The size and shape of the no-fly area may be a fixed size and a fixed shape regardless of the moving body position information, but in the present embodiment, the area setting unit 103 determines the no-fly area based on the moving body position information. The case of determining at least one of the size and the shape of. In other words, at least one of the size and the shape of the no-fly area changes in accordance with the moving body position information. The size means the area of the no-fly area, and the shape means the shape of the outline of the no-fly area. Although the case where both the size and shape of the no-fly area are variable is described here, only one of them may be variable.

  The relationship between mobile body position information and the size and shape of the no-fly area may be described in a program, or may be stored by the data storage unit 100 as data in a mathematical expression format or a table format. The above relationship can also be said to indicate 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 a shape associated with the moving body position information acquired by the moving body position acquisition unit 102. In the present embodiment, the above-described relationship is determined for each hole in the golf course.

8 to 11 show how a no-fly area is set. Here, the player will be described as an example fly area set when you are in the ninth hole H _9. As shown in FIG. 8, 9 holes _{H 9} is divided into a plurality of small regions _H 91 _{to H 93.} The small areas H _{91 to} H ₉₃ are areas of the early stage, middle stage, and late stage of the hall, respectively. Since the range in which the unmanned aerial vehicle 20 flies is different for each small area, the size and the shape of the no-fly area are made different according to the small area.

For example, if the position indicated by the vehicle location information is included in the small region H _91, as shown in FIG. 9, the area setting unit 103, a mobile location information, the reference direction V ₉₁ associated with the small area H ₉₁ And set the no-fly area A ₉₁ on the basis of. The reference direction _V91 is a standard pop-up direction when the ball is in the small area _H91 , and is, for example, the front direction as viewed from the tee ground. That is, the reference direction V _91, the direction the player from the small area H ₉₁ is expected to fly ball, or a direction which is expected to see the player who is in the small region H _91. In other words, the reference direction V ₉₁ is a direction in which the no-fly area A ₉₁ extends from the position M ₁ indicated by the mobile object position information.

In the example shown in FIG. 9, the area setting unit 103, a circular region of a radius L ₁ including the position M _1, the position M ₁ and the sector area which is determined on the basis of the reference direction V _91, flight including inhibition area A ₉₁ Set The fan-shaped area is an area of a predetermined central angle whose center is the position M ₁ and whose radius is a line segment of length L ₂ extending from the position M ₁ to the reference direction V ₉₁ . 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 flying noise of the unmanned aerial vehicle 20 from disturbing the player. On the other hand, the fan-shaped area is intended to prevent the unmanned aerial vehicle 20 from flying around the ballistics, so that the unmanned aerial vehicle 20 does not enter the player's view or the unmanned aerial vehicle 20 and the ball do not contact. It is also for

Further, for example, when the position indicated by the moving body position information is included in the small area H ₉₂ , as shown in FIG. 10, the area setting unit 103 determines the moving body position information and the reference direction V associated with the small area H _{92. The no-} flying area A ₉₂ is set based on ₉₂ and. For example, region setting unit 103 includes a no-fly region A including a circular region of radius L ₃ including position M ₂ indicated by the mobile object position information and a fan-shaped region determined based on position M ₂ and reference direction V _92. Set ₉₂ . The reference direction V ₉₂ is a direction different from the reference direction V ₉₁ , for example, a direction from an arbitrary point in the small area H ₉₂ to a pin in the green. Also, the radii L ₃ and L ₄ are different from the radii L ₁ and L ₂ respectively. For this reason, the size and shape of the no-fly area A ₉₂ are different from the size and shape of the no-fly area A ₉₁ .

Further, for example, when the position indicated by the vehicle location information is included in the small region H _93, as shown in FIG. 11, the region setting unit 103, a circular region of a radius L ₅ including the position M ₃ indicated mobile location information _Is set as the no-fly area A ₉₃ . Thus, the no-fly area A ₉₃ may be set without using the reference direction. Further, since the small region H ₉₃ is green, so that the player tends to concentrate on the pad may be set longer than the radius L ₅ radius L _3, L _4. Since the no-fly area A ₉₃ does not include a fan-shaped area, it differs from the size and shape of the no-fly area A ₉₁ , A ₉₂ .

  Note that the no-fly area may have any shape, and is not limited to the above-described circular shape, sector shape, or a combination thereof. The no-fly area may be a polygon such as a triangle or a square, 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 on the destination of the unmanned aerial vehicle 20. The destination is the destination of the unmanned aerial vehicle 20. In this embodiment, the destination is a receiving place for goods ordered by the player, or an arrival and departure point where the unmanned aerial vehicle 20 having finished the delivery returns. Therefore, in the present embodiment, the destination acquisition unit 104 acquires, as destination information, the latitude and longitude information of any receiver indicated in the receiver data, or the latitude and longitude information registered as the departure and arrival point. It will be.

