JP2019137398A - Information processing apparatus, control method of information processing apparatus, unmanned aerial vehicle, control method of unmanned aerial vehicle, and program - Google Patents

Abstract

To provide a mechanism capable of reducing a fall due to lowering of a remaining amount of a battery of an unmanned aerial vehicle by specifying a flight available range of the unmanned aerial vehicle and giving notification using information of the specified flight available range.SOLUTION: Using position information of an unmanned aerial vehicle, a remaining amount of a battery, and a flight speed, a flight available range of the unmanned aerial vehicle is specified, and notification is given using the information of the specified flight available range of the unmanned aerial vehicle.SELECTED DRAWING: Figure 5

Description

  The present invention relates to an information processing apparatus, an information processing apparatus control method, an unmanned aerial vehicle, an unmanned aircraft control method, and a program. It is related with the structure which can reduce the fall by the fall of the residual amount of the battery of the said unmanned aircraft by performing notification using.

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

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

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

  Patent Document 1 proposes an unmanned aerial vehicle that automatically flies over an object to be photographed.

Japanese Patent Laid-Open No. 2015-113100

  By the way, when an unmanned aircraft is to fly from a vehicle, the unmanned aircraft is returned to the vehicle and collected when the flight of the unmanned aircraft is terminated. However, when an unmanned aerial vehicle flies with a battery built into the unmanned aerial vehicle, if the remaining battery level drops to a level that the unmanned aerial vehicle cannot fly, it will crash before being collected by the vehicle. The unmanned aircraft itself could break down due to the impact of falling.

  In addition, even when unmanned aircraft are collected on foot rather than on a vehicle, if the remaining battery level drops to an amount that the unmanned aircraft cannot fly, the unmanned aircraft can be There was a risk of falling and causing harm to people at the point of fall.

  The present invention specifies the range in which an unmanned aerial vehicle can fly and performs notification using information on the identified flightable range, thereby reducing a drop caused by a decrease in the remaining battery level of the unmanned aircraft. The purpose is to provide a simple mechanism.

  The present invention is an information processing apparatus capable of communicating with an unmanned aerial vehicle, wherein the acquisition unit acquires position information indicating a position where the unmanned aircraft is flying, and a remaining battery level of the unmanned aircraft, and the acquisition A specifying unit that specifies a range in which the unmanned aircraft can fly using the position information of the unmanned aircraft acquired by the unit, a remaining amount of the battery, and a flight speed of the unmanned aircraft; and And a notification means for notifying the user of the range in which the identified unmanned aircraft can fly.

  The present invention is also a method for controlling an information processing apparatus capable of communicating with an unmanned aircraft, wherein the acquisition unit of the information processing apparatus includes position information indicating a position where the unmanned aircraft is flying, An acquisition step of acquiring the remaining amount of the battery; and the position information of the unmanned aircraft acquired by the specifying unit of the information processing device, the remaining amount of the battery, and a flight speed of the unmanned aircraft. And specifying the range in which the unmanned aircraft can fly, and the notifying means of the information processing apparatus notifies the user to recognize the range in which the unmanned aircraft specified in the specifying step can fly. And a notification step.

  Further, the present invention is a program that can be read and executed by an information processing device that can communicate with an unmanned aircraft, the information processing device including position information indicating a position where the unmanned aircraft is flying, The unmanned aircraft flies using the acquisition means for acquiring the remaining amount of the battery, the position information of the unmanned aircraft acquired by the acquisition means, the remaining amount of the battery, and the flight speed of the unmanned aircraft. It is characterized by functioning as a specifying means for specifying a possible range and a notification means for notifying the user of the range in which the unmanned aircraft specified by the specifying means can fly.

  In addition, the present invention is an information processing apparatus capable of communicating with an unmanned aerial vehicle, and collects position information indicating a position where the unmanned aircraft is flying, a remaining battery level of the unmanned aerial vehicle, and the unmanned aerial vehicle. Using the acquisition means for acquiring specific information capable of specifying the position of the vehicle, the position information of the unmanned aircraft acquired by the acquisition means, the remaining amount of the battery, and the flight speed of the unmanned aircraft, On the condition that the specifying means for specifying the range in which the unmanned aircraft can fly, and the position of the vehicle specified by the specifying information is outside the range in which the unmanned aircraft specified by the specifying means can fly. And a notification means for notifying the user to that effect.

  The present invention is also a method for controlling an information processing apparatus capable of communicating with an unmanned aircraft, wherein the acquisition unit of the information processing apparatus includes position information indicating a position where the unmanned aircraft is flying, The acquisition step of acquiring the remaining amount of the battery and the specific information capable of specifying the position of the vehicle collecting the unmanned aircraft, and the position of the unmanned aircraft acquired by the specifying unit of the information processing apparatus in the acquisition step A specifying step for specifying a range in which the unmanned aircraft can fly using information, a remaining amount of the battery, and a flight speed of the unmanned aircraft, and a notification unit of the information processing device specified by the specific information A notification step of notifying the user of the fact that the position of the vehicle to be recognized is outside the range in which the unmanned aircraft specified in the specifying step can fly. The features.

  Further, the present invention is a program that can be read and executed by an information processing device that can communicate with an unmanned aircraft, the information processing device including position information indicating a position where the unmanned aircraft is flying, An acquisition unit that acquires a remaining amount of the battery, and specific information that can identify a position of the vehicle that collects the unmanned aircraft; the position information of the unmanned aircraft that is acquired by the acquisition unit; and a remaining amount of the battery The unmanned aircraft identified by the identifying means, the specifying means for specifying the range in which the unmanned aircraft can fly using the flight speed of the unmanned aircraft, and the position of the vehicle specified by the specifying information It is characterized by functioning as a notification means for notifying the user to that effect on the condition that it is out of a flightable range.

  Further, the present invention provides position information indicating a position where the unmanned aircraft is flying, an acquisition unit that acquires a remaining battery level of the unmanned aircraft, and the position information of the unmanned aircraft acquired by the acquisition unit. The user specifies the range in which the unmanned aircraft can fly using the remaining amount of the battery and the flight speed of the unmanned aircraft, and the range in which the unmanned aircraft specified by the specifying unit can fly And a notification means for notifying the user so that the user can recognize it.

  Further, the present invention is a method for controlling an unmanned aerial vehicle, the acquisition step of acquiring position information indicating a position where the unmanned aircraft is flying, and a remaining battery level of the unmanned aircraft, and the acquisition step. Using the acquired position information of the unmanned aircraft, the remaining amount of the battery, and the flight speed of the unmanned aircraft, a specifying step of specifying a range in which the unmanned aircraft can fly is specified in the specifying step A notification step of notifying the user of the range in which the unmanned aircraft can fly.

