JP2021039726A - Control device, system and method - Google Patents

Abstract

To provide a control device, system and method with which it is possible to reduce the human costs required for determining whether or not a target area is usable for a prescribed purpose.SOLUTION: A control device 200 comprises: an acquisition unit 210 for acquiring a request that requests the determination of whether or not a target area is usable for a prescribed purpose; and a control unit 240 for exercising control for causing a first flight vehicle to fly to the target area. The acquisition unit 210 of the control device 200 further acquires sensing data that is the data obtained by optically sensing the target area by the first flight vehicle. Furthermore, the control device 200 includes a determination unit 220 for determining, on the basis of the acquired sensing data, whether or not the target area is usable for the prescribed purpose.SELECTED DRAWING: Figure 5

Description

The present invention relates to control devices, systems, and methods.

Conventionally, a system including one or a plurality of autonomously flying air vehicles and a port for one or a plurality of air vehicles to take off and land is known (for example, Patent Document 1).

International Publication No. 2018/155700

However, in the system of Patent Document 1, when there is a predetermined purpose such as providing a new port in the target area, the human cost required to determine whether or not the target area can be used for the predetermined purpose. There was a problem that it was big.

Therefore, in view of these points, the object of the present invention is a control device, a system, and a control device, a system, which can reduce the human cost required for determining whether or not the target area can be used for a predetermined purpose. , To provide a way.

In order to achieve the above object, the control device according to the first aspect of the present invention is
An acquisition unit that acquires a request to determine whether the target area can be used for a predetermined purpose,
A control unit that controls the flight of the first aircraft to the target area is provided.
The acquisition unit further acquires sensing data, which is data obtained by the first air vehicle optically sensing the target area.
A determination unit for determining whether or not the target area can be used for the predetermined purpose based on the acquired sensing data is further provided.
It is characterized by that.

According to the control device, system, and method according to the present invention, it is possible to reduce the human cost required to determine whether or not the target area can be used for a predetermined purpose.

It is a system block diagram which shows one structural example of the delivery system which concerns on Example 1 of this invention. It is a hardware configuration diagram which shows one configuration example of a terminal device. It is a hardware block diagram which shows one configuration example of the control device provided in the delivery system. It is a flowchart which shows an example of the 1st determination process executed by the control device provided in the delivery system. It is a functional block diagram which shows an example of the function which a control device provided in a delivery system has. It is a figure which shows an example of the port table which a control device provided in a delivery system stores. It is a figure which shows an example of the material table stored in the control device provided in the delivery system. It is a flowchart which shows an example of the 2nd determination process executed by the control device provided in the delivery system. It is an appearance block diagram which shows one appearance example of 1st Air Division. It is a hardware configuration diagram which shows one configuration example of the control device included in the 1st Air Division. It is a flowchart which shows an example of the flight control processing executed by the 1st Air Division. It is a flowchart which shows an example of the use determination process executed by the control device provided in the delivery system which concerns on Example 1. FIG. It is a flowchart which shows an example of the delivery control processing executed by the control device provided in the delivery system. It is a flowchart which shows an example of the delivery control processing executed by the 2nd aircraft. It is a block diagram which shows one configuration example of a radio station. It is a system configuration diagram which shows one configuration example of the determination system which concerns on Example 2. FIG. It is a block diagram which shows one structural example of the sensing apparatus which concerns on Example 2. FIG. It is a flowchart which shows an example of the use determination process which is executed by the control device provided in the determination system which concerns on Example 2.

<Example 1>
Hereinafter, Example 1 of the present invention will be described with reference to the accompanying drawings.

The delivery system 1 according to the first embodiment of the present invention includes a terminal device 100 operated by an administrator who manages a target area used as a place (hereinafter referred to as a port) for an air vehicle to take off and land.

The manager wants to use the target area as a port to receive goods in the target area. Therefore, the administrator causes the terminal device 100 to perform an operation of causing the delivery company to determine whether or not the target area can be used for the predetermined purpose of using it as a port. Based on the operation of the administrator, the terminal device 100 transmits a determination request for determining whether or not the target area can be used for a predetermined purpose via the Internet IN.

Further, the delivery system 1 is installed at the business office of a delivery company that delivers goods within a predetermined area, and is for capturing an image of the control device 200 that receives the determination request and the target area. The first aircraft 500, which flies to the target area under the control of the control device 200, is provided. Further, the delivery system 1 includes a second flying object 600 that delivers an article to the target area when the control device 200 determines that the target area is used as a port based on an image of the target area.

The terminal device 100 is a smartphone, and is a CPU (Central Processing Unit) 101, a RAM (Random Access Memory) 102, a ROM (Read Only Memory) 103a, a flash memory 103b, a data communication circuit 104a, and voice communication as shown in FIG. It includes a circuit 104b, a video card 105a, a display device 105b, an input device 105c, a GPS (Global Positioning System) circuit 106, a digital camera 107, a speaker 109a, and a microphone 109b.

The CPU 101 controls the entire terminal device 100 by executing a program stored in the ROM 103a or the flash memory 103b. The RAM 102 temporarily stores the data to be processed when the program is executed by the CPU 101.

The ROM 103a and the flash memory 103b store various programs. Further, the flash memory 103b further stores various data used for executing the program and a table in which the data is stored. The terminal device 100 may include a hard disk instead of the flash memory 103b.

The data communication circuit 104a is a NIC (Network Interface Card), and uses a base station (not shown) and a radio wave connected to the Internet IN in accordance with communication standards such as LTE (Long Term Evolution) and 5G (5th Generation). Perform data communication. In this way, the data communication circuit 104a of the terminal device 100 performs data communication with the control device 200 connected to the Internet IN. The voice communication circuit 104b performs voice communication using radio waves with a base station (not shown).

The video card 105a renders an image based on the digital signal output from the CPU 101, and outputs an image signal representing the rendered image. The display device 105b is an EL (Electroluminescence) display and displays an image according to an image signal output from the video card 105a. The terminal device 100 may include a PDP (Plasma Display Panel) or an LCD (Liquid Crystal Display) instead of the EL display. The input device 105c is any one or more of the buttons and the touch panel, and inputs a signal according to the operation of the administrator.

The GPS circuit 106 receives a GPS signal emitted from a GPS satellite, measures the latitude and longitude representing the position of the terminal device 100 based on the received GPS signal, and outputs a signal representing the measured latitude and longitude. To do.

The digital camera 107 includes one lens 107a that refracts and converges light, an image pickup element group 107b that receives light that has passed through the lens 107a and generates an electric signal, and an electric signal output from the image pickup element group 107b. An image generation circuit 107c that generates an image based on the above is provided.

The speaker 109a outputs voice according to the signal output by the CPU 101, and the microphone 109b inputs a signal representing surrounding voice.

The manager who intends to receive the article in the target area performs a request operation for transmitting the determination request to the terminal device 100 to the input device 105c of the terminal device 100. When the input device 105c inputs a signal corresponding to the requested operation, the CPU 101 causes the display device 105b to display a message prompting the image of the target area.

The administrator who has visually recognized the message directs the optical axis of the lens 107a of the digital camera 107 to the target area, and then performs an imaging operation on the input device 105c for the terminal device 100 to image. In the present specification, for example, directing the optical axis of an imaging device such as a digital camera 107 toward a subject such as a target area is such that at least a part of the subject is included in the imaging range of the imaging device. It will be described as including changing the optical axis.

When the input device 105c of the terminal device 100 inputs a signal corresponding to the imaging operation, the CPU 101 outputs a signal representing the first image obtained by imaging the surface of the target area from the image generation circuit 107c of the digital camera 107. The first image file is generated based on the acquired signal. Next, the CPU 101 acquires the signal output from the GPS circuit 106, and generates information representing the latitude and longitude of the terminal device 100 represented by the acquired signal as information representing the latitude and longitude of the target area. .. After that, the CPU 101 saves the acquired information representing the latitude and longitude in the Exif (Exchangeable image file format) tag of the first image file, for example.

Next, the CPU 101 of the terminal device 100 causes the display device 105b to display a message prompting the user to input the destination of the covering covering the target area in order to indicate that the target area is used as a port. The administrator who has visually recognized the message performs an input operation for inputting the destination to the input device 105c. When the input device 105c inputs a signal corresponding to the input operation, the CPU 101 generates destination information indicating the destination based on the input signal.

Next, the CPU 101 generates a determination request, and outputs the generated determination request together with the first image file and the destination information to the data communication circuit 104a with the control device 200 as the destination. After that, the data communication circuit 104a transmits the determination request to the control device 200 together with the first image file and the destination information.

The control device 200 is a server machine and includes a CPU 201, a RAM 202, a ROM 203a, a hard disk 203b, a data communication circuit 204, a video card 205a, a display device 205b, and an input device 205c as shown in FIG. The configurations and functions of the CPU 201, RAM 202, ROM 203a, video card 205a, display device 205b, and input device 205c included in the control device 200 include the CPU 101, RAM 102, ROM 103a, and video card 105a included in the terminal device 100 shown in FIG. The configuration and function of the display device 105b and the input device 105c are the same. The input device 205c may be any one or more of a keyboard, a mouse, a touch pad, and a button.

The hard disk 203b included in the control device 200 stores various programs and a table in which various data and data used for executing various programs are stored. The control device 200 may include a flash memory instead of the hard disk 203b.

The data communication circuit 204 included in the control device 200 is a NIC, and is wireless with the terminal device 100, the first flying object 500, and the second flying object 600 connected to the Internet IN according to communication standards such as LTE and 5G. Data communication is performed with.

When the data communication circuit 204 of the control device 200 receives the determination request together with the first image file and the destination information, the CPU 201 of the control device 200 sets the target area to the second aircraft 600 based on the received first image file. The first determination process as shown in FIG. 4 is executed to determine whether or not the image is suitable for landing.

As a result, the CPU 201 functions as an acquisition unit 210 as shown in FIG. 5, which acquires the determination request received together, the first image file, and the destination information together from the data communication circuit 204. Further, the CPU 201 notifies the determination unit 220 that determines whether or not the target area is suitable for landing of the second aircraft 600, and the determination result by the determination unit 220, based on the acquired first image file. It functions as a notification unit 230. Further, when the target area is determined to be suitable for landing of the second aircraft 600, the CPU 201 outputs the acquired destination information to a delivery system (not shown) to cover the target area. Functions as a control unit 240 that controls the sending of the information to the destination.

Further, the hard disk 203b functions as an information storage unit 290 that stores a port table as shown in FIG. 6 in which data relating to the target area is stored. A plurality of records are stored in the port table of FIG. 6, and each record contains information indicating the latitude and longitude of the target area, a usage flag indicating whether or not the target area is used as a port, and the corresponding. The file path of the file representing the image obtained by imaging the target area is associated and saved. The file path saved in the port table includes the file path of the first image file.

Further, the information storage unit 290 stores in advance a material table as shown in FIG. 7, in which data relating to materials constituting the surface of the target area are stored in advance. A plurality of records are stored in advance in the material table, and each record contains information indicating the type of material, feature values that characterize the texture of the material of the type, and whether or not the material is sufficiently rigid. The hardness information to be represented is associated with and stored in advance. In this embodiment, the texture of the material will be described as including the homogeneity of the visual color and brightness of the surface of the material.

In this embodiment, the material being sufficiently hard means that the material is hard enough to be suitable for landing of the second aircraft 600. Further, the fact that the material is hard enough to be suitable for landing of the second aircraft 600 includes that the material is hard enough to land on the surface of the target area made of the material. The fact that the second aircraft 600 can land in the target area does not simply mean that the second aircraft 600 can land in the target area, but means that the second aircraft 600 can safely land in the target area. The safe landing of the second aircraft 600 in the target area includes the fact that the second aircraft 600 has no possibility of tipping over at the time of landing or is less than a predetermined possibility.

Therefore, if the material is sufficiently hard, the shape of the surface is changed by the weight of the second aircraft 600 when the second aircraft 600 lands on the surface of the target area composed of the material or after the second aircraft 600 lands. To the extent that it does not change, or even if it does, the possibility that the second aircraft 600 will fall is lower than the predetermined possibility, or the possibility that the second aircraft 600 will fall is completely unlikely. It means that it is so hard that the shape of the surface does not change.

When the execution of the first determination process shown in FIG. 4 is started, the acquisition unit 210 acquires the received determination request, the first image file, and the destination information together from the data communication circuit 204 (step). S01 and S02). Next, the acquisition unit 210 acquires information representing the latitude and longitude of the target area from the acquired tag of the first image file (step S03).

After that, the acquisition unit 210 saves the first image file in the information storage unit 290, and acquires the file path of the saved first image file. Next, the acquisition unit 210 associates the information representing the latitude and longitude of the target area with the usage flag indicating that the target area is not used as a port and the file path of the first image file, and FIG. It is saved in the port table of (step S04). The acquisition unit 210 stores the usage flag indicating that the target area is not used as a port because it has not yet been determined whether or not the target area is used as a port.