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

[3-6. Flight control unit]
The flight control unit 105 is mainly implemented by the control unit 11. The flight control unit 105 controls the flight of the unmanned aerial vehicle 20 so as to avoid the no-fly area set based on the moving object position information. In the present embodiment, the case where the flight control unit 105 is realized in the administrator terminal 10 will be described, so 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 avoiding the no-fly area based on a route search algorithm. The flight route avoiding the no-fly area means that the flight route does not enter any no-fly area, or that the distance, ratio, or flight time of the flight route of the part entering the no-fly area is below the threshold. Means As the route search algorithm itself, various known algorithms can be applied. For example, a shortest route search algorithm such as Dijkstra's algorithm or Aster's algorithm may be used. For example, in these known route search algorithms, the flight control unit 105 sets a no-fly region as an obstacle, and determines a flight route avoiding the no-fly region by executing a route search avoiding the obstacle.

  For example, the flight control unit 105 may compare the current flight route with the no-fly region to determine whether the current flight route is to avoid the no-fly region. If the flight control unit 105 determines that the current flight route is to avoid the no-fly area, the flight control unit 105 does not change the flight route. On the other hand, when it is determined that the current flight route does not avoid the no-fly area, the flight control unit 105 newly acquires a flight route avoiding the no-fly area.

FIG. 12 is a diagram showing a flight route avoiding a no-fly area. As shown in FIG. 12, since the current flight route R ₀ crosses the no-fly area A ₉₂ , the flight control unit 105 determines that the current flight route R ₀ does not avoid the no-fly area A _92. . The flight control unit 105, based on the route search algorithm, to obtain a new flight routes R ₁ to avoid fly region A _92. In the example of FIG. 12, the new flight route R ₁ is an unmanned aerial vehicle 20 is in the flight route to fly without passing through the fly area to the destination.

  For example, in the case of an outgoing route, the flight control unit 105 sets the current position of the unmanned aerial vehicle 20 or the position of the arrival and departure place as the departure point, sets the position of the receiving place as the arrival point, and sets the no-fly area as an obstacle. Then, a route search algorithm may be executed to acquire a new flight route. On the other hand, if it is a return route, the flight control unit 105 sets the current position of the unmanned aircraft 20 or the position of the receiving place as the departure point, sets the position of the arrival and departure place of the unmanned aircraft 20 as the arrival point, After setting as an obstacle, a route search algorithm may be executed to acquire a new flight route.

  As described above, in the present embodiment, since the destination of the unmanned aerial vehicle 20 is determined, 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 will be controlled to reach the destination avoiding the no-fly area. Further, in the present embodiment, since the case where the golf player is a moving object is described, the flight control unit 105 is configured to avoid the non-flyable area set based on the current position of the player. It will control the flight of the unmanned aerial vehicle 20 carrying the load carried to the point.

  In addition, the acquisition method of the flight route which avoids a flight prohibition area is not restricted to said example. For example, the flight control unit 105 moves a portion of the current flight route included in the no-fly area toward the outside of the no-fly 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 obtain a flight route for bypassing the no-fly area by any method.

[4. Processing Performed in Unmanned Aerial Vehicle Control System]
FIG. 13 is a flow chart showing an example of processing executed in the unmanned aircraft 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 receives a product order by the player (S1). In S1, the order operation is performed according to the flow described with reference to FIG. For example, the hall 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 receiver associated with the selected hall in the receiver data is transmitted from the administrator terminal 10 to the mobile 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 information on the product indicated by the product data is transmitted from the administrator terminal 10 to the mobile terminal 30. Ru. When the player selects a product from the order screen 40C and performs a predetermined operation, the order is confirmed.

  When a predetermined operation is performed from the order screen 40C, the control unit 31 transmits the content of the order to the administrator terminal 10 (S2). The order content transmitted in S2 includes the identification information of the mobile terminal 30 and the information on the product ordered by the player. In the administrator terminal 10, when the content of the order is received, the control unit 11 causes the display unit 15 to display an order reception screen 50 for notifying the administrator of the ordered item (S3). Thereafter, the manager puts the goods ordered by the player in a box, and stores and fixes them 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 place as the initial flight route of the outgoing route based on the map data and the receiving place data, and starts delivering the unmanned aircraft 20. Send an instruction (S4). In S4, the control unit 11 acquires the latitude and longitude information of the arrivals and departures registered in the storage unit 12 and the latitude and longitude information of the receiving place stored in the receiving place data. Then, with reference to the map data, the control unit 11 acquires latitude and longitude information on the shortest route from the arrival and departure place to the reception place, and determines it as an initial flight route of the outward route. The delivery start instruction includes the initial flight route of the outgoing route.

  In the unmanned aerial vehicle 20, when receiving the delivery start instruction, the control unit 21 starts the flight based on the initial flight route of the outgoing route (S5). Note that various autonomous flight control methods known in the art can be applied as a method of flying based on a designated flight route. For example, the unmanned aerial vehicle 20 controls the rotation of each propeller to move on the latitude and longitude indicated by the flight route, with the unmanned aerial vehicle position information detected by the GPS sensor 24B as the current position of the own aircraft. For example, the unmanned aerial vehicle 20 does not move in the horizontal direction when the rotational speeds of the propellers are the same or substantially the same, and travels in the direction of propellers having relatively low rotational speeds when the rotational speeds of the propellers are different. Therefore, the parameter indicating the number of revolutions of each propeller may be determined so as to relatively lower the number of revolutions of the propellers on the flight direction side indicated by the flight route. In addition, the unmanned aerial vehicle 20 should just identify the attitude | position and direction of an own machine using a gyro sensor or a geomagnetic sensor.