  Further, the present invention is a program that can be read and executed by an unmanned aerial vehicle, and acquires position information indicating a position where the unmanned aircraft is flying, and a remaining battery level of the unmanned aerial vehicle. Identification means for specifying a range in which the unmanned aircraft can fly using the acquisition means, the position information of the unmanned aircraft acquired by the acquisition means, the remaining amount of the battery, and the flight speed of the unmanned aircraft. And a notification means for notifying the user of the range in which the unmanned aircraft specified by the specifying means can fly.

  In addition, the present invention obtains position information indicating a position where the unmanned aircraft is flying, a remaining battery level of the unmanned aircraft, and specific information that can identify a position of the vehicle that collects the unmanned aircraft. Specifying means for specifying a range in which the unmanned aircraft can fly using the position information of the unmanned aircraft acquired by the acquisition unit, the remaining amount of the battery, and the flight speed of the unmanned aircraft. Notification means for notifying the user of the fact that the position of the vehicle specified by the specifying information is outside the range in which the unmanned aircraft specified by the specifying means can fly. It is characterized by providing.

  The present invention is also a method for controlling an unmanned aerial vehicle, comprising: position information indicating a position where the unmanned aircraft is flying; a remaining battery level of the unmanned aircraft; and a position of a vehicle that collects the unmanned aircraft. The unmanned aerial vehicle uses the acquisition step of acquiring identifiable specific information, the position information of the unmanned aircraft acquired in the acquisition step, the remaining amount of the battery, and the flight speed of the unmanned aircraft. The identification step for identifying a flightable range, and the position of the vehicle identified by the identification information is on the condition that the unmanned aircraft identified in the identification step is outside the flightable range. And a notification step of notifying the user so that the device recognizes the device.

  The present invention is a program that can be read and executed by an unmanned aerial vehicle, wherein the unmanned aerial vehicle includes position information indicating a position where the unmanned aircraft is flying, a remaining battery level of the unmanned aerial vehicle, and the unmanned aircraft. Acquisition means for acquiring specific information capable of specifying the position of the vehicle from which the aircraft is collected, the position information of the unmanned aircraft acquired by the acquisition means, the remaining amount of the battery, and the flight speed of the unmanned aircraft And specifying means for specifying a range in which the unmanned aircraft can fly, and a position of the vehicle specified by the specifying information is outside a range in which the unmanned aircraft specified by the specifying means can fly. It is characterized by functioning as a notification means for notifying the user of this fact.

  According to the present invention, it is possible to reduce a fall due to a decrease in the remaining battery level of the unmanned aerial vehicle by specifying a flightable range of the unmanned aerial vehicle and performing notification using the identified flightable range information. it can.

The figure which shows the system configuration | structure of an unmanned aircraft navigation system. The figure which shows the hardware constitutions of the unmanned aircraft 101. The figure which shows the hardware constitutions of the information processing apparatus applicable to the computer 103 for control. The figure which shows an example of the screen of the map displayed on CRT310 of the computer 103 for control. The figure which shows an example of the screen of the map displayed on CRT310 of the computer 103 for control. The figure which shows an example of the screen of the map displayed on CRT310 of the computer 103 for control. The figure which shows an example of the screen of the map displayed on CRT310 of the computer 103 for control. The figure which shows an example of the screen of the map displayed on CRT310 of the computer 103 for control. The flowchart which shows an example of unmanned aircraft navigation system control processing. The flowchart which shows an example of a battery remaining amount monitoring process. Unmanned aerial vehicle management database and vehicle management database. The figure which shows an example of the screen of the map displayed on CRT310 of the computer 103 for control. The flowchart which shows an example of a battery remaining amount monitoring process. Vehicle management database. The flowchart which shows an example of unmanned aircraft navigation system control processing. The flowchart which shows an example of a battery remaining amount monitoring process. The figure which shows the system configuration | structure of an unmanned aircraft navigation system.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The embodiment described below shows an example when the present invention is specifically implemented, and is one of the specific embodiments having the configurations described in the claims.

  FIG. 1 is a diagram showing a system configuration of an unmanned aircraft navigation system in the present embodiment.

  In the unmanned aircraft navigation system of this embodiment, an unmanned aircraft 101 and a control computer 103 (information processing apparatus in the present invention) are connected via a network 102 so as to be communicable. The network 102 is assumed to be a wireless network in this embodiment.

  Note that the system configuration in FIG. 1 is an example, and there are various configuration examples depending on the application and purpose.

  An unmanned aerial vehicle 101, which is also called a drone, an unmanned aerial vehicle, or a UAV, is an unmanned aircraft that flies automatically in accordance with instructions from the control computer 103. In response to an instruction from the control computer 103, the plurality of rotor blades are operated to fly.

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

  The unmanned aerial vehicle 101 has a wireless flight and a wired flight, but in the present invention, it is assumed to fly wirelessly.

  The unmanned aerial vehicle 101 has a camera, and the camera has a pan function that moves the lens of the camera to the left and right, a tilt that moves the lens up and down, and a zoom function that makes it telephoto and wide-angle in order to change the shooting direction. It can be operated from a remote location (PTZ control).

  The unmanned aerial vehicle 101 is stored in a movable vehicle 104 such as a relay vehicle when it is not flying (standby), and when shooting a subject, the flight starts from the vehicle 104 and the shooting ends. It is assumed that the vehicle 104 is returned again.

  In the present embodiment, a mechanism is assumed in which the vehicle 104 is a relay vehicle and the unmanned aircraft 101 is used to photograph a subject. However, the present invention is not limited to this. For example, the vehicle 104 carries a parcel for delivery. It is also possible to use a mechanism of sending a package from the transport vehicle to the delivery destination using the unmanned aircraft 101.

  The control computer 103 is a device for controlling the unmanned aircraft 101.

  In addition, the control computer 103 includes an operation console. The console includes an operation unit that operates the unmanned aircraft 101 and a camera mounted on the unmanned aircraft 101.

  The control computer 103 includes a GPS receiver, and the current position of the control computer 103 can be specified by receiving a signal from a GPS satellite by the GPS receiver.

  The user operates the operation unit to operate the flight direction to the unmanned aircraft 101 and the flight speed. Then, when the control computer 103 receives the operation of the operation unit, the control computer 103 transmits an instruction to the unmanned aircraft 101 so as to fly according to the received operation content, and when the unmanned aircraft 101 receives the instruction, The propeller 213 is controlled to fly according to the instruction. As described above, the control computer 103 transmits the operation instruction content operated by the operation unit to the unmanned aircraft 101 and operates the flight of the unmanned aircraft 101.