Next, the determination unit 220 detects and detects one or a plurality of pixel groups in which the difference in pixel values is smaller than the predetermined difference and is continuous with each other from the first image represented by the first image file. The pixel group having the largest area among the one or a plurality of pixel groups is specified as an image region corresponding to the surface of the target area. After that, the determination unit 220 calculates a feature value that characterizes the texture of the surface of the target area corresponding to the image area, based on the pixel value included in the specified image area. The feature value may be, for example, an average value or a dispersion value of pixel values included in the image area.

After that, the determination unit 220 acquires the hardness information associated with the same or closest feature value as the calculated feature value from the material table shown in FIG. 7, and based on the acquired hardness information, the determination unit 220 acquires the hardness information. It is determined whether or not the first condition that the surface is suitable for landing of the second aircraft 600 is satisfied (step S05).

At this time, when the acquired hardness information indicates that the material is not sufficiently hard, the determination unit 220 determines that the surface hardness of the target area composed of the material is the second aircraft 600. It is determined that the surface is not suitable for landing and the surface does not satisfy the first condition (step S05; No). Next, the determination unit 220 determines that the second aircraft 600 cannot land in the target area and the target area cannot be used for the predetermined purpose of using it as a port (step S06). Therefore, the determination unit 220 determines that the target area is not used as a port.

After that, the notification unit 230 generates a non-use notification notifying that the target area is not used as a port and that the surface of the target area is soft enough to be unsuitable for landing of the second aircraft 600. Next, the notification unit 230 ends the execution of the first determination process after outputting the generated non-use notification to the data communication circuit 204 of FIG. 3 with the terminal device 100 as the destination (step S07).

When the data communication circuit 104a of the terminal device 100 receives the non-use notification, the CPU 101 of the terminal device 100 causes the display device 105b to display the non-use notification. The administrator who has visually recognized the non-use notification redetermines the harder area as the target area, and then performs the request operation again on the terminal device 100.

In step S05, when the acquired hardness information indicates that the material is sufficiently hard, the determination unit 220 determines that the surface hardness of the target area composed of the material is the landing of the second aircraft 600. It is determined that the surface is suitable and the surface satisfies the first condition (step S05; Yes).

Next, the control unit 240 outputs the destination information acquired in step S02 to the data communication circuit 204 shown in FIG. 3 to the destination of the transmission system (not shown) (step S08). As a result, the control unit 240 controls the delivery system (not shown) to send the covering to the destination, and then ends the execution of the first determination process.

The delivery system (not shown) is installed in a warehouse in which a plurality of coverings which are vinyl sheets are stored, and includes a server (not shown) and a printer (not shown) connected to the server. When the server (not shown) receives the destination information, it outputs the destination information to the printer. The printer (not shown) prints the destination on the slip based on the input destination information.

In addition, the server (not shown) prompts the user to completely spread the sent covering and lay it in the target area, and to transmit the image obtained by imaging the laid covering. , Output to the printer. A printer (not shown) prints the input message on a slip on which the destination is printed.

After that, the employee working in the warehouse attaches the slip to the covering and hands over the covering to which the slip is attached to the delivery company. The delivery company then delivers the covering to the destination printed on the slip, eg, by truck, motorcycle, bicycle, or on foot.

The manager who receives the covering from the delivery company and visually recognizes the message printed on the slip lays the square covering on the surface of the target area with the side on which the pattern of the covering is drawn facing up. After that, the manager fixes the covering body to the target area by inserting anchor pins into the four corners of the covering body. Next, the administrator directs the optical axis of the digital camera 107 included in the terminal device 100 toward the covering body, and then performs an imaging operation on the input device 105c.

When the input device 105c of the terminal device 100 inputs a signal corresponding to the imaging operation, the CPU 101 acquires and acquires a signal representing the second image, which is an image obtained by imaging the covering body, from the digital camera 107. A second image file is generated based on the signal. Next, the CPU 101 acquires the signal output from the GPS circuit 106, and uses the information representing the latitude and longitude represented by the acquired signal as the information representing the latitude and longitude of the target area of the second image file. Save to tag. After that, the CPU 101 generates an laying report notifying that the target area is covered with the covering body, and outputs the generated laying report together with the second image file to the data communication circuit 104a with the control device 200 as the destination.

When the data communication circuit 204 of the control device 200 receives the laying report together with the second image file, the CPU 201 of the control device 200 is suitable for the landing of the second aircraft 600 in the target area based on the received second image file. A second determination process as shown in FIG. 8 is executed to determine whether or not the data is displayed. As a result, the CPU 201 of the control device 200 shown in FIG. 3 further functions as an update unit 250 that updates the port table shown in FIG. 6 according to the determination.

When the execution of the second determination process shown in FIG. 8 is started, the same process as in steps S01 to S03 of FIG. 4 is executed (steps S11 to S13). As a result, the acquisition unit 210 acquires both the laying report and the second image file, and acquires information representing the latitude and longitude of the target area saved in the acquired second image file.

Next, the acquisition unit 210 acquires the file path of the first image file associated with the acquired information representing the latitude and longitude of the target area from the port table of FIG. 6, and is based on the acquired file path. To acquire the first image file (step S14).

After that, the determination unit 220 uses, for example, Harris's corner detection method to characterize the first image represented by the first image file, the corner feature amount (hereinafter referred to as the first corner feature amount), and the second image file. The corner feature amount of the second image represented by (hereinafter, referred to as the second corner feature amount) is calculated.

Next, the determination unit 220 has an image determined by an X-axis whose origin is one of the vertices of the first image and whose main scanning direction is the positive direction, and a Y-axis whose sub-scanning direction is the positive direction. Determine the coordinate system. Next, the determination unit 220 divides the first image into m (where m is an integer of 1 or more) image regions having the same shape as each other, and each of the m image regions has a first corner feature amount. The maximum point is extracted as the first feature point. After that, the determination unit 220 specifies the coordinate values of the image coordinate system for the extracted m first feature points.

Similarly, the determination unit 220 determines the image coordinate system of the second image, divides the second image into m image regions, and maximizes the second corner feature amount in each of the m image regions. Is extracted as the second feature point, and the coordinate values of the image coordinate system are specified for the extracted m second feature points.

Next, the determination unit 220 generates N (where N is an integer of 1 or more) transformation matrices that are a combination of a rotation matrix, a parallel progression matrix, and an enlargement / reduction matrix, and m in the first transformation matrix. The coordinate values of the second feature point are converted.

The rotation matrix used by the determination unit 220 is a matrix that rotates m second feature points by a predetermined angle about the origin. Further, the parallel traveling matrix is a matrix that translates m second feature points by adding or subtracting predetermined values to each of the X coordinate value or the Y coordinate value of the m second feature points. is there. Further, in the enlargement / reduction matrix, the distance between the m second feature points is calculated in the X-axis direction by multiplying each of the X coordinate value or the Y coordinate value of the m second feature points by a predetermined magnification. Alternatively, it is a matrix that expands or contracts in the Y-axis direction.

After that, the determination unit 220 differs from each of the m first feature points by a distance shorter than the converted second feature point having the same converted coordinate value or a predetermined distance. The second feature point after conversion is detected as a corresponding point, and the total number of detected corresponding points is counted.

Next, the determination unit 220 converts the coordinate values of m second feature points before conversion using the second to Nth transformation matrix, and calculates the total number of corresponding points based on the coordinate values after conversion. Count. After that, the determination unit 220 divides the maximum value of the corresponding points counted over N times by the total number m of the image area, and divides the calculated value by m first feature points and m second feature points. Correspondence rate with points.

Next, when the determination unit 220 determines that the calculated correspondence rate is larger than the predetermined ratio, the determination unit 220 captures the target area on which the surface is imaged to obtain the first image and the target area to obtain the second image. It is determined that the target area whose surface is covered with the covered body is the same (step S15; Yes).

The determination unit 220 makes such a determination because features corresponding to the surface features of the target area often appear on the surface of the covering body that is in close contact with the surface of the target area. For example, if the pebbles or tree branches that fall on the surface of the target area are the features that characterize the surface of the target area, the surface of the covering is uneven because the pebbles or the branches of the tree cause unevenness. Is a feature that characterizes the surface of the covering.

Further, not only the covering but also the surface of the target area not covered by the covering is imaged in order to obtain the second image, and the uncovered surface is imaged in order to obtain the first image. This is because it is often done. That is, if the feature points of the uncovered surface correspond to each other in the first image and the second image, the surface is covered by the covering and the target area of the first image before the surface is covered by the covering. This is because it can be determined that the target area of the second image after being broken is the same.

Next, the determination unit 220 acquires information representing a predetermined range as a range of pixel values representing the covering body from the information storage unit 290. After that, the determination unit 220 detects a pixel group having a pixel value included in the range represented by the acquired information and is continuous with each other from the second image, and uses the detected pixel group as a covering body. Identify as the corresponding image area.

After that, the determination unit 220 identifies the shape of the image region corresponding to the covering body, and based on the specified shape, whether or not the second condition that the covering body is in a completely expanded state is satisfied. Is determined (step S16). At this time, since the shape of the image region corresponding to the covering body is square, the determination unit 220 determines that the covering body satisfies the second condition (step S16; Yes), and the area of the target area is changed. Judge that it is wide enough.

The determination unit 220 determines the second condition in this way because the shape of the covering body is square, so that if the covering body is in a completely expanded state, the shape of the image region corresponding to the covering body will be changed. This is because it has a square shape. Further, the determination unit 220 determines the area of the target area in this way because the area of the covering is designed to be sufficiently large, so that the area of the target area where the covering is completely expanded and laid is also sufficient. This is because it can be judged to be wide.

In this embodiment, the area of the target area is sufficiently large to mean that the area of the target area is large enough to be suitable for landing of the second aircraft 600. Further, the fact that the area of the target area is large enough to be suitable for landing of the second aircraft 600 means that the area of the target area is large enough to allow the second aircraft 600 to land safely in the target area. The safe landing of the second aircraft 600 in the target area means, for example, the possibility of the second aircraft 600 coming into contact with the enclosure or wall surrounding the target area, and the area adjacent to the target area. 2 It includes that the possibility of derangement from which a part or the whole of the aircraft 600 protrudes is lower than the predetermined possibility.

Therefore, the fact that the area of the target area is sufficiently large means that the possibility of contact and the possibility of derangement are predetermined when the second aircraft 600 lands in the target area or after landing. It means that it is lower than that, or wide enough that there is no possibility of contact and derangement.

In step S16, when it is determined that the target area is sufficiently large because the covering body satisfies the second condition (step S16; Yes), the control unit 240 includes information representing the latitude and longitude of the target area. Generate a flight command to order the flight to the target area. After that, the control unit 240 outputs the generated flight command to the data communication circuit 204 with the first aircraft 500 as the destination (step S17).

Next, the update unit 250 saves the second image file in the information storage unit 290 (step S18), and acquires the file path of the saved second image file. After that, the update unit 250 updates the acquired file path of the second image file with the file path saved in association with the information representing the latitude and longitude of the target area in the port table of FIG. 2 End the execution of the judgment process. The update unit 250 updates the port table with the file path of the second image file whether or not the area where the first aircraft 500 arrives and the target area represented by the second image file are the same. This is to be able to determine.

In step S16, when the determination unit 220 determines that the covering does not satisfy the second condition (step S16; No), it determines that the target area does not have an area sufficient to completely expand the covering. Therefore, the determination unit 220 determines that the second aircraft 600 cannot land in the target area and the target area cannot be used for the predetermined purpose of using it as a port (step S19). Next, the determination unit 220 determines that the target area is not used as a port.

Next, the notification unit 230 generates a non-use notification notifying that the target area is not used as a port and that the area of the target area is too small to be suitable for landing of the second aircraft 600. After that, the notification unit 230 outputs the generated non-use notification to the data communication circuit 204 of FIG. 3 with the terminal device 100 as the destination (step S20), and then ends the execution of the second determination process.

When the data communication circuit 104a of the terminal device 100 receives the non-use notification, the CPU 101 of the terminal device 100 causes the display device 105b to display the non-use notification. The administrator who has visually recognized the non-use notification redetermines a wider area as the target area, and then performs the request operation again on the terminal device 100.

In step S15, when the determination unit 220 determines that the calculated correspondence rate is equal to or less than a predetermined ratio, the determination unit 220 obtains the target area in which the surface is imaged in order to obtain the first image and the second image in order to obtain the second image. It is determined that the target area covered by the imaged covering is different (step S15; No). After that, the notification unit 230 includes the first image file, and notifies that the target area of the first image and the target area of the second image are different, and that neither target area is used as a port. Generate a notification. Next, the notification unit 230 ends the execution of the second determination process after outputting the generated non-use notification to the data communication circuit 204 with the terminal device 100 as the destination (step S20).