  When the unmanned aerial vehicle 20 starts to fly, a no-fly area avoidance process is executed between the manager terminal 10 and the unmanned aerial vehicle 20 in order to avoid the no-fly area of the unmanned aerial vehicle 20 on the outbound route (S6).

  FIG. 14 is a diagram showing the details of the no-fly area avoidance process. As shown in FIG. 14, in the unmanned aerial vehicle 20, the control unit 21 periodically transmits unmanned aerial vehicle position information detected by the GPS sensor 24B to the administrator terminal 10 (S100). In S100, the control unit 21 executes timekeeping processing, and transmits the latest unmanned aerial vehicle position information to the administrator terminal 10 each time a predetermined time has elapsed.

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

  When it is not determined that one of the holes is approached (S101; N), the no-flying area avoidance process ends. In this case, since the unmanned aerial vehicle 20 does not fly near the course and there is a high probability that there is no player nearby, the flight continues with the current flight route assuming that the flight route does not need to be changed.

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

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

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

  When it is determined that there is no player (S103; N), the no-flying area avoidance process ends. In this case, since there is no player in the hole to which the unmanned aerial vehicle 20 has approached and it is safe to cross the hole as it is, flight continues with the current flight route.

  On the other hand, when it is determined that the player is present (S103; Y), the control unit 11 sets a no-flying area in the hole to which the unmanned aircraft 20 approaches based on the moving body position information (S104). In S104, the control unit 11 determines the size and the shape of the no-fly area based on the moving body position information in the hole approached by the unmanned aerial vehicle 20 or within a predetermined distance from the hole. The control unit 11 sets the no-fly area of 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 no-fly area set in S104 (S105). In S105, the control unit 11 determines whether the latitude and longitude information on the flight route is included in the no-fly area.

  When it is not determined to cross the no-fly area (S105; N), the no-fly area avoidance processing ends. In this case, although the player is in the hole to which the unmanned aerial vehicle 20 has approached, the player does not fly in the vicinity and may cross the hole as it is, so the flight continues with the current flight route.

  On the other hand, when it is determined to cross the no-fly area (S105; Y), the control unit 11 determines a new flight route and sends it to the unmanned aircraft 20 so as to avoid the no-fly area set in S104. (S106). In S106, based on the route search algorithm, the control unit 11 uses the latest unmanned aircraft position information to reach the destination (in the case of an outbound route it is a receiving station, and in the case of a returning route it is a landing station) Calculate the flight route to bypass.

  In the unmanned aerial vehicle 20, when a new flight route is received, the control unit 21 changes to the new flight route (S107), and the no-flying area avoidance process ends. In S107, the control unit 21 switches the flight route to be referred to in the autonomous flight control to a new flight route.

  Referring back to FIG. 13, when the no-fly area avoidance process of S6 is executed, in the unmanned aerial vehicle 20, the control unit 21 determines whether it has arrived at the receiving site based on unmanned aircraft position information detected by the GPS sensor 24B. It judges (S7). In S7, the control unit 21 determines whether the unmanned aerial vehicle position information matches the latitude and longitude information of the end point of the forward flight route.

  If it is not determined that the ship has arrived at the receiving place (S7; N), the no-flying area avoidance process of S6 is executed again, and the flight route is adjusted to avoid the no-fly area until arriving at the receiving place.

  On the other hand, when it is determined that the delivery place has arrived (S7; Y), the control unit 21 arranges the goods at the delivery place and transmits a predetermined delivery completion notification to the administrator terminal 10 (S8). In S8, the control unit 21 reduces the number of revolutions of each propeller to lower the altitude of the unmanned aircraft 20 and land it on the ground. It should be noted that a predetermined mark for guiding the landing location may be arranged at the receiving place, 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 is opened, and the luggage is dropped about several centimeters downward. Note that the control unit 21 may determine that the unmanned aerial vehicle 20 has landed when the number of revolutions of the propeller is set to 0, or a pressure sensor may be disposed on the surface where the unmanned aerial vehicle 20 contacts the ground. Landing may be detected based on the detection signal of the pressure sensor. Further, the delivery completion notification may be performed in a predetermined data format.

  In the administrator terminal 10, when the delivery completion notification is received, the control unit 11 determines an initial flight route of the return route and transmits a feedback start instruction (S9). In S9, the control unit 11 acquires the latitude and longitude information of the arrivals and departures registered in the storage unit 12, and the latest unmanned aerial vehicle position information or the latitude and longitude information of the receiving station. Then, with reference to the map data, the control unit 11 acquires the latitude / longitude information on the current position of the unmanned aerial vehicle 20 or the shortest route from the receiving location to the receiving location, and determines it as the initial flight route of the return route. The return start instruction includes the initial flight route on the outgoing route.

  In the unmanned aerial vehicle 20, when the feedback start instruction is received, the control unit 21 starts the return to the landing site based on the initial flight route of the return path included in the feedback start instruction (S10). A no-fly area avoidance process is performed between the manager terminal 10 and the unmanned aerial vehicle 20 in order to avoid the no-fly area of the unmanned aerial vehicle 20 on the outgoing route (S11). In S11, the processing of S100 to S107 is executed again, and in the return trip, when the unmanned aircraft 20 approaches any hole, 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 or not it has returned to the start / end 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 and longitude information of the end point of the flight route on the return route coincide with each other.