  Further, the user operates the operation unit to perform zoom-in operation, zoom-out operation, and pan operation of a camera mounted on the unmanned aircraft 101. When the control computer 103 receives an operation on the operation unit, the control computer 103 transmits an instruction to the camera to operate according to the received operation content, and when the camera receives the instruction, the control computer 103 The part which operates each member, such as a lens in a camera, is operated so that it may operate. As described above, the control computer 103 transmits the operation instruction contents operated by the operation unit to the camera, and operates the zoom operation of the camera lens and the pan operation in the shooting direction.

  In the present embodiment, it is assumed that the unmanned aircraft 101 is always photographed by the camera mounted on the unmanned aircraft 101 during the flight.

  In this embodiment, it is assumed that the control computer 103 is installed in the vehicle 104. However, as another embodiment, the vehicle 104 is provided with a GPS receiver, and a signal from a GPS satellite is provided by the GPS receiver. Is received, a device that can identify the current position of the vehicle 104, and further transmit information on the identified current position to the control computer 103 is installed. The device and the control computer 103 communicate with each other, and the vehicle 104 As long as the control computer 103 can acquire the position information of the vehicle 104, it may be installed in a remote place physically separated from the vehicle 104.

  Further, the control computer 103 may be a tablet terminal or a device such as a navigation system provided in the vehicle 104.

  Further, each process shown in the flowcharts of FIGS. 9 and 10 to be described later is executed by the control computer 103, and the screens of FIGS. 4 to 8 showing the execution results are displayed on a tablet terminal that is separate from the control computer 103. Alternatively, it may be displayed on a navigation system provided in the vehicle 104.

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

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

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

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

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

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

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

  The PMU 210 is a power management unit and can control power supply from the battery included in the unmanned aircraft 101 to the ESC 211. The ESC 211 is an electronic speed controller and can control the rotation speed of the motor 212 connected to the ESC 211. By rotating the motor 212 using the ESC 211, the propeller 213 (rotary blade) connected to the motor 212 is rotated. Note that a plurality of sets of ESCs 211, motors 212, and propellers 213 are provided according to the number of propellers 213. For example, in the case of a quadcopter, the number of propellers 213 is four, so four sets are required.

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

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

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

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

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

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

  The GCU 270 is a gimbal control unit and is a unit for controlling the operations of the camera 271 and the gimbal 272. The unmanned aerial vehicle 101 will vibrate or become unstable due to the flight of the unmanned aerial vehicle 101. Therefore, the gimbal 272 absorbs the vibration of the unmanned aerial vehicle 101 so that no blurring occurs when the camera 271 takes a picture. Maintain level. Further, the camera 271 can be remotely operated by the gimbal 272.

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

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

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

  A RAM 303 functions as a main memory, work area, and the like for the CPU 301. The CPU 301 implements various operations by loading a program or the like necessary for execution of processing from the ROM 302 or the external memory 311 to the RAM 303 and executing the loaded program.

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

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

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

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

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

  Next, a map screen displayed on the CRT 310 of the control computer 103 in the unmanned aerial vehicle navigation system according to the present embodiment will be described with reference to FIGS.

  First, FIG. 4 will be described. FIG. 4 is a diagram illustrating an example of a map screen displayed on the CRT 310 of the control computer 103.

  The map 400 displays a map around the vehicle 104 in which the control computer 103 is installed.

  Then, an unmanned aircraft icon 401 that is an icon corresponding to the unmanned aircraft 101 is displayed at a position on the map 400 corresponding to the current position of the unmanned aircraft 101 specified by the signal received by the GPS unit 250 included in the unmanned aircraft 101. .

  Further, a vehicle icon 402 that is an icon corresponding to the vehicle 104 corresponds to the current position of the vehicle 104 (more precisely, the control computer 103) specified by the signal received by the GPS receiver included in the control computer 103. It is displayed at a position on the map 400. Note that the GPS receiver may be included in the vehicle 104.

  The user can grasp the current positions of the unmanned aircraft 101 and the vehicle 104 by checking the map 400.

  Next, FIG. 5 and FIG. 6 will be described. In FIG. 5, a flightable range 501 indicating a range in which the unmanned aircraft 101 can fly is displayed on the map 400. The flightable range 501 is specified by the battery voltage of the unmanned aerial vehicle 101 or the like. A method for specifying the flightable range 501 will be described in detail later.

  The flightable range 501 is displayed so that the size of the circle of the flightable range is also reduced, for example, as indicated by 601 in FIG.

  The flightable range 601 in FIG. 6 indicates a state where the flightable range 501 is narrowed from the state in FIG. 5 due to a decrease in the battery voltage of the unmanned aircraft 101.

  When the vehicle 104 is outside the flightable range 501 (601), a warning that the vehicle 104 is outside the flightable range 501 and a notification that prompts the vehicle 104 to move into the flightable range 501 (601). A notification 502 including

  By performing the notification 502, the user knows that the vehicle 104 is in a position where the unmanned aircraft 101 cannot be collected, and thereby the vehicle 104 is placed in a point where the unmanned aircraft 101 can be collected, that is, in the flightable range 501 (601). The unmanned aerial vehicle 101 can be recovered by moving it, and the unmanned aerial vehicle 101 falls to a place other than the vehicle 104, and the unmanned aerial vehicle 101 breaks down, or the risk of injury by the unmanned aerial vehicle 101 is reduced. It becomes possible.

  Further, when the vehicle 104 is moved, the unoccupied aircraft can be safely and quickly moved to where the user moves the vehicle 104 by identifying the vacant land (503) or identifying the parking lot (504). It is possible to immediately recognize whether or not the vehicle 101 can be collected, and by displaying the remaining flightable time of the unmanned aircraft 101 as indicated by 505, it is possible to determine whether the vehicle 104 should be moved quickly or whether there is still room. The user can be made aware.

  This is the end of the description of FIGS. 5 and 6, and FIG.

  FIG. 7 is another embodiment of FIG. 5 and is a diagram that considers the influence of wind around the unmanned aircraft 101 when specifying the flightable range of the unmanned aircraft 101. When the unmanned aerial vehicle 101 flies from the windward side to the leeward side, the unmanned aircraft 101 can fly farther under the influence of the wind. 701) is set wide only in the leeward direction. FIG. 7 shows an example in which the wind is blowing from northwest to southeast around the unmanned aircraft 101.

  The description of FIG. 7 is finished, and FIG. 8 is described next.

  Although FIGS. 5-7 demonstrated the display of the screen of the map after the unmanned aircraft 101 started flight, FIG. 8 demonstrates the screen of the map before the unmanned aircraft 101 starts the flight.

  In FIG. 8, the flightable range of the unmanned aerial vehicle 101 is displayed in three patterns (803 to 805). Even if the unmanned aerial vehicle 101 flies to the line from the current position (stop position of the vehicle 104) and hovers (standby) for 20 minutes at the position, the flight range 805 returns to the current position. Even if the unmanned aerial vehicle 101 flies to the line from the current position (stop position of the vehicle 104) and hovers at that position for 10 minutes, The position where the current position can be returned is shown. On the line of the flightable range 803, the unmanned aircraft 101 flies from the current position (stop position of the vehicle 104) to the line and does not hover at that position. If it turns back, the position which can return to the present position is shown. Note that reference numerals 803 to 805 are examples, and the flightable range may be displayed more finely.