Upon receiving the non-use notification, the terminal device 100 causes the display device 105b to display the non-use notification and the first image represented by the first image file. The administrator who visually recognizes the display device 105b re-lays the covering body in the target area where the surface is imaged in order to obtain the first image, and then directs the optical axis of the lens 107a of the digital camera 107 toward the covering body to take an image. Repeat the operation.

The first flying object 500 is an unmanned aerial vehicle, and includes a rectangular parallelepiped-shaped control device 510 as shown in FIG. 9 that controls the attitude and flight of the first flying object 500. Further, the 1st Air Division 500 has propeller arms 521 and 522, and 523 and 524 protruding from the front surface of the control device 510 to the right front and the left front, and from the rear surface of the control device 510 to the left rear and the right rear, respectively. Be prepared. Further, the 1st Air Division 500 includes propellers 531 to 534 installed at the tips of propeller arms 521 to 524, respectively, and a motor (not shown) for rotating propellers 531 to 534 under the control of the control device 510.

Further, the first flying object 500 is surrounded by a first holding frame 541a and a first holding frame 541a that surround four sides of one of the side surfaces of a rectangular parallelepiped-shaped corrugated cardboard for packing articles. A second holding frame 541b that holds four sides of the side surface (hereinafter referred to as the second holding surface) facing the surface (hereinafter referred to as the first holding surface) is provided below the control device 510. .. Further, the first air vehicle 500 is extended in the normal direction of the first holding surface and the second holding surface of the article, and suspends the first holding frame 541a and the second holding frame 541b. Further, guide rails 542a and 542b whose extension direction is the moving direction between the first holding frame 541a and the second holding frame 541b are provided on the lower surface of the control device 510.

Furthermore, the 1st Air Division 500 moves the 1st enclosure 541a and the 2nd enclosure 541b in the direction of approaching each other according to the control of the control device 510, whereby the 1st enclosure 541a and the 2nd enclosure 541a and the second enclosure 500 A motor (not shown) for holding an article is provided in the holding frame 541b. The motor (not shown) moves the first enclosure 541a and the second enclosure 541b in a direction away from each other according to the control of the control device 510, thereby moving the enclosed article in the first enclosure 541a. And the second holding frame 541b.

Further, the 1st Air Division 500 projects downward from the lower surface of the control device 510 and includes support legs 543 that support the control device 510. The vertical length of the support leg 543 is designed to be longer than the vertical length of the first holding frame 541a and the second holding frame 541b by a predetermined length. The support legs 543 are set in this way when the first aircraft 500 lands, the first enclosure 541a and the second enclosure 541b, and the first enclosure 541a and the second. This is to prevent the article enclosed by the enclosure frame 541b from colliding with the ground or floor at the landing point.

Furthermore, the 1st Air Division 500 includes an image pickup device 551 provided on the upper surface of the control device 510 and whose optical axis is directed in front of the 1st Air Division 500. In the present specification, for example, directing the optical axis of an image pickup device such as an image pickup device 551 to a specific direction such as in front of the first flying object 500 means that the image pickup range of the image pickup device is directed to the specific direction. It will be described as including changing the optical axis so that at least a part of a certain subject is included.

The image pickup device 551 is a digital stereo camera, takes an image in response to a signal output from the control device 510, and outputs data representing two images having parallax to each other obtained by the image pickup to the control device 510. To do.

The image pickup device 551 outputs the two images obtained by capturing the front direction of the first flying object 500 to the control device 510 when the control device 510 outputs the two images to the control device 510 in front of the first flying object 500 based on the parallax. This is to specify the position coordinates, size, etc. of the obstacle in the three-dimensional space.

Further, the 1st Air Division 500 includes a sensing device 552 that optically senses an object located in the downward direction of the 1st Air Division 500 and outputs the sensing data obtained by the sensing. Optically sensing an object includes detecting light emitted from or reflected by the object.

In this embodiment, the sensing device 552 is a digital stereo camera whose optical axis is directed in the vertical downward direction of the first flying object 500, and by imaging an object, the object is optically sensed and sensed. It will be described as outputting data representing an image of an object as data. The sensing device 552 takes an image in response to a signal output from the control device 510, and outputs data representing two images having parallax to each other obtained by the image pickup to the control device 510. The two images obtained by the sensing device 552 imaging in the vertical downward direction are output to the control device 510 by the control device 510 from the first flying object 500 to the ground or the floor based on the parallax. This is to identify the altitude, which is the distance.

The control device 510 includes a CPU 511, a RAM 512, a ROM 513a, a flash memory 513b, a data communication circuit 514, a GPS circuit 516, an input / output port 518, and a drive circuit 519 as shown in FIG.

The configurations and functions of the CPU 511, RAM 512, ROM 513a, flash memory 513b, and GPS circuit 516 of the control device 510 included in the 1st Air Division 500 are the CPU 101, RAM 102, ROM 103a, and flash memory included in the terminal device 100 shown in FIG. The configuration and function of the 103b and the GPS circuit 106 are the same.

The data communication circuit 514 is a NIC, and wirelessly communicates data with a control device 200 connected via the Internet IN according to communication standards such as LTE and 5G.

The input / output port 518 is connected to a cable (not shown) connected to the image pickup device 551 and the sensing device 552 shown in FIG. 9, respectively, and outputs a signal output by the CPU 511 to the image pickup device 551 and the sensing device 552, respectively. , The images output by the imaging device 551 and the sensing device 552 are input to the CPU 511.

The drive circuit 519 does not move the cables (not shown) connected to the motors (not shown) for rotating the propellers 531 to 534 shown in FIG. 9, and the first enclosure 541a and the second enclosure 541b, respectively. It is connected to a cable connected to the motor shown in the figure. The drive circuit 519 drives a motor (not shown) that rotates the propellers 531 to 534 or a motor (not shown) that moves the first enclosure 541a and the second enclosure 541b according to the signal output from the CPU 511. ..

When the data communication circuit 514 of the first aircraft 500 receives a flight command to fly to the target area, the CPU 511 of the first aircraft 500 does not rotate the propellers 531 to 534 in order to fly according to the flight command. A flight control process as shown in FIG. 11 that controls the illustrated motor is executed.

When the execution of the flight control process is started, the CPU 511 of the first flight body 500 acquires a flight instruction from the data communication circuit 514 (step S21), and obtains the latitude and longitude of the target area included in the acquired flight instruction. Get the information to represent. Next, the CPU 511 of the 1st Air Division 500 identifies the latitude and longitude of the 1st Air Division 500 based on the signal output from the GPS circuit 516.

After that, the CPU 511 of the 1st Air Division 500 reads a plurality of records from a partial route table (not shown) in which information about the partial routes that the 1st Air Division 500 can move, such as roads and rivers, is stored in advance. The partial route table is stored in the flash memory 513b in advance, and each record of the partial route table contains the latitude and longitude of the start point node of the partial route, the latitude and longitude of the end node of the partial route, and the partial route. Is associated with the length of the edge and is stored in advance.

The CPU 511 of the first aircraft 500 determines the latitude and longitude of the specified first aircraft 500, the edge length which is a partial path stored in each of the read plurality of records, and the latitude and longitude of the node. A route search algorithm such as Dijkstra's algorithm is executed using the latitude and longitude of the target area. As a result, the CPU 511 calculates the shortest overall route from the business office where the 1st Air Division 500 is located to the target area where the use as a port is required, and determines the calculated overall route as the flight route. (Step S22).

Next, the CPU 511 of the first aircraft 500 acquires a signal from the GPS circuit 516 in order to advance the flight path, and the latitude and longitude of the first aircraft 500 represented by the acquired signal and the flight. Generates a control signal for flight that reduces the difference between the latitude and longitude of the nearest node among one or more unpassed nodes included in the route. After that, the CPU 511 outputs the generated control signal to the drive circuit 519 that drives the motor (not shown) that rotates the propellers 531 to 534 (step S23). Next, the CPU 511 of the 1st Air Division 500 repeats the above process from the process of acquiring a signal from the GPS circuit 516 while the unpassed node exists.

After that, the CPU 511 of the 1st Air Division 500 determines that the 1st Air Division 500 has arrived at the target area when there are no unpassed nodes. Next, the CPU 511 includes information representing the latitude and longitude of the target area, generates an arrival report notifying that the first aircraft 500 has arrived in the target area, and uses the generated arrival report as the control device 200. Output to the data communication circuit 514 as a destination (step S24).

The data communication circuit 514 of the 1st Air Division 500 transmits the output arrival report to the control device 200. After that, the data communication circuit 514 of the first air vehicle 500 transfers the wind that imitates the wind blown down from the second air vehicle 600 to the cover body from the first air vehicle 500 to the cover body when the second air vehicle 600 lands. After blowing down, an imaging command for ordering the imaging of the covering body is received from the control device 200. The control device 200 transmits such an imaging command to the 1st Air Division 500 based on an image obtained by the 1st Air Division 500 imaging whether or not the covering is sufficiently fixed. This is to determine. In this embodiment, the fact that the covering is sufficiently fixed means that the covering is fixed to the surface of the target area to the extent that the covering is not rolled up even if it receives the wind generated by the landing of the second flying object 600. Including being.

When the data communication circuit 514 of the first flying object 500 receives the imaging command, the CPU 511 of the first flying object 500 acquires an imaging command from the data communication circuit 514 (step S25), and according to the acquired imaging command, the first Information representing the lowest altitude L predetermined as the lowest altitude that the aircraft 500 can fly is read from the flash memory 513b. Next, the CPU 511 generates a control signal for hovering flight or turning flight at the lowest altitude L over the target area and outputs the control signal to the drive circuit 519. The CPU 511 outputs a control signal for flying at the lowest altitude L by imitating the wind blown down from the second aircraft 600 to the covering when the second aircraft 600 lands in the target area. This is to generate it.

After that, the CPU 511 of the 1st Air Division 500 reads out the information representing the predetermined altitude H from the flash memory 513b. The predetermined altitude H is the altitude at which the angle of view of the sensing device 552 of the 1st Air Division 500 whose optical axis is directed in the vertical direction of the 1st Air Division 500 includes the entire covering covering the target area. Is the minimum value of. Next, the CPU 511 generates a control signal for hovering flight or turning flight at an altitude H over the target area and outputs the control signal to the drive circuit 519.

Further, the CPU 511 of the first air vehicle 500 outputs a signal instructing the sensing device 552 whose optical axis is directed in the vertical direction of the first air vehicle 500 to take an image, which is generated at the time of landing of the second air vehicle 600. The sensing device 552 is made to image the covering body after the wind imitating the wind is blown down (step S26). Next, the CPU 511 of the first flying object 500 is sensing data representing a target area image (hereinafter, also referred to as a third image) which is an image obtained by imaging a covering body covering the target area from the sensing device 552. Is acquired, and the acquired sensing data is output to the data communication circuit 514 with the control device 200 as the destination (step S27).

After that, when the data communication circuit 514 of the 1st Air Division 500 receives the return command for ordering the return to the business office from the control device 200, the CPU 511 of the 1st Air Division 500 acquires the feedback command from the data communication circuit 514. (Step S28). After that, the CPU 511 outputs a control signal for reversing the flight path and returning to the business office to the drive circuit 519 according to the acquired return command (step S29), and then ends the execution of the flight control process.

When the data communication circuit 204 of the control device 200 shown in FIG. 3 receives the arrival report output in step S24 of FIG. 11, the CPU 201 of the control device 200 uses the target area where the first aircraft 500 has arrived as a port. A usage determination process as shown in FIG. 12 for determining whether or not to use is executed.

When the execution of the usage determination process of FIG. 12 is started, the acquisition unit 210 of the control device 200 acquires an arrival report from the data communication circuit 204 (step S31), and the first aircraft 500 receives the arrival report from the acquired arrival report. Information representing the latitude and longitude of the arriving target area is acquired (step S32).

Next, the acquisition unit 210 acquires the file path of the second image file associated with the information representing the latitude and longitude of the target area from the port table of FIG. 6, and the second acquisition unit 210 is based on the acquired file path. Acquire an image file (step S33).

After that, the control unit 240 of the control device 200 outputs an imaging command to the data communication circuit 204 with the first aircraft 500 as the destination (step S34). When the data communication circuit 204 of the control device 200 receives the sensing data representing the third image from the first flying object 500 after transmitting the imaging command to the first flying object 500, the acquisition unit 210 of the control device 200 receives the data. Obtaining sensing data from the communication circuit 204 (step S35).

Next, the determination unit 220 executes the same process as in step S15 of FIG. 8 to characterize the second image represented by the second image file, the second corner feature amount, and the second corner feature amount represented by the sensing data. The third corner feature amount that characterizes the three images is calculated. Further, the determination unit 220 extracts m second feature points from the second image based on the second corner feature amount, and m third feature points from the third image based on the third corner feature amount. Extract and calculate the correspondence rate between m second feature points and m third feature points.