  If it is not determined that the vehicle has returned to the departure point (S12; N), the no-flying area avoidance process of S11 is executed again, and the flight route is adjusted so as not to cross the no-flying region until reaching the arrival place. On the other hand, when it is determined that the vehicle has returned to the departure point (S12; Y), the present process ends. In this case, the unmanned aerial vehicle 20 lowers the rotational speed of the propeller so as to land on the landing site.

  According to the unmanned aircraft control system 1 described above, the unmanned aerial vehicle 20 flies so as to avoid the no-fly area set based on the mobile object position information, so the no-fly area changing according to the movement of the mobile object is avoided. And the unmanned aerial vehicle 20 can be made to fly. That is, even if the no-fly area changes according to the movement of the moving object, the unmanned aircraft can be made to fly so as to avoid the no-fly area. Therefore, it is possible to reliably prevent the unmanned aerial vehicle 20 from getting in the way of a mobile on the ground or the mobile in the ground from getting in the way of the unmanned aerial vehicle 20.

  Further, the flight control unit 105 determines the flight route to the destination such as the receiving site or the landing site while avoiding the no-fly area, so that the current position of the unmanned aircraft 20 avoids the no-fly area to reach the destination. The unmanned aerial vehicle 20 can be made to fly. For this reason, the unmanned aerial vehicle 20 can more reliably reach the destination. Furthermore, it is also possible to prevent the unmanned aerial vehicle 20 from getting in the way of the moving object between the destination and the moving object between the destination and the destination being out of the way.

  In addition, the unmanned aerial vehicle 20 can be made to fly so as to avoid the no-fly area whose area setting unit 103 has determined the size and the shape based on the moving object position information. That is, since the size and shape of the no-fly area can be optimized according to the moving object position information, the unmanned aerial vehicle 20 may get in the way of the moving body or the moving body gets in the way of the unmanned aircraft 20 Can be prevented reliably.

  Further, as described in the embodiment, when the moving body position information indicates the position of the player playing on the golf course, the unmanned aircraft 20 is avoided by avoiding the no-fly area changing according to the movement of the player on the golf course. You can fly it. For this reason, when the unmanned aerial vehicle 20 delivers the package at the golf course, the unmanned aerial vehicle 20 interferes with the player in the round (for example, it interferes with visual or auditory to reduce concentration, or the hitting ball unmanned aerial vehicle 20). And the player is prevented from becoming an obstacle to delivery of the unmanned aerial vehicle 20 (for example, a hit ball hits the unmanned aerial vehicle 20). As a result, the unmanned aerial vehicle 20 can reliably complete the delivery of packages and the return to the clubhouse.

[5. Modified example]
The present invention is not limited to the embodiments described above. It can change suitably, in the range which does not deviate from the meaning of the present invention.

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

  (1) For example, even if the players are in the same position, the no-fly area may differ depending on the situation at that time. For example, when the player is moving, it does not necessarily shot immediately, and there is a high probability that it will not get in the way even if the unmanned aerial vehicle 20 enters the player's view or hitting direction. It is also good. On the other hand, when the player is not moving, it is in the address or confirms the shot direction, and there is a high probability that the unmanned aircraft 20 will be in the way when it enters the player's view or hitting direction. May be set widely. For this reason, in this modification, the case where the flight prohibited area is set according to the current situation of the player will be described.

  The unmanned aircraft control system 1 of the modified example (1) includes a situation acquisition unit 106. The condition acquisition unit 106 is mainly implemented by the control unit 11. The status acquisition unit 106 acquires mobile status information on the current status of the mobile. In the following modifications, as in the embodiment, the player is described as an example of the moving object, and therefore the moving object condition information indicates the current condition of the player.

  For example, the moving body situation information may indicate the movement situation of the player, the action of the player, or the direction of the player. Here, the case where the moving body situation information relates to the current movement situation of the player will be described. The movement status may indicate whether or not the movement is in progress, and may indicate the movement direction or the movement speed. Here, a case will be described where the movement situation indicates whether the movement is in progress. Note that during movement means that the amount of movement per unit time (the amount of change in mobile object position information) is equal to or greater than a threshold.

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

  The area setting unit 103 sets the no-fly area based on the moving body condition information. The relationship between the mobile body status 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 the form of a mathematical expression or a table. In this relationship, mobile object status information and at least one of position, size and shape of the no-fly area may be defined. The area setting unit 103 sets a flight prohibited area associated with the moving body condition information acquired by the condition acquiring unit 106.

  Here, since the case where the mobile body status information indicates the movement status will be described, the area setting unit 103 sets the flight prohibited area based on the current movement status indicated by the mobile body status information. For example, the region setting unit 103 makes at least one of the position, the size, and the shape of the no-fly region different between when the player is moving and when the player is not moving.

FIG. 16 is a view showing a no-fly area set while the player is moving, and FIG. 17 is a view showing a no-fly area set while the player is stopped. As shown in FIG. 16, when the moving object status information indicates that the moving object status information is moving, the area setting unit 103 does not fly the circle of radius L ₆ centered on the position M ₄ of the player indicated by the moving object position information. Set as A ₉₄ . That is, if the player is moving, the player does not shoot immediately, so a relatively small no-fly area A ₉₄ may be set without considering the hitting direction.