  Then, on the map 400 of FIG. 8, when the user selects a position where the unmanned aircraft 101 is to fly, the position is selected (for example, 801). When the flight position determination button 802 is pressed by the user, the selected state is The unmanned aerial vehicle 101 flies to the coordinates corresponding to the position. This is the end of the description of FIG.

  Next, a flowchart illustrating an example of the unmanned aircraft navigation system control process in the present invention will be described with reference to FIG.

  Each process shown in FIG. 9 and FIGS. 10 and 13 to be described later is a process executed by the CPU 301 of the control computer 103.

  In step S901, the control computer 103 activates the unmanned aircraft navigation system in accordance with an instruction from the user.

  In step S902, the control computer 103 acquires position information of the vehicle 104 in which the unmanned aircraft 101 is stored.

  In step S903, the control computer 103 displays on the CRT 310 a map around the current position of the vehicle 104 specified by the position information acquired in step S902. The map displayed on the CRT 310 in step S903 is, for example, the map shown in FIG.

  The map data may be stored in advance in the external memory 311 of the control computer 103, or may be acquired from a server that provides an external map providing service.

  In step S <b> 904, the control computer 103 acquires information on the unmanned aircraft 101 from the unmanned aircraft management database of FIG. 11A stored in advance in the external memory 311 of the control computer 103.

  Here, the unmanned aerial vehicle management database shown in FIG. 11A and the vehicle management database shown in FIG. The unmanned aircraft management database shown in FIG. 11A and the vehicle management database shown in FIG. 11B are stored in the external memory 311 of the control computer 103. 15 and FIG. 16 to be described later, the unmanned aircraft management database shown in FIG. 11A and the vehicle management database shown in FIG. 11B are stored in the external memory 280 of the unmanned aircraft 101. .

  An ID for uniquely identifying the unmanned aircraft 101 is stored in the unmanned aircraft ID 1101 of the unmanned aircraft management database in FIG. The current position 1102 stores the current position of the unmanned aerial vehicle 101 specified by the signal received by the GPS unit 250 included in the unmanned aerial vehicle 101. The current position 1102 is appropriately received from the unmanned aircraft 101 and updated.

  In the flight speed 1103, the flight speed of the unmanned aircraft 101 is stored. The possible flight time 1104 at the time of full charge stores a time during which the unmanned aircraft 101 can fly when it is fully charged.

  The battery voltage 1105 at the time of full charge stores the voltage of the unmanned aircraft 101 when the unmanned aircraft 101 is fully charged (the remaining battery level). The battery voltage 1106 at which flight is impossible is stored as the voltage at which the unmanned aircraft 101 cannot fly (remaining battery level).

  The current battery voltage 1107 stores the current battery voltage of the unmanned aerial vehicle 101 (remaining battery level), and the current battery voltage 1107 is appropriately received from the unmanned aircraft 101 and updated.

  The remaining flight time 1108 is obtained and stored by sequentially performing the following calculation formulas (1) to (3).

<Calculation formula>
(1) (battery voltage 1105 at full charge 1105-battery voltage 1106 at which flight is impossible) / flight available time 1104 at full charge = voltage decreasing per minute (battery capacity)

(2) Current battery voltage 1107-battery voltage 1106 which becomes impossible to fly = remaining battery remaining voltage (voltage)

(3) Remaining battery remaining voltage (voltage) / Voltage decreasing per minute = Remaining flightable time 1108
The corresponding vehicle ID 1109 stores the vehicle ID (vehicle ID 1110) of the vehicle 104 in which the unmanned aircraft 101 is stored.

  An ID for uniquely identifying the vehicle 104 is stored in the vehicle ID 1110 of the vehicle management database in FIG.

  The current position 1111 stores the current position of the vehicle 104 specified by the signal received by the GPS receiver included in the control computer 103. The current position 1111 is appropriately acquired from the control computer 103 or the vehicle 104 and updated.

  The corresponding unmanned aircraft ID 1112 stores the unmanned aircraft ID (unmanned aircraft ID 1101) of the unmanned aircraft 101 stored in the vehicle 104.

  Unmanned aerial vehicle ID 1101, flight speed 1103, flight time 1104 at full charge, battery voltage 1105 at full charge, battery voltage 1106 at which flight becomes impossible, corresponding vehicle ID 1109, vehicle ID 1110, corresponding unmanned aircraft The ID 1112 is registered by the user in advance.

  Thus, the description of FIG. 11 is ended, and the description returns to the description of FIG.

  In step S905, the control computer 103 displays the movable range (distance) of the unmanned aircraft 101 on the map displayed in step S903. The state where the movable range of the unmanned aerial vehicle 101 is displayed on the map is, for example, the state shown in FIG. 8 (specifically, 803 to 805 in FIG. 8).

  The movable range (distance) can be obtained by a calculation formula: “flying speed 1103 × free flight time 1104/2 at full charge = movable range (distance)”.

  In step S <b> 906, the control computer 103 receives a designation of a position where the unmanned aircraft 101 flies on the map from the user.

  In step S907, the control computer 103 determines whether a flight start instruction for the unmanned aircraft 101 has been received from the user, based on whether the flight position determination button 802 in FIG. 8 has been pressed in accordance with the user operation.

  In step S908, the unmanned aerial vehicle 101 is caused to fly to the position received from the user in step S906.

  In step S909, the control computer 103 executes battery remaining amount monitoring processing. Details of the processing in step S909 will be described with reference to FIG. Above, description of FIG. 9 is complete | finished.

  Next, details of the battery remaining amount (capacity) monitoring process in step S909 in FIG. 9 will be described with reference to FIG.

  FIG. 10 is a flowchart illustrating an example of the battery remaining amount monitoring process.

  The processing illustrated in FIG. 10 is appropriately performed at a predetermined timing from when the unmanned aircraft 101 starts flying until it ends.

  In step S1001, the control computer 103 acquires the current battery voltage (remaining battery level) of the unmanned aerial vehicle 101, and uses the acquired value of the unmanned aircraft 101 in the unmanned aircraft management database in FIG. Store in current battery voltage 1107.

  In step S1002, the control computer 103 acquires the current position information of the unmanned aerial vehicle 101. The acquired position information is stored in the current position 1102 of the unmanned aerial vehicle 101 in the unmanned aerial vehicle management database of FIG.