Next, when the determination unit 220 determines that the calculated correspondence rate is larger than the predetermined ratio, the target area whose surface is covered with the covering body imaged to obtain the second image and the third It is determined that the target area whose surface is covered with the covering body imaged in order to obtain an image is the same (step S36; Yes).

Next, the determination unit 220 extracts an image region corresponding to the covering body from the third image by executing the same process as in step S16 of FIG. Next, the determination unit 220 identifies the shape of the image region corresponding to the covering body, and determines whether or not the third condition that the covering body is sufficiently fixed based on the specified shape is satisfied. (Step S37).

In step S37, when the determination unit 220 determines that the shape of the image region corresponding to the covering body is rectangular, it determines that the covering body satisfies the third condition (step S37; Yes). The determination unit 220 determines in this way because if the image area of the third image corresponding to the covering is square, the state of the covering is completely expanded, so that the second flying object This is because it can be determined that the covering body did not roll even if it received a wind imitating the wind generated at the time of landing of 600.

Next, the determination unit 220 determines that the second aircraft body 600 can land in the target area and that the target area can be used for a predetermined purpose of using it as a port (step S38). Further, the determination unit 220 determines that the target area is used as a port (step S39).

Next, in the port table of FIG. 6, the update unit 250 uses the usage flag associated with the information representing the latitude and longitude of the target area acquired in step S32 to indicate that the target area is used as a port. Update to the used flag to be represented (step S40).

After that, the notification unit 230 generates a usage start notification notifying the start of use as a port in the target area, and sends the generated usage start notification to the terminal device 100 as the destination, and the data communication circuit 204 of FIG. Is output to (step S41). When the data communication circuit 104a of the terminal device 100 shown in FIG. 2 receives the use start notification, the CPU 101 of the terminal device 100 controls the display device 105b to display the use start notification.

After that, the control unit 240 outputs a return command for ordering the return to the business office to the data communication circuit 204 with the first aircraft 500 as the destination (step S42), and then ends the execution of the usage determination process.

In step S37, if the determination unit 220 determines that the covering does not satisfy the third condition (step S37; No), the second aircraft 600 cannot land in the target area and is used as a port. It is determined that the target area cannot be used for the purpose of (step S43). Further, the determination unit 220 determines that the target area is not used as a port (step S44).

After that, the update unit 250 does not update the port table of FIG. 6, and the notification unit 230 notifies that the target area is not used as a port and that the covering is not sufficiently fixed. To generate. Next, the notification unit 230 outputs the generated non-use notification to the data communication circuit 204 of FIG. 3 with the terminal device 100 as the destination (step S45). When the terminal device 100 receives the non-use notification, the terminal device 100 displays the non-use notification on the display device 105b. The administrator who has visually recognized the non-use notification re-fixes the covering body to the target area, and then re-imposes the optical axis of the lens 107a of the digital camera 107 toward the covering body and performs the imaging operation again.

In step S36, when the determination unit 220 determines that the calculated correspondence rate is equal to or less than a predetermined ratio, the target area covered with the covering body imaged to obtain the second image and the third image. It is determined that the target area covered by the covering body imaged in order to obtain the image is different from the target area (step S36; No). After that, the determination unit 220 determines that the target area is not used as a port (step S44).

Next, the notification unit 230 includes the second image file, the target area imaged to obtain the second image is not used as a port, and the target is set to the latitude and longitude stored in the second image file. Generate a non-use notification notifying that the region does not exist. After that, the notification unit 230 outputs the generated non-use notification to the data communication circuit 204 with the terminal device 100 as the destination (step S45). When the terminal device 100 receives the non-use notification, the non-use notification is displayed on the display device 105b, and the administrator who visually recognizes the non-use notification redetermines the target area to another area and then displays the non-use notification on the terminal device 100. Perform the request operation again.

After step S45 is executed, the control unit 240 outputs a return command for ordering return to the business office to the data communication circuit 204 with the first aircraft 500 as the destination (step S42), and then executes the usage determination process. To finish.

When the goods are delivered to the sales office, the employees working at the sales office read the slip affixed to the cardboard that packs the goods and confirm the delivery destination of the goods. After that, the employee performs an operation of inputting a delivery destination to the input device 205c of the control device 200 shown in FIG.

When the input device 205c of the control device 200 inputs a signal corresponding to the operation of the employee, the CPU 201 of the control device 200 executes a delivery control process as shown in FIG. 13, which causes the second flying object 600 to deliver the article. ..

When the execution of the delivery control process is started, the acquisition unit 210 of the control device 200 acquires information representing the delivery address based on the input signal. Next, the acquisition unit 210 acquires information representing the latitude and longitude of the address stored in advance in association with the acquired address from the information storage unit 290 (step S51).

Next, the determination unit 220 of the control device 200 acquires the usage flag associated with the information representing the latitude and longitude of the delivery destination from the port table of FIG. 6 (step S52), and the acquired usage flag is the port. It is determined whether or not the target area is used as a flag (step S53).

At this time, when the determination unit 220 of the control device 200 determines that the acquired usage flag is a flag indicating that the target area is used as a port (step S53; Yes), the notification unit 230 makes a second flight. A notification prompting the loading of the article on the body 600 is sent to the display device 205b shown in FIG. 3 (step S54).

After that, when the input device 205c of the control device 200 operated by the employee inputs a signal indicating the end of loading of the article into the second flying object 600, the control unit 240 receives information indicating the latitude and longitude of the delivery destination. To generate a flight order ordering to fly to the delivery destination. After that, the control unit 240 outputs the generated flight command to the data communication circuit 204 with the second flying object 600 as the destination (step S55), and then ends the execution of the delivery control process.

In step S53, the determination unit 220 of the control device 200 determines that the usage flag could not be acquired from the port table of FIG. 6, or that the acquired usage flag is a flag indicating that the target area is not used as a port. Then (step S53; No), it is determined that the second flying object 600 does not deliver the article. After that, the notification unit 230 ends the execution of the delivery control process after, for example, causing the display device 205b to notify the employee to deliver the goods by car, motorcycle, bicycle, or on foot. ..

The 2nd Air Division 600 is an unmanned aerial vehicle and has the same size, configuration, and function as the 1st Air Division 500. Therefore, the second flying object 600 includes a control device 510, propeller arms 521 to 524, propellers 531 to 534, a motor (not shown), a first holding frame 541a and a second holding frame 541b included in the first flying body 500. , Guide rails 542a and 542b, and a control device (propeller arm, propeller, motor, first) (not shown) having the same size, configuration, and function as the image pickup device 551 and the sensing device 552. It is provided with a holding frame and a second holding frame, a guide rail, and an imaging device and a sensing device.

The control device (not shown) of the second flying object 600 includes the CPU 511, RAM 512, ROM 513a, flash memory 513b, data communication circuit 514, GPS circuit 516, input / output port 518, and input / output port 518 of the first flying object 500 shown in FIG. It includes a CPU, RAM, ROM, flash memory, data communication circuit, GPS circuit, input / output port, and drive circuit (not shown) having the same configuration and function as the drive circuit 519.

When the data communication circuit (not shown) included in the second aircraft 600 receives the flight instruction transmitted from the control device 200, the CPU (not shown) included in the second aircraft 600 flies to the delivery destination according to the flight instruction. A delivery control process as shown in FIG. 14 is executed, which controls a motor or the like (not shown) in order to deliver the article at the delivery destination.

When the execution of the delivery control process is started, the CPU of the second flying object 600 flies to the delivery destination in accordance with the flight command by executing the same process as in steps S21 to S23 of FIG. 11 (steps S61 to S63). ).

Next, the CPU of the second flying object 600 detects an image area corresponding to a mark indicating that it is used as a port from an image represented by data output from the sensing device 552. Next, the CPU moves the second flying object 600 over the covering on which the mark is drawn based on the position on the image where the image area is detected, and then moves the second flying object 600 to the target area covered with the covering. A control signal for controlling the propeller to land is generated and output to a drive circuit (not shown) (step S64). After that, the CPU generates a control signal for moving the first enclosure and the second enclosure in the direction away from each other and outputs the control signal to the drive circuit, thereby forming the first enclosure and the second enclosure. Release the goods. As a result, the second flying object 600 delivers the article to, for example, a person at the delivery destination (step S65).

Next, the CPU of the second air vehicle 600 generates a control signal for controlling the propeller so as to take off the second air vehicle 600 from the target area, and outputs the control signal to the drive circuit (step S66). After that, the CPU executes the same process as in step S29 of FIG. 11 to reverse the flight path and fly to the business office (step S67), and then finish the execution of the delivery control process.

According to these configurations, the control device 200 controls the acquisition unit 210 for acquiring a determination request for determining whether or not the target area can be used for a predetermined purpose, and the control for flying the first air division 500 to the target area. The control unit 240 is provided. In addition, the acquisition unit 210 of the control device 200 further acquires sensing data, which is data obtained by optically sensing the target area by the 1st Air Division 500. Further, the control device 200 includes a determination unit 220 that determines whether or not the target area can be used for a predetermined purpose based on the acquired sensing data. Therefore, for example, since it is not necessary for the worker to go to the target area and determine whether or not it can be used for a predetermined purpose, the control device 200 can reduce the human cost required for the determination. Further, even if the number of target areas required to be used for a predetermined purpose increases, it is not necessary for a worker to go to each target area and determine whether or not the target area can be used for a predetermined purpose. Therefore, it is possible to suppress an increase in the total cost required for the determination. Further, the control device 200 determines whether or not the target area can be used for a predetermined purpose based on the sensing data obtained by optically sensing the target area. Therefore, the control device 200 makes a judgment based on new and detailed data, as compared with the case where the worker does not go to the target area and makes a judgment based on, for example, a map on which the target area is described. Judgment accuracy can be improved.

Further, according to these configurations, the acquisition unit 210 of the control device 200 further acquires the first image obtained by imaging the surface of the target area together with the determination request. The determination unit 220 of the control device 200 determines whether or not the surface satisfies the predetermined first condition based on the acquired first image, and determines that the surface does not satisfy the first condition. Then, it is determined that the target area cannot be used for a predetermined purpose. On the other hand, when it is determined that the surface of the target area satisfies the first condition, the control unit 240 of the control device 200 sets the first aircraft 500 in the target area in order to optically sense the target area. Fly to. Therefore, when the control device 200 determines that the surface of the target area does not satisfy the first condition, it determines that the target area cannot be used for a predetermined purpose without flying the first aircraft 500 to the target area. As compared with the case where the 1st Air Division 500 is flown to all the target areas for which the determination is required, the cost required for the determination can be reduced.

Further, according to these configurations, the acquisition unit 210 of the control device 200 further acquires the second image obtained by imaging the covering body covering the target area. The determination unit 220 of the control device 200 determines whether or not the covering body satisfies the predetermined second condition based on the acquired second image, and the covering body does not satisfy the second condition. When it is determined, it is determined that the target area cannot be used for a predetermined purpose. On the other hand, when it is determined that the surface of the target area satisfies the first condition and the covering body satisfies the second condition, the control unit 240 of the control device 200 sends the first flying object to the target area. Let it fly. Therefore, when the control device 200 determines that the covering does not satisfy the second condition, the control device 200 determines that the target area cannot be used for a predetermined purpose without flying the first aircraft 500 to the target area. Compared with the case where the 1st Air Division 500 is flown to all the target areas where one condition is satisfied, the cost required for the determination can be reduced.

Further, according to these configurations, the predetermined purpose is to use the target area as a port, and the sensing data is also referred to as a third image obtained by the 1st Air Division 500 imaging the target area. Represents the target area image. Further, the determination unit 220 of the control device 200 includes a determination unit 220 that determines whether or not the second aircraft 600, which is different from the first aircraft 500, can land in the target area based on the acquired target area image. .. Therefore, for example, it is not necessary for the worker to go to the target area used as a port and determine whether or not the second aircraft 600 can land in the target area. The cost can be reduced. Further, even if the number of target areas required to be used as ports increases, for example, a worker goes to each target area and determines whether or not the second aircraft 600 can land in the target area. Since it is not necessary, it is possible to suppress an increase in the total cost required for determination.

Further, according to these configurations, the determination unit 220 of the control device 200 determines whether or not the surface satisfies the predetermined first condition based on the acquired first image, and determines whether or not the surface satisfies the predetermined first condition. If it is determined that the first condition is not satisfied, it is determined that the second aircraft 600 cannot land in the target area. On the other hand, the control unit 240 of the control device 200 flies the first aircraft 500 to the target area when it is determined that the surface of the target area satisfies the first condition. Therefore, when the control device 200 determines that the surface of the target area does not satisfy the first condition, it determines that the second aircraft 600 cannot land in the target area without flying the first aircraft 500 to the target area. Therefore, the cost required for determination can be reduced as compared with the case where the 1st Air Division 500 is flown to all the target areas where the use as a port is required.