In addition, for example, as shown in FIG. 17, the region setting unit 103, to indicate that the mobile status information is not moving, the predetermined distance the position M ₅ of the player indicated by the mobile location information in a predetermined direction setting the ellipse minor axis L ₇ and the major axis L ₈ around the position M ₆ that has moved as a fly region a _95. That is, since the player may shot immediately if not moving, a relatively large no-fly area A ₉₅ may be set in consideration of the hitting direction.

  As shown in FIG. 16 and FIG. 17, for example, the area setting unit 103 makes the flight such that the no-fly area when the player is not moving is wider than the no-fly area when the player is moving The prohibited area may be determined. The flight control unit 105 determines a flight route that avoids the no-fly area set by the area setting unit 103 according to the moving object status information. The method of determining the flight route that avoids the no-fly area may be similar to the method described in the embodiment. This point is the same as in the modification described later.

  According to the modification (1), the unmanned aerial vehicle 20 can be made to fly so as to avoid the no-fly area according to the mobile object status information. By setting the no-fly area according to the situation of the player at that time, it is possible to prevent the unmanned aerial vehicle 20 from getting in the way of the player or preventing the player from getting in the way of the unmanned aircraft 20 more reliably. it can. Furthermore, for example, since it is also possible to prevent the setting of a flight prohibitive area that is unnecessarily large in the current situation of the player, it is possible to prevent the unmanned aircraft 20 from being diverted in vain. As a result, the power consumption of the unmanned aerial vehicle 20 can be reduced, and the arrival time to the destination can be advanced.

  In addition, when the moving body situation information indicates the movement situation of the player, the unmanned aircraft 20 can be made to fly so as to avoid the no-fly area according to the movement situation of the player. That is, it is possible to set the optimal flight prohibited area according to the movement situation of the player.

  It should be noted that what kind of flight prohibited area is to be set according to the mobile object status information may be determined according to the scene using the unmanned aircraft control system 1, the type of mobile object, and the like. For example, when the moving object is a train or the like, the area setting unit 103 moves, contrary to the above-described modified example, in order to secure a spatial margin for avoiding contact with the unmanned aerial vehicle 20. Even if the no-fly area when body condition information indicates moving is set wider than the no-fly area when mobile state information indicates no moving, the no-fly area is set. Good.

  Also, for example, as described above, the movement status may indicate the movement direction, and in this case, the state acquisition unit 106 may acquire the movement direction based on the time-series change of the mobile object position information. For example, the area setting unit 103 may set a wide no-fly area on the moving direction side indicated by the mobile object status information.

  Further, for example, the movement status may indicate the movement speed, and in this case, the state acquisition unit 106 may acquire the movement speed based on the time-series change of the mobile body position information. For example, in order to secure a spatial margin for avoiding contact with the unmanned aerial vehicle 20, the region setting unit 103 enlarges the no-flying region as the moving speed indicated by the mobile object status information increases, and the moving speed increases. The slower you fly, the smaller the no-fly area may be. Also, 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 flight is performed as the moving speed indicated by the moving body status information is faster. The prohibited area may be reduced, and the slower the movement speed, the larger the prohibited area.

  Also, for example, as described above, the mobile unit status information may indicate a status other than the movement status. For example, when the mobile unit status information indicates the type of operation, the status obtaining unit 106 may be configured to The type of operation may be acquired based on a change in the above, or the type of operation may be acquired based on an image captured by the camera 24A of the unmanned aerial vehicle 20. In this case, the region setting unit 103 sets the no-fly region according to the operation. For example, the area setting unit 103 may make the flight prohibited area larger when the player is performing the addressing operation than when the player is performing the walking operation.

  Also, for example, when the moving body situation information indicates the direction (for example, the face direction or the body direction of the player, etc.), the situation acquiring unit 106 may acquire the direction based on the change in the moving body position information. Alternatively, the direction may be acquired based on an image captured by the camera 24A of the unmanned aerial vehicle 20. In this case, the area setting unit 103 sets the no-fly area according to the direction. For example, the area setting unit 103 may set a no-fly area that is wider in the direction of the face or body of the player.

  (2) For example, although the case where a mobile was a person was explained by an embodiment, as mentioned above, a mobile may be a car, a motorcycle, or a train. People, cars, motorcycles, and trains move differently from one another, so the no-flying area may differ depending on what the moving object is.

  The unmanned aircraft control system 1 of the modification (2) includes a 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 on the property of the mobile body. The property is information indicating what the mobile unit is. In other words, the property may be taxonomically defined classification, type or purpose of use of mobile, capability or performance of mobile or the like. Here, the case is described where the mobile object property information indicates whether it is a person, a car, a motorcycle, or a train.

  For example, the property acquisition unit 107 may acquire 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, data indicating the relationship between the identification information of the mobile terminal 30 and the mobile object property information is stored in advance in the data storage unit 100. In this relationship, for example, a mobile terminal 30 moves with a person, and another mobile terminal 30 moves with a car. The property acquisition unit 107 acquires mobile body property information associated with the identification information acquired from the mobile terminal 30. Thereby, the unmanned aircraft control system 1 can identify what the mobile unit is.

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

  The area setting unit 103 sets the no-fly area based on the moving body property information. The relationship between the mobile object 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, mobile object property information and at least one of position, size, and shape of the no-fly area may be defined. The area setting unit 103 sets the no-fly area associated with the moving body property information acquired by the property acquiring unit 107.