  Steps S1001 and S1002 are examples of acquisition means for acquiring position information indicating the position where the unmanned aircraft is flying and the remaining battery level of the unmanned aircraft in the present invention. S1002 and step S1003 are identifications that can specify the position information indicating the position where the unmanned aircraft is flying, the remaining battery level of the unmanned aircraft, and the position of the vehicle that collects the unmanned aircraft in the present invention. It is an example of the acquisition means which acquires information.

  In step S <b> 1003, the control computer 103 acquires the current position information of the vehicle 104. The acquired position information is stored in the current position 1111 of the vehicle 104 in the vehicle management database of FIG.

  In step S1004, the control computer 103 sets the unmanned aircraft 101 and the vehicle 104 at positions on the map corresponding to the current position of the unmanned aircraft 101 and the vehicle 104 specified by the position information acquired in steps S1002 and S1003. Are displayed (for example, the unmanned aircraft icon 401 and the vehicle icon 402 in FIG. 4).

  In step S <b> 1005, the control computer 103 acquires wind direction and wind speed information around the current position of the unmanned aircraft 101 from a server that provides a web service that distributes weather information. Note that step S1005 is not an essential process in the present invention, but by executing the process of step S1005, the wind direction and the wind speed are taken into account when the flightable range of the unmanned aircraft 101 is displayed on the map in step S1006. It becomes possible to show a more accurate flight range. Specifically, for example, the display indicated by 701 in FIG. 7 is possible.

  In step S1006, the control computer 103 displays the current flightable range of the unmanned aerial vehicle 101 on the map. Specifically, for example, the flightable range 501 in FIG. 5, the flightable range 601 in FIG. 6, and the flightable range 701 in FIG. 7 are specified and displayed. The flightable range can be specified by the current position 1102 of the unmanned aircraft 101 and the calculation formula of “flying speed 1103 × remaining flightable time 1108 = flyable range (distance)”.

  Step S1006 uses the position information of the unmanned aircraft acquired by the acquisition unit, the remaining amount of the battery, and the flight speed of the unmanned aircraft in the present invention to determine a range in which the unmanned aircraft can fly. It is an example of specifying means for specifying, and is an example of notifying means for notifying the user of the range in which the unmanned aircraft specified by the specifying means can fly.

  In step S1007, the control computer 103 determines whether the vehicle 104 is within the flightable range displayed in step S1006, based on the current position 1102 of the unmanned aircraft 101, the current position 1111 of the vehicle 104, and the flightable range of the unmanned aircraft 101. Judge based on information. If it is determined that the vehicle 104 is within the flightable range, the control computer 103 proceeds to step S1010, and if it is determined that the vehicle 104 is not within the flightable range, the control computer 103 performs step S1008. The process is transferred to.

  In step S1008, the control computer 103 notifies the user that the vehicle 104 is not within the flightable range. As the notification method, it is sufficient that the user can recognize that the vehicle 104 is not within the flightable range. For example, a warning sound is emitted from a speaker included in the control computer 103 or a notification 502 shown in FIG. It is possible to do.

  The user can recognize that the vehicle 104 is not in the flightable range by being notified from the control computer 103, and can take measures such as moving the vehicle 104 within the flightable range.

  Step S1008 allows the user to recognize the fact that the position of the vehicle specified by the specifying information is outside the range in which the unmanned aircraft specified by the specifying means can fly It is an example of the notification means which notifies as much as possible.

  In step S <b> 1009, the control computer 103 identifies and displays a vacant land (503) and identifies and displays a parking lot (504). By executing the processing of step S1010, it is possible to immediately recognize where the user can move the vehicle 104 to safely and quickly collect the unmanned aircraft 101.

  In step S1010, the control computer 103 determines whether an instruction to end the flight of the unmanned aircraft 101 has been received from the user. If the control computer 103 receives an instruction to end the flight of the unmanned aircraft 101 from the user, the control computer 103 ends the process. If the instruction to end the flight of the unmanned aircraft 101 is not received from the user, the control computer 103 returns the process to step S1001. That is, as long as the unmanned aircraft 101 is not charged in the middle, the flightable range displayed in step S1006 becomes narrower after returning from step S1010 to step S1001, so the user is more accurate in real time. The flightable range of the aircraft 101 can be known.

  In this embodiment, it is assumed that the user himself / herself drives and moves the vehicle 104 when notified from the control computer 103, but as another embodiment, a known automatic driving technique (for example, If it is determined in step S1007 that the vehicle 104 is not within the flightable range using the technique described in Japanese Patent Application Laid-Open No. 2017-1597, the flight is automatically performed within the flightable range in accordance with an instruction from the control computer 103. It is also possible for the vehicle 104 to move or to move automatically so that the vehicle 104 does not come out of the flightable range in the first place.

  Above, description of FIG. 10 is complete | finished.

  Next, a second embodiment of the battery remaining amount monitoring process according to the present invention will be described with reference to FIGS.

  Each process of step S1301 to step S1309 is the same process as each process from step S1001 to step S1009, and step S1313 is the same process as step S1010.

  In step S1310, the control computer 103 determines whether there is another vehicle 104 other than the vehicle 104 in which the unmanned aircraft 101 is stored in the flightable range displayed in step S1306 in the vehicle management database of FIG. The current position 1402 is specified by referring to it. If there is a vehicle 104 other than the vehicle 104 in which the unmanned aerial vehicle 101 is stored in the flightable range, the control computer 103 shifts the process to step S <b> 1311, If there is no vehicle 104 other than the vehicle 104 in which the unmanned aircraft 101 is stored, the process proceeds to step S1313.

  In step S <b> 1311, the control computer 103 determines whether an instruction to make a collection request is received for the other vehicle 104 other than the vehicle 104 in which the unmanned aircraft 101 within the flightable range is stored. If an instruction to perform a collection request is accepted, the process proceeds to step S1312, and if an instruction to perform a collection request is not accepted, the process proceeds to step S1313.

  The instruction for the collection request is accepted by accepting the pressing of the YES button 1204 shown in FIG. 12 from the user.

  In step S1312, the control computer 103 transmits a collection request for the unmanned aerial vehicle 101 to other vehicles 104 other than the vehicle 104 in which the unmanned aerial vehicle 101 within the flightable range is stored.

  Here, FIG. 12 will be described. FIG. 12 is a diagram illustrating an example of a map screen displayed on the CRT 310 of the control computer 103 in the second embodiment of the battery remaining amount monitoring process.

  The flightable range 1201 indicates the flightable range of the unmanned aircraft 101, and the vehicle icon 1202 indicates a vehicle 104 other than the vehicle 104 in which the unmanned aircraft 101 in the flightable range of the unmanned aircraft 101 is stored.