Further, according to these configurations, the first condition is that the surface is suitable for landing of the second aircraft body 600. Therefore, for example, by covering the target area with a covering body on which a mark indicating that the target area is used as a port is drawn, the surface is before the second flying object 600 cannot image the surface. Based on the first image obtained by imaging the image, the control device 200 can determine whether or not the surface of the target area is suitable for the landing of the second aircraft 600.

Further, according to these configurations, the first condition is that the surface of the target area is hard enough to be suitable for landing of the second aircraft 600, and the determination unit 220 of the control device 200 is the first image. It is determined whether or not the surface satisfies the first condition based on the feature values that characterize the texture of the surface imaged in order to obtain. Therefore, the control device 200 does not have to land the second aircraft 600 in the target area or land the first aircraft 500 in place of the second aircraft 600, but the surface hardness of the target area is high. It is possible to determine whether or not the second aircraft 600 is suitable for landing.

Further, according to these configurations, the acquisition unit 210 of the control device 200 obtains a second laying report informing that the target area is covered with the covering and an image of the covering covering the target area. Get both the image and. The determination unit 220 of the control device 200 determines whether or not the covering body satisfies the predetermined second condition based on the acquired second image, and the covering body does not satisfy the second condition. If it is determined, it is determined that the second aircraft 600 cannot land in the target area. On the other hand, when it is determined that the surface of the target area satisfies the first condition and the covering body satisfies the second condition, the control unit 240 of the control device 200 sends the first flying object to the target area. Let it fly. Therefore, if the control device 200 determines that the covering does not satisfy the second condition, it determines that the second aircraft 600 cannot land in the target area without flying the first aircraft 500 to the target area. As compared with the case where the first flying object 500 is flown to all the target areas where the first condition is satisfied, the cost required for the determination can be reduced.

Further, according to these configurations, the determination unit 220 of the control device 200 captures the surface of the control device 200 in order to obtain the first image based on the feature points based on the first image and the feature points based on the second image. It is further determined whether or not the target area obtained and the target area whose surface is covered by the covering body imaged to obtain the second image are the same. Therefore, in the control device 200, the target area in which the covering body imaged for obtaining the second image is determined to have a surface hardness suitable for landing of the second flying object 600 based on the first image. Since it is possible to determine whether or not it covers the same area as above, it is possible to accurately determine whether or not the second aircraft 600 can land in the target area covered with the covering.

<Modification 1 of Example 1>
In the first embodiment, the first condition used for the determination by the determination unit 220 of the control device 200 in step S05 of FIG. 4 is that the hardness of the surface of the target area is suitable for the landing of the second aircraft 600. However, it is not limited to this. The first condition according to this modification is that the magnitude of the inclination of the surface of the target area is suitable for landing of the second aircraft 600. The magnitude of the inclination of the surface suitable for landing of the second aircraft 600 includes that the inclination is small enough to allow the second aircraft 600 to land on the surface.

The digital camera 107 of the terminal device 100 according to this modification is a digital stereo camera, and includes a first lens and a second lens (not shown). Further, the digital camera 107 receives the light passing through the first lens and generates an electric signal (not shown), and the digital camera 107 receives the light passing through the second lens and receives the light (not shown) to generate an electric signal. The second image sensor group of the above is provided. Further, the digital camera 107 includes an image generation circuit (not shown) that generates two images having parallax with each other based on the electric signals output from the first image sensor group and the second image sensor group.

When the input device 105c of the terminal device 100 inputs a signal corresponding to the image pickup operation, the CPU 101 obtains two images obtained by imaging the surface of the target area based on the signal output from the image generation circuit (not shown). A first image file representing the first image of is generated. After that, the CPU 101 outputs the generated first image file together with the determination request to the data communication circuit 104a with the control device 200 as the destination.

In step S05 of FIG. 4, the determination unit 220 of the control device 200 identifies and identifies a plurality of points on the surface of the target area based on the parallax of the two first images represented by the first image file. Identify the coordinate values of the multiple points in the world coordinate system. Next, in order to specify the equation of the world coordinate system representing the surface of the target area, the determination unit 220 uses, for example, the least squares method to obtain an equation representing a plane having the minimum total distance to the specified plurality of points. Is calculated using. Then, using the calculated equation, the minimum angle θ formed by the surface of the target area and the horizontal plane is calculated, and the calculated angle θ is defined as the angle θ representing the inclination of the surface of the target area with respect to the horizontal plane.

After that, the determination unit 220 determines whether or not the angle θ representing the inclination of the surface is larger than the first threshold value represented by the information stored in advance in the information storage unit 290. A person skilled in the art can experimentally determine a suitable value of the first threshold value.

At this time, if the determination unit 220 determines that the angle θ indicating the inclination is larger than the first threshold value, the determination unit 220 determines that the magnitude of the inclination of the surface is not suitable for landing of the second flying object 600, and the surface is the first. It is determined that one condition is not satisfied (step S05; No). Next, the determination unit 220 determines that the second aircraft 600 cannot land in the target area because the inclination of the surface of the target area is too large (step S06). On the other hand, when the determination unit 220 determines that the angle θ indicating the inclination is equal to or less than the first threshold value, the determination unit 220 determines that the magnitude of the inclination of the surface is suitable for the landing of the second flying object 600, and determines that the surface is suitable for landing. Determines that the first condition is satisfied (step S05; Yes).

According to these configurations, the first condition is that the inclination of the surface of the target area is small enough to be suitable for landing of the second aircraft 600, and the determination unit 220 of the control device 200 is a stereo camera. Based on the parallax of the two first images obtained by imaging, it is determined whether or not the surface satisfies the first condition. Therefore, for example, even if the worker does not go to the target area and measure the magnitude of the surface inclination, the control device 200 has the magnitude of the surface inclination of the target area suitable for landing of the second aircraft 600. Whether or not it can be determined. Further, for example, before the surface of the target area is covered with the covering body and the second flying object 600 cannot image the surface, the control device 200 has a large surface inclination when the second flying object 600 lands. Can be determined whether or not is suitable. Further, for example, even if the second aircraft 600 is not landed in the target area or the first aircraft 500 is not landed in place of the second aircraft 600, the control device 200 can land the second aircraft 600. It is possible to determine whether or not the size of the inclination of the surface is suitable.

The digital camera 107 of the terminal device 100 according to this modification includes a first lens and a first image sensor group (not shown), a second lens and a second image sensor group, and includes a first image sensor group and a second image sensor group. It has been described that it is a stereo camera that generates two images having a difference in distance from each other based on the electric signals output from the image sensor group and the image sensor group.

However, the present invention is not limited to this, and the digital camera 107 includes a first lens and a first image sensor group (not shown), but does not include a second lens and a second image sensor group, and the first image sensor group. It may be a monocular camera that generates one image based on an electric signal output from the camera. In this case, the digital camera 107 generates and generates a plurality of images by imaging the target area from a plurality of different points when the image capturing operation is performed at a plurality of different points by the administrator who manages the target area. The plurality of images are transmitted to the control device 200. The control device 200 receives a plurality of images, and uses the received plurality of images to perform image processing such as Visual SLAM (Simultaneous Localization and Mapping) or SfM (Structure from Motion) to perform image processing such as Visual SLAM (Simultaneous Localization and Mapping) or SfM (Structure from Motion). The three-dimensional shape including the magnitude of the inclination of the surface of the image may be specified.

Further, the digital camera 107 includes a GPS circuit (not shown) that measures the latitude, longitude, and altitude of the digital camera 107, an elevation angle formed by the optical axis of the digital camera 107 and a vertically downward direction, and an azimuth angle of the optical axis. And, an attitude sensor for detecting the above may be provided. The digital camera 107 generates a plurality of images, and also generates information representing the latitude, longitude, and altitude of each imaging point of the plurality of images based on a signal output from the GPS circuit, and a plurality of images. Information representing the elevation angle and the azimuth angle of the optical axis at the time of capturing each of the images of is generated based on the signal output from the attitude sensor. After that, the digital camera 107 controls a plurality of images, information indicating the latitude, longitude, and altitude of each of the imaging points of the plurality of images, and information indicating the elevation angle and the azimuth angle of the optical axis at the time of shooting. It is transmitted to the device 200. The control device 200 provides the received plurality of images, information indicating the latitude, longitude, and altitude of each imaging point of the plurality of images, and information indicating the elevation angle and azimuth angle of the optical axis at the time of shooting. It may be used to specify the parallax between a plurality of images, and to specify the three-dimensional shape including the magnitude of the inclination of the surface of the target area based on the specified parallax.

<Modification 2 of Example 1>
In the first embodiment, the first condition used by the determination unit 220 of the control device 200 for the determination is that the hardness of the surface of the target area is suitable for the landing of the second aircraft 600. It is not limited to. The first condition according to this modification is that the size of the unevenness on the surface of the target area is suitable for landing of the second flying object 600. The fact that the size of the unevenness on the surface is suitable for landing of the second flying object 600 includes that the unevenness is small enough to allow the second flying object 600 to land on the surface.

The digital camera 107 of the terminal device 100 according to this modification is the digital stereo camera described in the modification 1 of the first embodiment, and generates two images having parallax with each other. The terminal device 100 according to the present modification is the first image representing two first images obtained by imaging the surface of the target area, similarly to the terminal device 100 described in the modification 1 of the first embodiment. The file is transmitted to the control device 200.

The determination unit 220 of the control device 200 is the surface of the target area based on the parallax of the two first images represented by the first image file, similarly to the determination unit 220 described in the first modification of the first embodiment. Identify the coordinate values of the above multiple points in the world coordinate system. Next, the determination unit 220 calculates the difference between the maximum value and the minimum value of the coordinate values representing the height among the specified coordinate values, and sets the calculated difference as the size of the unevenness on the surface. After that, the determination unit 220 determines whether or not the calculated unevenness size is larger than the second threshold value represented by the information stored in advance in the information storage unit 290. A person skilled in the art can experimentally determine a suitable value of the second threshold value.

At this time, if the determination unit 220 determines that the size of the unevenness is larger than the second threshold value, it determines that the size of the unevenness on the surface is not suitable for landing of the second flying object 600, and the surface is the first. It is determined that the condition is not satisfied (step S05; No). Next, the determination unit 220 determines that the second aircraft 600 cannot land in the target area because the surface unevenness of the target area is too large (step S06). On the other hand, when the determination unit 220 determines that the size of the unevenness is equal to or less than the second threshold value, it determines that the size of the unevenness on the surface is suitable for landing of the second flying object 600, and the surface is determined to be suitable for landing. It is determined that the first condition is satisfied (step S05; Yes).

According to these configurations, the first condition is that the unevenness of the surface of the target area is small enough to be suitable for landing of the second aircraft 600, and the determination unit 220 of the control device 200 is a stereo camera. Based on the parallax of the two first images obtained by imaging, it is determined whether or not the surface satisfies the first condition. Therefore, for example, even if the worker does not go to the target area and measure the size of the surface unevenness, the control device 200 has the size of the surface unevenness of the target area suitable for landing of the second aircraft 600. Whether or not it can be determined. Further, for example, before the surface of the target area is covered with the covering body and the second flying object 600 cannot image the surface, the control device 200 has a large amount of surface irregularities on the landing of the second flying object 600. Can be determined whether or not is suitable. Further, for example, even if the second aircraft 600 is not landed in the target area or the first aircraft 500 is not landed in place of the second aircraft 600, the control device 200 can land the second aircraft 600. It is possible to determine whether or not the size of the unevenness on the surface is suitable.

In this modification, the determination unit 220 determines the difference between the maximum value and the minimum value of the coordinate values representing the height among the coordinate values of a plurality of points on the surface of the target area as the size of the unevenness of the surface. However, it is not limited to this. The determination unit 220 may use the variance of the coordinate values representing the height among the coordinate values of the plurality of points on the surface as the size of the unevenness of the surface. According to this, the determination unit 220 can determine whether or not the overall size of the unevenness on the surface of the target area is suitable for the landing of the second aircraft 600.

The digital camera 107 of the terminal device 100 according to this modification is a monocular camera, generates a plurality of images by photographing a target area from a plurality of different points, and transfers the generated plurality of images to the control device 200. You may send it. The control device 200 receives a plurality of images, and by executing image processing such as Visual SLAM or SfM using the received plurality of images, the control device 200 is three-dimensional including the size of the surface unevenness of the target area. The shape may be specified.

Further, the control device 200 is not limited to this, and the control device 200 captures a plurality of images received from the digital camera 107, information indicating the latitude, longitude, and altitude of each imaging point of the plurality of images, and photographing. The three-dimensional shape including the size of the unevenness on the surface of the target area may be specified by performing image processing using the information representing the elevation angle and the azimuth angle of the optical axis of time.

<Modification 3 of Example 1>
In the first embodiment, the first condition used by the determination unit 220 of the control device 200 for the determination is that the hardness of the surface of the target area is suitable for the landing of the second aircraft 600. It is not limited to. The first condition according to this modification is that no object that may hinder the landing of the second aircraft 600 is placed on the surface of the target area.