  For example, the area setting unit 103 may set the no-fly area of the size and the shape associated with the moving object property information at the position associated with the moving object property information. In other words, the area setting unit 103 changes the no-fly area to be set according to the property indicated by the mobile object property information.

  For example, the area setting unit 103 may set a flight prohibited area larger than the case where the moving body property information indicates a person when the moving body property information indicates a car or a train. Also, for example, since the direction in which a car or train can move is limited and a sudden change in direction can not be made, the area setting unit 103 indicates that the movement property information indicates a person when the movement property information indicates a car or train. As compared to the case, a wider no-fly area may be set on the moving direction side.

  According to the modification (2), the unmanned aerial vehicle 20 can be made to fly so as to avoid the no-fly area according to the moving body property information. That is, since the no-fly area changes depending on what the mobile object is, it is possible to more reliably prevent the unmanned aerial vehicle 20 from interfering with the mobile object or the mobile object from interfering with the unmanned aircraft 20. it can. Furthermore, for example, since it is possible to prevent the setting of an unnecessarily large no-fly area depending on the nature of the moving object, it is possible to prevent the unmanned aerial vehicle 20 from making an unnecessary detour. As a result, it is possible to reduce the power consumption of the unmanned aerial vehicle 20 and to accelerate the arrival time to the destination.

  In addition, even if it is an object of the taxonomically the same name, depending on the type, it may be better to make the no-fly area different. For example, even if the same train is used, the travel speed differs between the Shinkansen and the conventional line, so the flight prohibited area may be different depending on the type of train. In this case, the mobile object property information indicates the type of train, and the area setting unit 103 prohibits the flight from being larger than the case where the mobile object property information indicates a conventional line when the mobile object property information indicates a Shinkansen. The area may be set.

  For example, even if it is the same motor vehicle, since the moving speed differs between the expressway and the general road, the no-flying area may be different depending on where the motor vehicle is traveling. In this case, the mobile object property information indicates where the vehicle is traveling, and when the mobile object property information indicates a car on the expressway, the area setting unit 103 indicates that the mobile object property information is a general road. You may try to set a larger no-fly area than in the case of showing a car.

  Also, for example, even if the buses are the same, it may be better to make the flight prohibited area different for the shared bus and the tourist bus. For example, in the case of a shared bus, it often stops immediately after stopping at a bus stop and carrying passengers, but a tourist bus often stops for a while on the spot and then departs after sightseeing has ended. The mobile body property information may indicate the use purpose of the mobile body, and the area setting unit 103 may set the no-fly area based on the use purpose indicated by the mobile body property information. For example, in the case of a shared bus, the region setting unit 103 may set a flight prohibited region larger than the tourist bus.

  Also, for example, depending on the player, some players can take flying distance and some players can not take flying distance, so the flight prohibited area may be made different depending on the player's flying distance. In this case, the moving body property information indicates the flying distance of the player (that is, the ability of the player), and the area setting unit 103 causes the area setting unit 103 to fly the longer the flying distance indicated by the moving body property information. The no-fly area may be made wider as the flying distance indicated by the mobile object property information is shorter.

  (3) Further, for example, when the unmanned aircraft control system 1 of the embodiment approaches the course, the unmanned aircraft control system 1 according to the embodiment adjusts the flight route according to the position of the player at that time. However, the flight route may be determined by predicting the player's movement in advance. In this modification, the unmanned aircraft control system 1 predicts the movement of each player from the current position before the unmanned aircraft 20 departs, and obtains a flight route avoiding the no-fly area based on the predicted result. This will be described by way of example.

  The unmanned aircraft control system 1 of the modified example (3) includes a movement prediction unit 108. The movement prediction unit 108 is mainly implemented 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 point in the future, or may predict the positions of the player at multiple points in the future in time series. Here, the 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 point in time may be described in a program, or may be stored in advance in the data storage unit 100 in the form of a mathematical expression or a table. This relationship can be said to be defined by the relationship between the player's current position and the future position. For example, in this relation, the relation between the current position of the player and the position n minutes after the present (n is an arbitrary numerical value) may be defined. The position of the future may be defined according to the standard play progress in the golf course.

  The region setting unit 103 sets the no-fly region based on the prediction result of the movement prediction unit 108. The region setting unit 103 sets the no-fly region based on the position of the player at each future time point predicted by the movement prediction unit 108. The setting method itself of the no-flying area at each time may be the same as the method described in the embodiment or the above-described modification. That is, the area setting unit 103 may set the no-fly area in the same manner as the method described in the embodiment for each time after the current time.

FIG. 18 is a diagram showing a method of setting the no-fly area in the modification (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 object position information in each set are described by reference signs M _{7 to} M ₉ . Position M ₇ at a point in time t _1, the third shows the position of the player playing at the hole H _3, position M ₈ are fourth shows the position of the player playing at the hall, the position M ₉ is 5th Indicates the position of the player playing in the hall.