  1203 is a pop-up for accepting an instruction to collect the unmanned aircraft 101 from the user. When the YES button 1204 is pressed by the user, the unmanned aircraft 101 is collected from the vehicle 104 indicated by the vehicle icon 1202. When a request is made and the NO button 1205 is pressed by the user, the vehicle 104 indicated by the vehicle icon 1202 is not requested to collect the unmanned aircraft 101.

  The map, the unmanned aircraft icon 401 of the unmanned aircraft 101, and the flightable range 1201 are displayed on the CRT 310 of the vehicle 104 that has received the collection request, and the collection request for the unmanned aircraft 101 indicated by the unmanned aircraft icon 401 is received. You will be notified.

  By executing the processing of step S1310 to step S1312, for example, the vehicle 104 in which the unmanned aircraft 101 is stored is out of the flightable range, and the unmanned aircraft 101 moves to the flightable range within the flightable time. In such a case, the unmanned aircraft 101 can be collected by the other vehicle 104, and the risk that the unmanned aircraft 101 cannot fly and falls can be further reduced.

  Next, FIG. 14 will be described. FIG. 14 is an example of a vehicle management database in the second embodiment of the battery remaining amount monitoring process. Reference numerals 1401 to 1403 in FIG. 14 are the same as 1110 to 1112 in FIG. As the unmanned aircraft ID 1404 corresponding temporarily, when the vehicle 104 receives a request for collecting the unmanned aircraft 101, the unmanned aircraft ID (unmanned aircraft ID 1101) of the unmanned aircraft 101 is temporarily stored.

  This is the end of the description of FIGS.

  Next, another embodiment of the unmanned aircraft navigation system control process according to the present invention will be described with reference to FIGS.

  Each process shown in FIGS. 9, 10, and 13 is executed by the CPU 301 of the control computer 103, but in this embodiment (FIGS. 15 and 16), each process is executed by the CPU 201 of the unmanned aircraft 101. Is done. First, FIG. 15 will be described.

  In step S1501, the unmanned aerial vehicle 101 activates the unmanned aircraft navigation system in accordance with an instruction from the user via the control computer 103.

  In step S1502, the unmanned aerial vehicle 101 acquires position information of the vehicle 104 in which the unmanned aircraft 101 is stored.

  In step S1503, the unmanned aircraft 101 acquires information on the unmanned aircraft 101 from the unmanned aircraft management database of FIG. 11A stored in advance in the external memory 280 of the unmanned aircraft 101.

  In step S1504, the unmanned aerial vehicle 101 generates a map screen around the current position of the vehicle 104 specified by the position information acquired in step S1502 and displaying the movable range (distance) of the unmanned aircraft 101. To do. The map generated in step S1504 is, for example, the map screen shown in FIG.

  In step S1505, the unmanned aerial vehicle 101 transmits the map screen generated in step S1504 to the control computer 103.

  In step S1506, the unmanned aircraft 101 is transmitted from the control computer 103 when the flight position determination button 802 on the screen of the map of FIG. 8 transmitted to the control computer 103 in step S1505 is selected according to the user operation. The flight start request of the unmanned aircraft 101 is received.

  In step S1507, the unmanned aerial vehicle 101 starts flying toward the position on the map screen of FIG.

  In step S1508, the unmanned aerial vehicle 101 executes battery remaining amount monitoring processing. Details of the processing in step S1508 will be described with reference to FIG.

  The description of FIG. 15 has been completed, and details of the battery remaining amount (capacity) monitoring process in step S1508 of FIG. 15 will be described with reference to FIG.

  FIG. 16 is a flowchart illustrating an example of a battery remaining amount monitoring process.

  The process illustrated in FIG. 16 is appropriately performed at a predetermined timing from when the unmanned aircraft 101 starts to fly until the flight ends.

  In step S1601, the unmanned aerial vehicle 101 obtains the current battery voltage (remaining battery level) of the unmanned aerial vehicle 101, and uses the obtained value for the current unmanned aircraft 101 in the unmanned aerial vehicle management database of FIG. Is stored in the voltage 1107 of the battery.

  In step S1602, the unmanned aerial vehicle 101 acquires the current position information of the unmanned aerial vehicle 101. The acquired position information is stored in the current position 1102 of the unmanned aerial vehicle 101 in the unmanned aerial vehicle management database of FIG.

  In step S1603, the unmanned aerial vehicle 101 acquires the current position information of the vehicle 104. The acquired position information is stored in the current position 1111 of the vehicle 104 in the vehicle management database of FIG.

  In step S <b> 1604, the unmanned aerial vehicle 101 acquires wind direction and wind speed information around the current position of the unmanned aircraft 101 from a server that provides a web service that distributes weather information. Note that step S1604 is not an essential process in the present invention, but by executing the process of step S1604, the wind direction and the wind speed are taken into account when the flightable range of the unmanned aircraft 101 is displayed on the map in step S1605. It becomes possible to show a more accurate flight range. Specifically, for example, the display indicated by 701 in FIG. 7 is possible.

  In step S 1605, the unmanned aircraft 101 moves the unmanned aircraft 101 and the vehicle 104 to positions on the map corresponding to the current position of the unmanned aircraft 101 and the vehicle 104 specified by the position information acquired in steps S 1602 and S 1603. An icon (for example, the unmanned aircraft icon 401 and the vehicle icon 402 in FIG. 4) is displayed, and a map that displays the current flightable range of the unmanned aircraft 101 is regenerated. As the flightable range, for example, the flightable range 501 in FIG. 5, the flightable range 601 in FIG. 6, and the flightable range 701 in FIG. 7 are displayed. The flightable range can be specified by the current position 1102 of the unmanned aircraft 101 and the calculation formula of “flying speed 1103 × remaining flightable time 1108 = flyable range (distance)”.

  In step S <b> 1606, the unmanned aircraft 101 transmits the map regenerated in step S <b> 1605 to the control computer 103.

  In step S <b> 1607, the unmanned aircraft 101 determines whether the vehicle 104 is within the flightable range of the unmanned aircraft 101, information on the current position 1102 of the unmanned aircraft 101, the current position 1111 of the vehicle 104, and the flightable range of the unmanned aircraft 101. Judge based. If it is determined that the vehicle 104 is within the flightable range, the unmanned aircraft 101 proceeds to step S1609, and if it is determined that the vehicle 104 is not within the flightable range, the process proceeds to step S1608. Transition.

  In step S1608, the unmanned aerial vehicle 101 notifies the control computer 103 to warn that the vehicle 104 is not within the flightable range. As the notification method, it is sufficient that the user can recognize that the vehicle 104 is not within the flightable range. For example, a screen including the notification shown in the notification 502 of FIG. 5 may be transmitted from the unmanned aircraft 101 to the control computer 103. Conceivable.