The digital camera 107 of the terminal device 100 according to the present modification includes one lens 107a, an image sensor group 107b, and an image generation circuit 107c, similarly to the digital camera 107 according to the first embodiment.

In step S05 of FIG. 4, the determination unit 220 of the control device 200 according to the present modification performs, for example, template matching with respect to the first image represented by the first image file, for example, a kick scooter. Detects image areas corresponding to objects such as bicycles, motorcycles, automobiles, flowerpots, plants, bricks, chairs, tables, umbrellas, storage, or steps such as side grooves or stairs. The information storage unit 290 stores the template of the kick scooter or the like in advance.

Next, the determination unit 220 may hinder the landing of the second flying object 600 when the area of the detected image area is larger than the third threshold value represented by the information stored in advance in the information storage unit 290. It is determined that an object with a certain value is placed. In this case, the determination unit 220 determines that the surface of the target area does not satisfy the first condition (step S05; No), and determines that the second aircraft 600 cannot land in the target area (step S06). A person skilled in the art can experimentally determine a suitable value of the third threshold value.

On the other hand, the determination unit 220 determines that the surface of the target area satisfies the first condition when the image area is not detected or when the area of the detected image area is equal to or less than the third threshold value. (Step S05; Yes).

According to these configurations, the first condition is that no object that may hinder the landing of the second aircraft 600 is placed on the surface of the target area, and the determination unit 220 of the control device 200 determines. Based on the first image, it is determined whether or not the surface satisfies the first condition. Therefore, for example, even if the worker does not go to the target area and check whether or not an object is placed on the surface, the control device 200 may prevent the second aircraft 600 from landing on the surface of the target area. Since it is possible to determine whether or not an object with a certain object is placed, the human cost required for the determination can be reduced.

<Modified Example 4 of Example 1>
In the first embodiment, it has been described that the second condition used for the determination by the determination unit 220 of the control device 200 in step S16 of FIG. 8 is the condition that the covering body is in a completely expanded state, but the present invention is limited to this. It is not done. The second condition according to this modification is that no object that may hinder the landing of the second flying object 600 is placed on the covering body.

In order to determine whether or not this second condition is satisfied, the determination unit 220 of the control device 200 refers to the second image represented by the second image file, as in the modified example 3 of the first embodiment. For example, by performing template matching, an image region corresponding to an object that may interfere with the landing of the second aircraft 600 is detected.

According to these configurations, the second condition is that no object that may hinder the landing of the second flying object 600 is placed on the covering body, and the determination unit 220 of the control device 200 determines. Based on the second image, it is determined whether or not the covering body satisfies the second condition. Therefore, for example, the control device 200 can land the second flying object 600 on the covering without having to go to the target area and check whether or not an object is placed on the covering. Since it is possible to determine whether or not an object that may interfere is placed, the human cost required for the determination can be reduced.

<Modification 5 of Example 1>
In the first embodiment, the second condition used by the determination unit 220 of the control device 200 for the determination is the condition that the covering body is in a completely expanded state, but the present invention is not limited to this. The second condition according to this modification is that the covering covers the target area with the surface on which the mark indicating the port is drawn facing up.

In order to determine whether or not this second condition is satisfied, the determination unit 220 of the control device 200 refers to the second image represented by the second image file, as in the modified example 3 of the first embodiment. For example, by performing template matching, an image area corresponding to a mark indicating that the port is used is detected.

Next, the determination unit 220 determines that the covering does not satisfy the second condition when the image region corresponding to the mark is not detected (step S16; No), and the second aircraft 600 lands in the target area. It is determined that it is impossible (step S19). Such a determination is made when the CPU of the second flying object 600 detects an image area corresponding to the mark from the image output from the sensing device 552 and positions the detected image area on the image. This is because the control for landing in the target area covered with the covering is performed based on this. On the other hand, the determination unit 220 determines that the covering body satisfies the second condition when the image region corresponding to the mark is detected (step S16; Yes).

According to these configurations, for example, even if the worker does not go to the target area and check the covering, the control device 200 has the covering with the surface on which the mark indicating that it is a port is drawn facing up. Since it can be determined whether or not the target area is covered, the human cost required for the determination can be reduced.

<Modified Example 6 of Example 1>
In the first embodiment, it has been described that the third condition used for the determination by the determination unit 220 of the control device 200 in step S37 of FIG. 12 is a condition that the covering body is sufficiently fixed, but the present invention is limited to this. Not a translation. The third condition according to this modification is that no object that may hinder the landing of the second flying object 600 is placed on the covering body.

In order to determine whether or not this third condition is satisfied, the determination unit 220 of the control device 200 refers to the third image represented by the sensing data with respect to the third image represented by the sensing data, as in the modified example 3 of the first embodiment. For example, by performing template matching, an image region corresponding to an object that may interfere with the landing of the second aircraft 600 is detected. The determination unit 220 determines that the third condition is not satisfied when the image area is detected (step S37; No), and determines that the third condition is satisfied when the image area is not detected. (Step S37; Yes).

According to these configurations, for example, the control device 200 may prevent the second aircraft 600 from landing on the covering even if the worker does not go to the target area and check on the covering. Since it is possible to determine whether or not there is an object, the human cost required for the determination can be reduced.

<Modification 7 of Example 1>
In the first embodiment, the third condition used by the determination unit 220 of the control device 200 for the determination is the condition that the covering body is sufficiently fixed, but the present invention is not limited to this. The third condition according to this modification is that there is a sufficiently wide space that continues from the movable route of the second flying object 600, such as a road and a river, to the surface of the target area.

In the first embodiment, a sufficiently large space means that the space is large enough to be suitable for the flight of the second flying object 600. Further, the space wide enough to be suitable for the flight of the second flying object 600 means that the space is wide enough for the second flying object 600 to fly safely. The fact that the second flying object 600 can safely fly in a space means that, for example, the second flying object 600 may come into contact with an enclosure, a wall, a roof, a tree branch, an overhead wire such as an electric wire, or the like surrounding the space. Includes that is less than a predetermined possibility.

Therefore, a sufficiently large space means that the contact possibility when the second flying object 600 flies through the space is lower than the predetermined possibility, or is wide enough that there is no contact possibility. To say.

In order to determine whether or not this third condition is satisfied, the CPU 511 of the 1st Air Division 500 uses the imaging device 551 whose optical axis is directed to the front of the 1st Air Division 500 in step S26 of FIG. Alternatively, a signal instructing imaging is output to the sensing device 552 whose optical axis is directed downward in the vertical direction of the 1st Air Division 500. As a result, the CPU 511 of the 1st Air Division 500 causes the image pickup device 551 or the sensing device 552 to image the space following the surface of the target area from the route on which the 2nd Air Division 600 can move, for example, a road and a river. After that, the CPU 511 of the 1st Air Division 500 outputs sensing data representing the third image obtained by imaging the space continuing to the surface of the target area in step S27.

The determination unit 220 of the control device 200 calculates the minimum value of the vertical length of the space continuing to the surface of the target area as the minimum height of the space based on the parallax of the two third images. Further, the determination unit 220 calculates the minimum value of the length in the direction orthogonal to the traveling direction and the vertical direction of the space continuing to the target area as the narrowest width of the space based on the parallax. After that, the determination unit 220 acquires information representing the height and width of the second flying object 600 stored in advance by the information storage unit 290.

Next, the determination unit 220 adds a value obtained by adding a predetermined margin height to the height of the second aircraft 600 represented by the acquired information from the calculated minimum height of the space leading to the target area. It is also determined whether or not the value obtained by adding the predetermined margin width to the width of the second flying object 600 is narrower than the narrowest width of the space.

At this time, in the determination unit 220, the value obtained by adding the margin height to the height of the second flying object 600 is lower than the minimum height of the space, and the value obtained by adding the margin width to the width of the second flying object 600 is the value. If it is determined that the narrowest width of the space is narrower, it is determined that the space is sufficiently wide, and it is determined that the third condition is satisfied (step S37; Yes in FIG. 12).

On the other hand, in the determination unit 220, the value obtained by adding the margin height to the height of the second flying object 600 is equal to or greater than the minimum height of the space, or the margin width is added to the width of the second flying object 600. If it is determined that the value obtained is equal to or greater than the narrowest width of the space, it is determined that the space is not sufficiently wide, and it is determined that the third condition is not satisfied (step S37; No).

According to these configurations, for example, whether or not the control device 200 has a sufficiently large space from the movable route of the second aircraft 600 to the target area without the worker going to the target area and checking. Since it can be determined, the human cost required for the determination can be reduced.

<Modification 8 of Example 1>
In the first embodiment, the third condition used by the determination unit 220 of the control device 200 for the determination is the condition that the covering body is sufficiently fixed, but the present invention is not limited to this. The third condition according to this modification is that the covering covering the surface of the target area is not wet when the rainfall per unit time of the area including the target area is included in the predetermined range. ..

In order to determine whether or not this third condition is satisfied, the control unit 240 of the control device 200 according to the present modification includes information representing the latitude and longitude of the target area in step S17 of FIG. An unillustrated list in which the information storage unit 290 stores in advance a flight command for ordering to fly to the target area when the rainfall per unit time of the area including the target area is included in the predetermined range. Output (step S17). Then, after the process of step S18 is executed, the execution of the second determination process is completed.

When the CPU 201 of the control device 200 is started, it executes a precipitation determination process (not shown) that determines whether or not the amount of rainfall per unit time is included in a predetermined range.

When the execution of the rainfall determination process is started, the acquisition unit 210 of the control device 200 acquires one flight instruction from the list (not shown) stored in the information storage unit 290, and obtains the acquired flight instruction in the list (not shown). Remove from. Next, the acquisition unit 210 acquires information representing the latitude and longitude of the target area included in the acquired flight command.

Next, the acquisition unit 210 acquires the URL (Universal Resource Locator) of the server stored in advance by the information storage unit 290, which is the URL of the weather server that distributes the weather information. After that, the control unit 240 sends a transmission request for transmission of meteorological information indicating the amount of rainfall per unit time in the area including the acquired URL and the points of latitude and longitude represented by the acquired information. Output to the data communication circuit 204. As a result, the control unit 240 causes the weather server to transmit the weather information.

When the data communication circuit 204 receives the weather information from the weather server after transmitting the transmission request to the weather server, the acquisition unit 210 of the control device 200 acquires the weather information from the data communication circuit 204.

After that, the acquisition unit 210 of the control device 200 acquires information representing the range of rainfall amount stored in advance by the information storage unit 290. Next, when the control unit 240 of the control device 200 determines in advance that the amount of rainfall per unit time represented by the acquired weather information is not included in the range of the amount of rainfall represented by the acquired information. After sleeping for a predetermined time, the above process is repeated from the process of outputting a transmission request requesting the transmission of weather information.

On the other hand, when the control unit 240 of the control device 200 determines that the amount of rainfall per unit time is included in the range represented by the acquired information, the control unit 240 issues a flight command acquired from a list (not shown). The first aircraft 500 is output to the data communication circuit 204 as a destination.

Upon receiving the flight command, the 1st Air Division 500 flies to the target area in accordance with the flight command, images the covering covering the target area, and then returns to the business office. After that, the control unit 240 repeats the above process from the process of acquiring one control command from a list (not shown).

The determination unit 220 of the control device 200 according to this modification executes the same process as in step S16 of FIG. 8 in step S37 of FIG. 12 to obtain the image region corresponding to the covering body of the first flying object 500. Is extracted from the third image obtained by imaging. Next, the determination unit 220 calculates a feature value that characterizes the texture of the surface of the covering body corresponding to the image region, based on the pixel value included in the extracted image region.

Next, the determination unit 220 reads out a feature value that is a value stored in advance by the information storage unit 290 and that characterizes the texture of the surface of the covering body in a wet state. After that, the determination unit 220 calculates the difference between the calculated feature value and the read feature value, and determines whether or not the calculated difference is larger than the predetermined difference.

At this time, if the determination unit 220 determines that the calculated difference is larger than the predetermined difference, it determines that the surface of the covering body is not wet, and determines that the third condition is satisfied (step). S37; Yes). Next, the determination unit 220 makes a second flight because the covering covering the target area is not wet even when the rainfall per unit time of the area including the target area is included in the predetermined range. It is determined that the body 600 can safely land in the target area (step S38). Further, the determination unit 220 determines that the target area is suitable as a port because there is no possibility that the article will get wet even if the article is delivered to the target area, or it is lower than the predetermined possibility. After that, the determination unit 220 executes the processes of steps S39 to S42 to determine that the target area will be used as a port (steps S39 to S42), and then ends the execution of the use determination process.