For example, the player shoots the ball as the ball approaches the pin and plays each hole in order, so that the player's future position is a position closer to the pin than the current position or a position in the hole after the current position. Shall be defined in For this reason, positions M _{7 to} M ₉ at time t ₂ later than time t ₁ are moving toward the pin or to the next hole than positions M _{7 to} M ₉ at time t ₁ To Similarly, the position _M 7 ~M ₉ time _{t 3} later than time _{t 2} is from the position _M 7 ~M ₉ time _{t 2,} have been moved to the next hole or being moved toward the pin To

  In this modification, since time-series movement as shown in FIG. 18 is predicted, the region setting unit 103 sets a flight prohibited region at each time point predicted by the movement prediction unit 108. That is, the area setting unit 103 predicts the time-series change of the no-fly area based on the time-series change of the position of the player, and the flight control section 105 changes the time-series change of the no-fly area. Based on the flight control of the unmanned aerial vehicle.

For example, in a mobile prophetic example as shown in FIG. 18, when flying from unmanned aerial vehicle 20 is the position P to receive plants Q _6, when you try to fly a third hole H _{3 ~} fifth hole H around ₅ to time t _1, Because the no-flying areas A _{7 to} A ₉ are dense, the unmanned aerial vehicle 20 has to make a large bypass. Therefore, flight controller 105, at time t ₂ or t ₃ unmanned aircraft 20 to fly the third hole H _{3 ~} fifth hole H _5, or waiting in the middle flight or waiting to start You may get a flight route.

  According to the modification (3), since the unmanned aircraft 20 can be made to fly so as to predict the movement of the player from the current position and to avoid the no-fly area based on the prediction result, the unmanned aircraft 20 can be more reliably. Can fly to avoid the no-fly area. By predicting the position of the player, the frequency of acquiring mobile object position information can be reduced, so the amount of communication can be reduced.

  Further, in the case of setting the no-fly area in time series based on the movement prediction of the player, the optimum no-fly area can be set based on the detailed movement prediction according to each time point.

  (4) For example, the unmanned aircraft control system 1 may determine the flight route in consideration of the arrival time and the movement distance. At this time, it may be possible to designate a player, a manager, or the like whether to cause the unmanned aircraft 20 to fly with priority for the arrival time or to make the flight distance with priority.

  The unmanned aircraft control system 1 of the present modified 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 on arrival time when the unmanned aircraft flies to a destination avoiding a no-fly area and distance information on movement distance. The flight control unit 105 may acquire a plurality of flight route candidates. In this case, the information acquisition unit 109 may acquire time information and distance information for each of the flight route candidates. As the flight route candidate, the shortest route between the arrival and departure point and the receiving station and a route whose difference in distance from the shortest route is less than a threshold may be acquired based on a route search algorithm.

  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. Also, 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 pre-specified numerical value.

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

  The flight control unit 105 performs flight control of the unmanned aircraft 20 based on the time information and the distance information. For example, the flight control unit 105 performs flight control of the unmanned aircraft 20 based on the designation result received by the designation receiving unit 110. The flight control unit 105 performs flight control of the unmanned aircraft 20 based on the flight route with the shortest arrival time, when the designation to prioritize the arrival time is received. On the other hand, the flight control unit 105 performs flight control of the unmanned aircraft 20 based on the flight route with the shortest travel distance when the designation to prioritize the travel distance is received.

  According to the modification (4), the unmanned aerial vehicle 20 can be made to fly based on the flight route in which the arrival time and the movement distance are considered. For this reason, the unmanned aerial vehicle 20 can be made to fly without waste.

  Also, the unmanned aircraft 20 can be made to fly by giving priority to the arrival time, or the unmanned aircraft 20 can be made to fly giving priority to the moving distance. Therefore, for example, the unmanned aerial vehicle 20 can be made to fly on a flight route according to the player or the manager.

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

  (5) For example, even if the current flight route crosses the no-fly area, if the player moves, that part may not be included in the no-fly area. Therefore, the flight control unit 105 may control the flight of the unmanned aircraft 20 so as to avoid the no-fly area by making the unmanned aircraft 20 stand by.

  Here, as described in the embodiment, a case will be described in which the no-fly area of the course to which the unmanned aircraft 20 approaches is avoided. For example, the flight control unit 105 determines whether the current flight route is to avoid the no-fly area, and if it determines that the current flight route is not to avoid the no-fly area, makes the unmanned aircraft 20 stand by immediately before the no-fly area. The immediately before is a place within a predetermined distance from the no-fly 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. Note that the unmanned aerial vehicle 20 hovers on the spot, lands on the ground, or stays around within a certain range (for example, an area within a radius of 5 m) corresponds to waiting.

  The moving body position acquisition unit 102 repeatedly acquires moving body position information while the unmanned aerial vehicle 20 is on standby. The region setting unit 103 sets a flight prohibited region each time mobile object position information is acquired. The flight control unit 105 compares the latest no-fly area with the flight route and determines whether the flight route avoids the latest no-fly area. If the flight control unit 105 determines that the flight route does not avoid the latest no-fly area, it determines that the unmanned aircraft 20 continues to stand by and the flight route avoids the latest no-fly area. In this case, a predetermined flight resumption instruction is sent to the unmanned aerial vehicle 20. The flight resumption instruction may be transmitted in a predetermined data format. When the unmanned aerial vehicle 20 receives the flight resumption instruction, it will end standby and begin flying on the flight route.