  In step S <b> 1609, the unmanned aircraft 101 determines whether a flight end instruction for the unmanned aircraft 101 has been received from the user via the control computer 103. If the unmanned aircraft 101 receives an instruction to end the flight of the unmanned aircraft 101 from the user, this process ends. If not, the process returns to step S1601. That is, as long as the unmanned aircraft 101 is not charged halfway, after returning from step S1609 to step S1601, the flightable range specified in step S1605 becomes narrower. The flightable range of the aircraft 101 can be known.

  The description of FIG. 16 has been completed, and another embodiment of the system configuration of the unmanned aircraft navigation system will be described next with reference to FIG.

  In the embodiment of FIG. 1, a system in which the control computer 103 installed in the vehicle 104 and the unmanned aircraft 101 communicate with each other is assumed. However, in this embodiment, a person is used instead of the control computer 103. Assume a mechanism in which a transmitter 1703 operated while being carried and the unmanned aircraft 101 communicate with each other.

  FIG. 17 is a diagram showing a system configuration of the unmanned aircraft navigation system.

  In the system of this embodiment, an unmanned aircraft 101 and a transmitter 1703 that receives an operation instruction from a user regarding the flight of the unmanned aircraft 101 and transmits the operation content to the unmanned aircraft 101 are mutually connected via a network 102. It is connected by wire or wireless so that communication is possible.

  Since the configuration of the unmanned aerial vehicle 101 is the same as that of the unmanned aerial vehicle 101 of FIG.

  The transmitter 1703 is a proportional system for controlling the flight of the unmanned aerial vehicle 101.

  The transmitter 1703 includes an operation instruction unit 1704 and an operation instruction unit 1705 that receive an instruction of the flight direction of the unmanned aircraft 101 by a user operation.

  The transmitter 1703 is connected to an information processing apparatus 1701 such as a smartphone or a tablet PC (tablet terminal) so as to be able to communicate with each other. The information processing apparatus 1701 includes a display 1702 and can display an image captured by the camera of the unmanned aircraft 101 on the display 1702. The display 1702 can display the screens of the maps shown in FIGS.

  The information processing apparatus 1701 includes a GPS receiver, and acquires information (latitude and longitude) of the current position of the information processing apparatus 1701 by receiving a signal from a GPS satellite by the GPS receiver. Can do.

  Further, the information processing apparatus 1701 can execute each process (specifically, FIGS. 9, 10, and 13) performed by the control computer 103. However, in step S902, step S1003, and step S1303, the position information of the vehicle is acquired. In the present embodiment, the position information of the information processing device 1701 is acquired, and the maps shown in FIGS. The position of the information processing apparatus 1701 is displayed on the screen instead of the position of the vehicle. Further, in step S1502 in FIG. 15 and step S1603 in FIG. 16, the unmanned aircraft 101 has acquired the position information of the vehicle, but in the present embodiment, the position information of the information processing apparatus 1701 is acquired. Further, in step S1007 in FIG. 10, step S1307 in FIG. 13, and step S1607 in FIG. 16, it is determined whether the vehicle 104 is within the flightable range of the unmanned aircraft 101. Is within the flightable range of the unmanned aerial vehicle 101.

  In FIG. 17, the transmitter 1703 and the information processing apparatus 1701 are illustrated as separate cases. However, the functions of the information processing apparatus 1701 are incorporated in the transmitter 1703, and the transmitter 1703 and the information processing apparatus 1701 are combined. The transmitter 1703 or the information processing apparatus 1701 can be used.

  The unmanned aerial vehicle 101 also includes a GPS receiver, and information on the current position (latitude and longitude) of the unmanned aerial vehicle 101 can be acquired by receiving a signal from a GPS satellite by the GPS receiver.

  The user operates the operation units such as the operation instruction unit 1704 and the operation instruction unit 1705 to operate the flight direction to the unmanned aircraft 101 and the flight speed. Then, when the transmitter 1703 accepts the operation of the operation unit, the transmitter 1703 transmits an instruction to the unmanned aircraft 101 so as to fly according to the accepted operation content. When the unmanned aircraft 101 receives the instruction, The propeller 213 is controlled to fly as instructed. As described above, the transmitter 1703 transmits the operation instruction content operated by the operation unit to the unmanned aircraft 101 to operate the flight of the unmanned aircraft 101.

  Further, the user operates the operation unit to perform zoom-in operation, zoom-out operation, and pan operation of a camera mounted on the unmanned aircraft 101. When the transmitter 1703 receives an operation from the operation unit, the transmitter 1703 transmits an instruction to the camera to operate according to the received operation content. When the transmitter receives the instruction, the transmitter operates according to the instruction. The part which operates each member, such as a lens in a camera, is operated. As described above, the transmitter 1703 transmits the operation instruction content operated by the operation unit to the camera, and operates the zoom operation of the camera lens and the pan operation in the shooting direction.

  This is the end of the description of FIG.

  As described above, according to the present invention, the range in which the unmanned aircraft can fly is specified, and notification is made using the information on the specified range in which the unmanned aircraft can fly. be able to.

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

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

  Accordingly, since the functions of the present invention are implemented by computer, the program code installed in the computer also implements the present invention. In other words, the present invention includes a computer program itself for realizing the functional processing of the present invention.

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

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

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

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

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

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

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

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

101 Unmanned Aircraft 103 Control Computer 104 Vehicle 1701 Information Processing Device 1703 Transmitter

Claims (15)