On the other hand, when the determination unit 220 determines that the calculated difference is less than or equal to the predetermined difference, it determines that the surface of the covering body is wet, and determines that the third condition is not satisfied. (Step S37; No). Next, the determination unit 220 determines that the covering covering the target area gets wet when the amount of rainfall per unit time in the area including the target area is included in a predetermined range. Therefore, the determination unit 220 determines that the possibility that the second aircraft 600 will fall at the time of landing is higher than the predetermined possibility, and the second aircraft 600 cannot safely land in the target area (step S43). ). Further, the determination unit 220 determines that the target area is not suitable as a port because the possibility that the article delivered to the target area gets wet is higher than the predetermined possibility. After that, the determination unit 220 determines that the target area is not used as a port by executing the processes of steps S44, S45, and S42 (steps S44, S45, and S42), and then the use determination process. End the execution of.

According to these configurations, when the rainfall per unit time of the area including the target area is included in the predetermined range, for example, when it is raining, the worker goes to the target area and confirms it. Even if this is not done, the control device 200 can determine whether or not the covering covering the target area is wet in such a case, so that the human cost required for the determination can be reduced.

<Modified Example 9 of Example 1>
In the first embodiment, it has been described that the determination unit 220 of the control device 200 determines whether or not the second aircraft body 600 can land in the target area, but the present invention is not limited to this. The determination unit 220 according to this modification determines whether or not the 1st Air Division 500 can land in the target area.

Instead of the material table of FIG. 7, the information storage unit 290 of the control device 200 according to this modification includes information indicating the type of material, characteristic values of the material of the type, and the material of the first flying object 500. It stores a material table (not shown) that is stored in advance in association with the hardness information indicating whether or not it is hard enough to be suitable for landing.

The first condition according to this modification is that the surface is suitable for landing of the 1st Air Division 500. Therefore, in step S05 of FIG. 4, the determination unit 220 of the control device 200 acquires the hardness information associated with the same or closest feature value as the calculated feature value from the material table (not shown). Based on the acquired hardness information, it is determined whether or not the first condition that the surface is suitable for landing of the 1st Air Division 500 is satisfied (step S05).

At this time, when the acquired hardness information indicates that the material is not sufficiently hard, the determination unit 220 determines that the surface hardness of the target area composed of the material is the hardness of the first aircraft 500. It is determined that the surface is not suitable for landing and the surface does not satisfy the first condition (step S05; No). Next, the determination unit 220 determines that the 1st Air Division 500 cannot land in the target area (step S06), and determines that the target area is not used as a port.

Further, the area of the covering body according to this modification is designed to be wide enough to be suitable for landing of the 1st Air Division 500. Further, the fact that the area is large enough to be suitable for landing of the 1st Air Division 500 means that the area is large enough to allow the 1st Air Division 500 to safely land in the target area covered with the covering.

Therefore, when the determination unit 220 of the control device 200 determines in step S16 of FIG. 8 that the second condition that the covering body is in a completely expanded state is not satisfied (step S16; No), the covering body is changed. Since the target area does not have an area that can be completely expanded, it is determined that the 1st Air Division 500 cannot land in the target area (step S19).

Further, when the determination unit 220 of the control device 200 according to the present modification determines in step S37 of FIG. 12 that the third condition that the covering body is sufficiently fixed to the surface of the target area is satisfied ( Step S37; Yes), it is determined that the 1st Air Division 500 can land in the target area (step S38). On the other hand, when the determination unit 220 determines that the third condition is not satisfied (step S37; No), the determination unit 220 determines that the first aircraft 500 cannot land in the target area (step S43).

<Modification 10 of Example 1>
In the first embodiment, it has been described that the determination unit 220 of the control device 200 determines whether or not the second aircraft body 600 can land in the target area, but the present invention is not limited to this. The determination unit 220 of the control device 200 according to this modification determines whether or not both the first aircraft 500 and the second aircraft 600 can land in the target area.

Instead of the material table of FIG. 7, the information storage unit 290 of the control device 200 according to this modification includes information indicating the type of material, characteristic values of the material of the type, and the material of the first flying object 500. A material table (not shown) that is stored in advance in association with the hardness information indicating whether or not the second aircraft is hard enough to be suitable for landing and suitable for landing of the second aircraft 600. I remember.

Further, the first condition according to the present modification is that the surface is suitable for the landing of the 1st Air Division 500 and the surface is suitable for the landing of the 2nd Air Division 600. Therefore, in step S05 of FIG. 4, the determination unit 220 acquires the hardness information from the material table (not shown), and determines whether or not the first condition is satisfied based on the acquired hardness information. (Step S05). At this time, if the determination unit 220 determines that the surface does not satisfy the first condition (step S05; No), one or more of the first aircraft 500 and the second aircraft 600 cannot land in the target area. Is determined. Therefore, the determination unit 220 determines that the target area cannot be used for the predetermined purpose of using it as a port (step S06).

Further, the area of the covering body according to the present modification is designed to be wide enough to be suitable for the landing of the 1st Air Division 500 and wide enough to be suitable for the landing of the 2nd Air Division 600. Therefore, when the determination unit 220 of the control device 200 determines in step S16 of FIG. 8 that the second condition that the covering body is in a completely expanded state is not satisfied (step S16; No), the first flight It is determined that one or more of the body 500 and the second aircraft 600 cannot land in the target area. Therefore, the determination unit 220 determines that the target area cannot be used for a predetermined purpose (step S19).

Further, when the determination unit 220 of the control device 200 according to this modification determines in step S37 of FIG. 12 that the third condition is satisfied (step S37; Yes), the first flight body 500 and the second flight Determine that both bodies can land. Therefore, the determination unit 220 determines that the target area can be used for a predetermined purpose (step S38). On the other hand, if the determination unit 220 determines that the third condition is not satisfied (step S37; No), the determination unit 220 determines that the first aircraft 500 and the second aircraft 600 cannot land in the target area. .. Therefore, the determination unit 220 determines that the target area cannot be used for a predetermined purpose (step S38).

<Modified Example 11 of Example 1>
In the first embodiment, it has been described that the determination unit 220 of the control device 200 determines whether or not the second aircraft body 600 can land in the target area, but the present invention is not limited to this. The determination unit 220 of the control device 200 according to this modification determines whether or not the second aircraft 600 can take off from the target area.

The second aircraft 600, which obtains lift with a propeller, cannot obtain sufficient lift if the attitude of the second aircraft 600 is tilted from a predetermined angle, and it may fall over during takeoff for safe takeoff. This is because it becomes impossible to take off or take off at all.

Instead of the material table of FIG. 7, the information storage unit 290 of the control device 200 according to this modification includes information indicating the type of material, characteristic values of the material of the type, and the material of the second flying object 600. It stores a material table (not shown) that is stored in advance in association with the hardness information indicating whether or not the material is hard enough to be suitable for takeoff.

In the first embodiment, the material being hard enough for the second aircraft 600 to take off includes the fact that the second aircraft 600 is hard enough to take off from the surface of the target area composed of the material. .. The fact that the second aircraft 600 can take off from the target area does not simply mean that the second aircraft 600 can take off from the target area, but means that the second aircraft 600 can safely take off from the target area. The safe takeoff of the second aircraft 600 from the target area includes the possibility that the second aircraft 600 will not fall at the time of takeoff or is less than a predetermined possibility.

Therefore, if the material is hard enough to be suitable for takeoff of the second aircraft 600, it is said that the second aircraft 600 is second from the landing to the takeoff on the surface of the target area composed of the material. The shape of the surface does not change depending on the weight of the flying object 600, or even if it changes, the possibility of the second flying object 600 falling during takeoff is lower than the predetermined possibility, or it falls. It means that there is no possibility and the surface shape is so hard that the shape of the surface changes only to the extent that the second aircraft 600 can take off.

Further, the first condition according to this modification is that the surface is suitable for takeoff of the second flying object 600. Therefore, in step S05 of FIG. 4, the determination unit 220 acquires the hardness information from the material table (not shown), and determines whether or not the first condition is satisfied based on the acquired hardness information. (Step S05). At this time, if the determination unit 220 determines that the surface does not satisfy the first condition (step S05; No), the determination unit 220 determines that the second aircraft body 600 cannot take off from the target area. Therefore, the determination unit 220 determines that the target area cannot be used for the predetermined purpose of using it as a port (step S06).

Further, the area of the covering body according to this modification is designed to be wide enough to be suitable for takeoff of the second flying object 600. The area of the covering body is large enough to be suitable for takeoff of the second flying object 600 means that the area of the covering body is large enough to allow the second flying object 600 to take off safely from the target area covered with the covering body. The fact that the second aircraft 600 can safely take off from the target area means that, for example, the second aircraft 600 may come into contact with the enclosure or wall surrounding the target area, and the target area may be contacted. This includes the possibility that part or all of the second aircraft 600 will protrude into the adjacent area, which is lower than the predetermined possibility.

Therefore, when the determination unit 220 of the control device 200 determines in step S16 of FIG. 8 that the second condition that the covering body is in a completely expanded state is not satisfied (step S16; No), the second flight It is determined that the body 600 cannot take off from the target area. Therefore, the determination unit 220 determines that the target area cannot be used for a predetermined purpose (step S19).

Further, when the determination unit 220 of the control device 200 according to this modification determines in step S37 of FIG. 12 that the third condition is satisfied (step S37; Yes), the second aircraft takes off from the target area. Judge that it is possible. Therefore, the determination unit 220 determines that the target area can be used for a predetermined purpose (step S38). On the other hand, if the determination unit 220 determines that the third condition is not satisfied (step S37; No), the determination unit 220 determines that the second aircraft body 600 cannot take off from the target area. Therefore, the determination unit 220 determines that the target area cannot be used for a predetermined purpose (step S43).

Further, the determination unit 220 of the control device 200 is not limited to determining whether or not the second aircraft body 600 can take off from the target area, and the determination unit 220 of the control device 200 determines whether or not the first aircraft body 500 can take off from the target area. It may be determined whether or not both the first flight object 500 and the second flight object 600 can take off from the target area.

Further, the determination unit 220 of the control device 200 is not limited to these, and one or more of the first aircraft 500 and the second aircraft 600 can land and take off in the target area, or It may be determined whether the landing or takeoff is impossible.

<Modification 12 of Example 1>
In the first embodiment, the terminal device 100 receives a determination request for determining whether or not the target area can be used as a port, and a first image file representing a first image obtained by imaging the surface of the target area. It has been explained that the acquisition unit 210 of the control device 200 acquires the first image file together with the determination request in steps S01 and S02 of FIG.

Further, in the first embodiment, the terminal device 100 represents a second image obtained by imaging the covering body covering the surface of the target area together with the laying report notifying that the target area is covered with the covering body. It was explained that the acquisition unit 210 of the control device 200 transmits the two image files and acquires the second image file together with the laying report in steps S11 and S12 of FIG.

However, the present invention is not limited to these, and even if the terminal device 100 transmits the first image file separately from the determination request and the acquisition unit 210 of the control device 200 acquires the first image file separately from the determination request. good.

Further, the terminal device 100 may transmit the second image file separately from the laying report, and the acquisition unit 210 of the control device 200 may acquire the second image file separately from the laying report.

<Modified Example 13 of Example 1>
In the first embodiment, the terminal device 100 stores information representing the latitude and longitude of the target area in the tag of the first image file, and the acquisition unit 210 of the control device 200 uses the first image in step S03 of FIG. I explained that the information representing latitude and longitude is obtained from the tag of the file, but it is not limited to this.

Further, in the first embodiment, the terminal device 100 stores the information representing the latitude and longitude of the target area in the tag of the second image file, and the acquisition unit 210 of the control device 200 in step S13 of FIG. 2 It has been explained that information representing latitude and longitude is acquired from the tag of the image file, but the present invention is not limited to this.

The CPU 101 of the terminal device 100 according to the first embodiment displays a message prompting the input of the address of the target area after generating the first image file representing the first image obtained by imaging the surface of the target area. Displayed on the device 105b. Next, the CPU 101 acquires address information representing the address of the target area based on the signal input by the input device 105c according to the operation of the administrator who visually recognizes the display device 105b. After that, the CPU 101 of the terminal device 100 generates a determination request including the address information, and outputs the first image file together with the generated determination request to the data communication circuit 104a with the control device 200 as the destination.

When the acquisition unit 210 of the control device 200 according to the first embodiment acquires the first image file and the determination request in steps S01 and S02 of FIG. 4, the acquisition unit 210 acquires the address information included in the determination request. Next, the acquisition unit 210 represents the latitude and longitude of the address stored in advance in association with the address represented by the acquired address information by executing the same process as in step S51 of FIG. Information is acquired from the information storage unit 290. After that, the acquisition unit 210 acquires the acquired latitude and longitude of the address as the latitude and longitude of the target area in step S03.

Further, the CPU 101 of the terminal device 100 according to the first embodiment generates an address of the target area after generating a second image file representing the second image obtained by imaging the covering covering the surface of the target area. Get the address information to represent. After that, the CPU 101 of the terminal device 100 generates a laying report including the acquired address information, and outputs a second image file together with the generated laying report to the control device 200 as a destination.