  According to the modification (5), it is possible to prevent the unmanned aerial vehicle 20 from being diverted in vain. As a result, the unmanned aerial vehicle 20 can arrive early at the destination, and the power consumption of the unmanned aerial vehicle 20 can be reduced.

  The place where the unmanned aircraft 20 stands by may not be immediately before the no-fly area. For example, as in the modification (3), in the case of predicting the no-fly area in advance, the unmanned aircraft 20 may be made to stand by at the departure / arrival site to delay the departure. Also, for example, during flight of the unmanned aerial vehicle 20, the movement prediction unit 108 is made to predict a change in the no-fly area by the same method as in the modification (3), and the flight control unit 105 newly generates the above described embodiment. It may be determined whether the unmanned aerial vehicle 20 should stand by based on the arrival time or travel distance when flying on the flight route and the arrival time or travel distance when flying on the current flight route on standby. . In this case, the arrival time and the movement distance may be acquired by the same method as in the modification (4). The flight control unit 105 may cause the unmanned aircraft 20 to stand by if the flight on the current flight route on standby is earlier than the new flight route, and waits on the current flight route. If the flight distance is shorter than the new flight route, the unmanned aircraft 20 may stand by. The flight control unit 105 may determine whether to put the unmanned aircraft 20 on standby according to which one of the arrival time and the movement distance is to be prioritized.

  (6) Also, for example, any two or more of the above-mentioned modifications (1) to (5) may be combined.

  Also, for example, the mobile terminal 30 may be a golf cart terminal disposed in a golf cart. In this case, the mobile 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 mobile body position acquisition unit 102 may acquire mobile body position information indicating the current position of the golf cart based on a detection signal of the GPS sensor 36 of the mobile body terminal 30 which is a golf cart terminal. The area setting unit 103 sets the no-fly area based on the current position of the golf cart, and the flight control unit 105 flies so as to avoid the no-fly area set based on the current position of the golf cart. become.

  Also, for example, although the case where the unmanned aerial vehicle 20 carries a load is described as an example, the unmanned aerial vehicle control system 1 may be applied to a scene where the unmanned aerial vehicle 20 flies above the moving object. For example, the unmanned aerial vehicle control system 1 may be applied even when the unmanned aerial vehicle 20 photographs the situation of a predetermined place with the camera 24A and provides information.

  Also, for example, although 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, the unmanned aerial vehicle control system 1 includes one or more computers. Well, other computers may be included. For example, when the unmanned aerial vehicle 20 detects mobile position information, the mobile terminal 30 may not be included in the 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 realized by the administrator terminal 10 are the unmanned aerial vehicle 20, the movement 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. Also, for example, when the mobile body position acquisition unit 102 is realized by the unmanned aerial vehicle 20, the unmanned aerial vehicle 20 may acquire mobile body position information directly from the mobile terminal 30, or the sensor unit of its own The mobile body position information may be acquired based on the detected contents of 24. Also, for example, when the area setting unit 103 is realized by the unmanned aerial vehicle 20, the unmanned aerial vehicle 20 may set the no-fly area based on the map data. Also, when the flight control unit 105 is realized 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. Furthermore, 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 (6)

Mobile position acquisition means for acquiring mobile position information regarding the current position of a mobile moving in an area where an unmanned aircraft carrying a load carried at a predetermined point on the earth flies;
Area setting means for setting a no-fly area for prohibiting the flight of the unmanned aerial vehicle based on the moving body position information;
Flight control means for controlling the flight of the unmanned aerial vehicle so as to avoid the no-fly zone;
An unmanned aerial vehicle control system characterized in that it comprises: The no-fly region is a region prohibiting the flight of the unmanned aircraft flying above the moving object,
The unmanned aerial vehicle control system according to claim 1, characterized in that: The moving body is an animal or vehicle moving on the earth,
The no-fly area is an area that prohibits the flight of the unmanned aircraft flying above the animal or the vehicle.
The unmanned aerial vehicle control system according to claim 2, characterized in that: The moving body is a player or a golf cart moving in a golf course,
The mobile body position acquisition means acquires the mobile body position information indicating the current position of the player or the golf cart based on a detection signal of a GPS sensor of the player terminal or the golf cart terminal.
The area setting means sets the no-fly area based on the current position of the player or the golf cart.
The flight control means controls the flight of the unmanned aircraft carrying a load carried at a predetermined point in the golf course so as to avoid the no-fly area set based on the current position of the player or the golf cart Do,
The unmanned aerial vehicle control system according to any one of claims 1 to 3, characterized in that: A mobile position acquisition step of acquiring mobile position information on a current position of a mobile moving in an area where an unmanned aircraft carrying a load carried at a predetermined point on the earth flies;
An area setting step of setting a no-fly area for prohibiting the flight of the unmanned aerial vehicle based on the moving body position information;
A flight control step of controlling the flight of the unmanned aerial vehicle to avoid the no-fly zone;
A method of controlling an unmanned aerial vehicle comprising: Mobile body position acquisition means for acquiring mobile body position information regarding the current position of a mobile body moving in a region where an unmanned aircraft carrying a load carried at a predetermined point on the earth flies;
Area setting means for setting a no-fly area for prohibiting the flight of the unmanned aerial vehicle based on the moving body position information;
Flight control means for controlling the flight of the unmanned aerial vehicle so as to avoid the no-fly zone;
A program to make a computer function.

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