An information processing apparatus capable of communicating with an unmanned aircraft,
Acquisition means for acquiring position information indicating a position where the unmanned aircraft is flying, and a remaining battery level of the unmanned aircraft;
A specifying means for specifying a range in which the unmanned aircraft can fly using the position information of the unmanned aircraft acquired by the acquiring means, a remaining amount of the battery, and a flight speed of the unmanned aircraft;
An information processing apparatus comprising: notification means for notifying a user of a range in which the unmanned aircraft specified by the specifying means can fly. The acquisition means acquires information about the wind around the unmanned aircraft,
The specifying unit can fly the unmanned aircraft using the position information of the unmanned aircraft acquired by the acquiring unit, the remaining amount of the battery, the flight speed of the unmanned aircraft, and information on the wind. The information processing apparatus according to claim 1, wherein a specific range is specified.   The said notification means further notifies the position where the vehicle which collect | recovers the said unmanned aerial vehicle can stop within the range which the said unmanned aircraft specified by the said specifying means can fly. Information processing device. Management means for managing vehicle position information indicating the position of a vehicle capable of collecting the unmanned aircraft;
Determination means for determining whether the vehicle is in a range where the unmanned aircraft specified by the specifying means can fly using the vehicle position information managed by the management means;
Acceptance of accepting designation of whether to request the vehicle to collect the unmanned aircraft on condition that the determination unit determines that the vehicle is within a range where the unmanned aircraft identified by the identifying unit can fly Means,
4. The transmission device according to claim 1, further comprising: a transmission unit configured to transmit a request for collecting the unmanned aircraft to the vehicle when the reception unit receives a designation to request the vehicle to collect the unmanned aircraft. The information processing apparatus according to claim 1. An information processing apparatus capable of communicating with an unmanned aircraft,
Acquisition means for acquiring position information indicating a position where the unmanned aircraft is flying, a remaining amount of a battery of the unmanned aircraft, and specific information capable of specifying a position of a vehicle that collects the unmanned aircraft;
A specifying means for specifying a range in which the unmanned aircraft can fly using the position information of the unmanned aircraft acquired by the acquiring means, a remaining amount of the battery, and a flight speed of the unmanned aircraft;
Notification means for notifying the user of the fact that the position of the vehicle specified by the specifying information is outside the range in which the unmanned aircraft specified by the specifying means can fly. An information processing apparatus characterized by that. An information processing apparatus control method capable of communicating with an unmanned aerial vehicle,
The acquisition unit of the information processing apparatus acquires position information indicating a position where the unmanned aircraft is flying and an amount of remaining battery of the unmanned aircraft,
The range in which the unmanned aerial vehicle can fly using the position information of the unmanned aircraft acquired in the acquisition step, the remaining amount of the battery, and the flight speed of the unmanned aircraft. A specific process for identifying
A control method for an information processing apparatus, comprising: a notification step in which a notification means of the information processing apparatus notifies a user of a range in which the unmanned aircraft specified in the specifying step can fly. A program that can be read and executed by an information processing device that can communicate with an unmanned aerial vehicle,
The information processing apparatus;
Acquisition means for acquiring position information indicating a position where the unmanned aircraft is flying, and a remaining battery level of the unmanned aircraft;
A specifying means for specifying a range in which the unmanned aircraft can fly using the position information of the unmanned aircraft acquired by the acquiring means, a remaining amount of the battery, and a flight speed of the unmanned aircraft;
A program that functions as notifying means for notifying a user of a range in which the unmanned aircraft specified by the specifying means can fly. An information processing apparatus control method capable of communicating with an unmanned aerial vehicle,
The acquisition means of the information processing apparatus includes position information indicating a position where the unmanned aircraft is flying, remaining amount of battery of the unmanned aircraft, and specific information capable of specifying the position of the vehicle collecting the unmanned aircraft; An acquisition process for acquiring
The range in which the unmanned aerial vehicle can fly using the position information of the unmanned aircraft acquired in the acquisition step, the remaining amount of the battery, and the flight speed of the unmanned aircraft. A specific process for identifying
The notification means of the information processing apparatus recognizes the fact that the position of the vehicle specified by the specifying information is outside the range where the unmanned aircraft specified in the specifying step can fly. An information processing apparatus comprising: a notification step that notifies the user of the information. A program that can be read and executed by an information processing device that can communicate with an unmanned aerial vehicle,
The information processing apparatus;
Acquisition means for acquiring position information indicating a position where the unmanned aircraft is flying, a remaining amount of a battery of the unmanned aircraft, and specific information capable of specifying a position of a vehicle that collects the unmanned aircraft;
A specifying means for specifying a range in which the unmanned aircraft can fly using the position information of the unmanned aircraft acquired by the acquiring means, a remaining amount of the battery, and a flight speed of the unmanned aircraft;
Notification means for notifying the user of the fact that the position of the vehicle specified by the specifying information is outside the range in which the unmanned aircraft specified by the specifying means can fly. A program characterized by functioning. Acquisition means for acquiring position information indicating a position where the unmanned aircraft is flying, and a battery level of the unmanned aircraft;
A specifying means for specifying a range in which the unmanned aircraft can fly using the position information of the unmanned aircraft acquired by the acquiring means, a remaining amount of the battery, and a flight speed of the unmanned aircraft;
An unmanned aerial vehicle comprising: notification means for notifying a user of a range in which the unmanned aircraft identified by the identifying means can fly. A method for controlling an unmanned aerial vehicle,
An acquisition step of acquiring position information indicating a position where the unmanned aircraft is flying, and a remaining battery level of the unmanned aircraft;
A specifying step of specifying a range in which the unmanned aircraft can fly using the position information of the unmanned aircraft acquired in the acquiring step, a remaining amount of the battery, and a flight speed of the unmanned aircraft;
A notification step of notifying the user of the range in which the unmanned aircraft identified in the identification step can fly. A program that can be read and executed by an unmanned aerial vehicle,
The unmanned aerial vehicle,
Acquisition means for acquiring position information indicating a position where the unmanned aircraft is flying, and a remaining battery level of the unmanned aircraft;
A specifying means for specifying a range in which the unmanned aircraft can fly using the position information of the unmanned aircraft acquired by the acquiring means, a remaining amount of the battery, and a flight speed of the unmanned aircraft;
A program that functions as notifying means for notifying a user of a range in which the unmanned aircraft specified by the specifying means can fly. Acquisition means for acquiring position information indicating a position where the unmanned aircraft is flying, a remaining amount of a battery of the unmanned aircraft, and specific information capable of specifying a position of a vehicle that collects the unmanned aircraft;
Identifying means for identifying a range in which the unmanned aircraft can fly using the position information of the unmanned aircraft acquired by the acquiring means, the remaining amount of the battery, and the flight speed of the unmanned aircraft;
Notification means for notifying the user of the fact that the position of the vehicle specified by the specifying information is outside the range in which the unmanned aircraft specified by the specifying means can fly. An unmanned aerial vehicle characterized by that. A method for controlling an unmanned aerial vehicle,
An acquisition step of acquiring position information indicating a position where the unmanned aircraft is flying, a remaining amount of a battery of the unmanned aircraft, and specific information capable of specifying a position of a vehicle that collects the unmanned aircraft;
A specifying step of specifying a range in which the unmanned aircraft can fly using the position information of the unmanned aircraft acquired in the acquiring step, a remaining amount of the battery, and a flight speed of the unmanned aircraft;
A notification step of notifying the user of the fact that the position of the vehicle specified by the specifying information is outside the range in which the unmanned aircraft specified in the specifying step can fly. A method for controlling an unmanned aerial vehicle. A program that can be read and executed by an unmanned aerial vehicle,
The unmanned aerial vehicle,
Acquisition means for acquiring position information indicating a position where the unmanned aircraft is flying, a remaining amount of a battery of the unmanned aircraft, and specific information capable of specifying a position of a vehicle that collects the unmanned aircraft;
Identifying means for identifying a range in which the unmanned aircraft can fly using the position information of the unmanned aircraft acquired by the acquiring means, the remaining amount of the battery, and the flight speed of the unmanned aircraft;
The position of the vehicle specified by the specifying information is made to function as a notification means for notifying the user of the fact on the condition that the unmanned aircraft specified by the specifying means is out of a flightable range. A program characterized by that.

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