When the acquisition unit 210 of the control device 200 acquires the second image file and the laying report in steps S11 and S12 of FIG. 8, it acquires the address information included in the laying report, and the address represented by the acquired address information. Acquires information representing latitude and longitude stored in advance in association with. After that, the acquisition unit 210 acquires the acquired latitude and longitude of the address as the latitude and longitude of the target area in step S13.

<Modification 14 of Example 1>
In the first embodiment, the delivery system 1 includes one second aircraft 600, and the control unit 240 of the control device 200 is the first in the sales office to the target area where it is required to be used as a port. He explained that he would fly the Air Division 500.

However, the delivery system 1 according to the present modification is not limited to this, and includes a plurality of second flying objects 600. In addition, the control unit 240 of the control device 200 finishes delivering the goods to a second area different from the first area, which is the target area required to be used as a port, and is in the process of returning to the business office. Among the aircraft bodies 600, the second aircraft body 600, which flies at the point closest to the first area, is made to fly to the first area.

For this purpose, the CPUs (not shown) included in each of the plurality of second flying objects 600 are returned to the business office by executing step S67 in FIG. 14, and are based on the signals output from the GPS circuit (not shown). Then, information representing the latitude and longitude of the second aircraft 600 is generated, and the information is output to the data communication circuit with the control device 200 as the destination.

When the data communication circuit 204 of the control device 200 shown in FIG. 3 receives information representing latitude and longitude from each of the plurality of second flying bodies 600, the acquisition unit 210 of the control device 200 receives the second flying body 600. Get the information that represents the latitude and longitude of. Further, the acquisition unit 210 assigns a communication address for identifying the data communication circuit of the second aircraft 600 used for communication of information representing latitude and longitude, and an aircraft ID for identifying the second aircraft 600 that transmitted the information. Obtained as (Identification). Further, the acquisition unit 210 acquires the system date and time managed by the OS (Operating System) as the reception date and time of the information representing the latitude and longitude. Next, the acquisition unit 210 associates the aircraft ID of the second airframe 600 with the information representing the latitude and longitude of the second airframe 600 and the reception date and time of the information, and the information storage unit 290 sets the information storage unit 290. Store in a table not shown.

In step S17 of FIG. 8, the control unit 240 of the control device 200 acquires the system date and time from the OS, and associates it with the reception date and time after the date and time earlier than the acquired system date and time by a predetermined time. Information representing the latitude and longitude is obtained from a table (not shown).

If the information representing the latitude and longitude cannot be obtained, the control unit 240 determines that there is no second flying object 600 on the way back, sleeps for a predetermined time, and then obtains the latitude and longitude from a table (not shown). The above process is repeated from the process of acquiring the information to be represented.

On the other hand, when one or more pieces of information representing latitude and longitude can be acquired, the control unit 240 is used as a port within the latitude and longitude represented by the acquired one or more pieces of information. Identify the latitude and longitude closest to the latitude and longitude of the first region where was sought.

Next, the control unit 240 calculates the distance from the specified latitude and longitude points to the first area and the distance from the business office to the first area. When the control unit 240 determines that the distance from the business office to the first area is shorter than the distance from the specified latitude and longitude points to the first area, the control unit 240 determines that the first aircraft 500 at the business office is shorter. As a destination, a flight command for ordering flight to the first area is output to the data communication circuit 204. The control unit 240 outputs a flight command to the first aircraft 500 because the first aircraft 500 is closer to the first area than any of the plurality of second aircraft 600 on the way back.

On the other hand, when the control unit 240 determines that the distance from the specified latitude and longitude points to the first area is shorter than the distance from the business office to the first area, it is determined in a table (not shown). , Acquire the aircraft ID associated with the information representing the specified latitude and longitude. Next, the control unit 240 outputs a flight command for ordering flight to the first area to the data communication circuit 204 with the second aircraft 600 identified by the acquired aircraft ID as the destination. The control unit 240 outputs a flight command to the second aircraft 600. Among the plurality of second aircraft 600s on the way back, the second aircraft 600 closest to the first area is sent to the sales office. This is because it is closer to the first area than a certain first aircraft 500.

When the data communication circuit of the second aircraft 600 receives a flight command from the control device 200 to order the flight to the first area during the return to the business office, the CPU of the second aircraft 600 performs the delivery control process. The execution is completed, and the flight control process of FIG. 11 is executed. As a result, the second aircraft body 600 stops returning to the business office and flies to the first area from the point where the return is stopped.

According to these configurations, the control unit 240 of the control device 200 can be used as a port in the second aircraft 600 on the way back to the business office after delivering the goods to the second area. The second flying object 600, which flies at the point closest to the requested first area, is made to fly to the first area. Therefore, it is possible to reduce the cost required for determining whether or not the second aircraft body 600 can land in the target area.

<Modification 15 of Example 1>
In Example 1, the covering is described as a vinyl sheet, but the coating is not limited to this, and is not limited to, for example, polyester, nylon, cotton, or silk cloth, paper, or aluminum, or It may be a metal sheet such as silver.

Further, in the first embodiment, the shape of the covering body has been described as being square, but the shape is not limited to this, and for example, a polygonal shape including a triangular shape, a rectangular shape, and a pentagonal shape, and a circular shape. , Or it may have an elliptical shape.

<Modified Example 16 of Example 1>
In the first embodiment, it has been described that the first air division 500 and the second air vehicle 600 are unmanned aerial vehicles, respectively, but the present invention is not limited to this, and an unmanned aerial vehicle may be used.

Further, the 1st Air Division 500 and the 2nd Air Division 600 do not necessarily have to be unmanned, and a person may be on board as long as they are objects that fly autonomously, except for the control by the control device 200.

Although the terminal device 100 has been described as a smartphone in the first embodiment, the terminal device 100 is not limited to this, and may be a tablet-type personal computer, a desktop-type personal computer, or a feature phone.

<Modified Example 17 of Example 1>
In the first embodiment, it has been described that the delivery system 1 of FIG. 1 includes a terminal device 100, a control device 200, a first flying object 500, and a second flying object 600, but is not limited thereto.

The delivery system 1 does not include the control device 200, and the control device 510 included in the first flying object 500 shown in FIG. 9 may exhibit the function of the control device 200 according to the first embodiment. That is, the CPU 511 included in the control device 510 of the first flying object 500 shown in FIG. 10 has the first determination process of FIG. 4, the second determination process of FIG. 8, the use determination process of FIG. 12, and the delivery of FIG. Control processing may be executed. As a result, the CPU 511 of the 1st Air Division 500 has the same functions as the acquisition unit 210, the determination unit 220, the notification unit 230, the control unit 240, and the update unit 250 of the control device 200 shown in FIG. It may function as an illustrated acquisition unit, determination unit, notification unit, control unit, and update unit. Further, the flash memory 513b included in the control device 510 of the 1st Air Division 500 may function as an information storage unit (not shown) having the same function as the information storage unit 290 of the control device 200 shown in FIG.

<Example 2>
In the first embodiment, it was explained that the predetermined purpose is to use the target area as a port. Further, in the first embodiment, whether or not the target area can be used for the purpose of using the control device 200 as a port based on the sensing data obtained by optically sensing the target area by the 1st Air Division 500. It was explained that it is judged.

However, the present invention is not limited to these, and in the present embodiment, a predetermined purpose is to install a predetermined object, and the predetermined object is a radio station 900 as shown in FIG. 15, and the control device 200. Determines whether or not the target area can be used for the purpose of installing the radio station 900 based on the sensing data obtained by the first air vehicle 500. Hereinafter, the same configuration as in Example 1 will be described using the same reference numerals as those used in Example 1, but the differences between this Example and Example 1 will be mainly described.

In this embodiment, the manager of the target area wants to rent the target area to a mobile communication operator that provides a communication service with the mobile including the terminal device 100. In addition, the mobile communication operator will explain that it is looking for a place to install the radio station 900 in order to expand the area where the communication service is provided.

Therefore, as shown in FIG. 16, the terminal device 100 according to the present embodiment determines whether or not the target area can be used for the purpose of installing the radio station 900 together with the control device 200 and the first flying object 500. A determination system 2 is configured.

The radio station 900 of FIG. 15 includes a communication device 910 connected to an optical fiber cable CL connected to a network including an Internet IN and a telephone line network, and an antenna 920 connected to the communication device 910. Further, the radio station 900 includes a support column 930 that supports the communication device 910 and the antenna 920, and a base 940 that supports the support column 930.

The communication device 910 includes a communication circuit 911 that receives digital data via an optical fiber cable CL, a conversion circuit 912 that converts digital data into an analog signal, and an oscillator 913 that generates a carrier wave signal. Further, the communication device 910 includes a modulation circuit 914 that generates a high-frequency modulation signal by mixing a carrier signal with a signal in which an analog signal is modulated, and a PA (Power Amplifier) that amplifies the high-frequency modulation signal and outputs it to the antenna 920. ) 915 and. The antenna 920 emits radio waves corresponding to the signal output from the communication device 910 into the space.

Further, the antenna 920 receives radio waves propagating in space and outputs a high-frequency reception signal corresponding to the received radio waves. The communication device 910 generates and generates a low frequency signal by mixing the LNA (Low Noise Amplifier) 916 that amplifies the high frequency reception signal output from the antenna 920 and the carrier signal with the amplified reception signal. It includes a demodulation circuit 917 that generates a low-frequency demodulation signal by demodulating the signal. Further, the communication device 910 includes a conversion circuit 918 that converts a low-frequency demodulated signal into digital data and outputs the digital data, and the communication circuit 911 transmits the digital data output from the conversion circuit 918 via the optical fiber cable CL. To do.

After moving to the target area, the administrator of the target area performs an operation for transmitting a judgment request for determining whether or not the target area can be used for the purpose of installing the radio station 900, as shown in FIG. This is performed on the input device 105c of the device 100. When the input device 105c inputs a signal corresponding to the operation, the CPU 101 acquires a signal output from the GPS circuit 106, and represents the latitude, longitude, and altitude of the terminal device 100 represented by the acquired signal. The information is acquired as information representing the latitude, longitude, and altitude of the target area. After that, the CPU 101 generates a determination request including the acquired latitude, longitude, and altitude information, and outputs the generated determination request to the data communication circuit 104a with the control device 200 as the destination.

The control device 200 according to this embodiment is installed in a business office of a mobile communication operator. When the data communication circuit 204 of the control device 200 receives the determination request, the acquisition unit 210 of the control device 200 acquires the determination request from the data communication circuit 204, and the latitude, longitude, and the latitude and longitude of the target area included in the acquired determination request. And, the information indicating the altitude is acquired. Next, the control unit 240 generates a flight command that includes information indicating the latitude, longitude, and altitude of the target area and orders the flight to the target area, and issues the generated flight command to the first flight object 500. Output to the data communication circuit 204 as the destination.

The first air vehicle 500 according to this embodiment is installed at the business office of a mobile communication operator. The sensing device 552 of the first flying object 500 irradiates an infrared laser beam, receives the reflected light of the irradiated laser beam, and emits the laser beam based on the time from the irradiation of the laser beam to the reception of the reflected light. It is a LiDAR (Light Detection and Ranging) sensor that measures the distance to a reflected object.

The sensing device 552 includes a rotary table 552a having a vertical rotary axis AT as shown in FIG. 17, a motor 552b for rotating the rotary table 552a, and a control circuit 552c for controlling the drive of the motor 552b. On the lower surface of the rotary table 552a, a support member 552e that pivotally supports a protruding portion that protrudes outward in the horizontal direction from both side surfaces of the measuring unit 552d that measures the distance to the object, and a gear formed on the protruding portion are rotated. As a result, the motor 552f that swings the measurement unit 552d and the motor 552f are fixed.

The measurement unit 552d includes a diode 552g that outputs a laser beam, a half mirror 552h that disperses the output laser beam, a light receiving element 552i that receives the laser beam reflected by the half mirror 552h and outputs an electric signal. The laser beam transmitted through the half mirror 552h is applied to an object whose distance is to be measured.

Further, the reflected light of the irradiated laser light is separated by the half mirror 552h of the measurement unit 552d, and the reflected light reflected by the half mirror 552h is received by the light receiving element 552i.

The control circuit 552c is connected to the motor 552b, the motor 552f, and the measurement unit 552d. The control circuit 552c rotates the rotary table 552a by driving the motor 552b. As a result, the azimuth angle formed by the irradiation direction of the laser beam and the predetermined reference direction is changed in the range of 0 degrees to 360 degrees. Further, the control circuit 552c drives the motor 552f to oscillate the measurement unit 552d. As a result, the depression angle formed by the irradiation direction of the laser beam and the horizontal direction is changed from 0 degree to 90 degrees.

When the control circuit 552c acquires a signal commanding sensing from the control device 510, the control circuit 552c determines the distances between objects in a plurality of directions determined by a depression angle from 0 degrees to 90 degrees and an azimuth angle from 0 degrees to 360 degrees. Perform a measurement process (not shown) to be measured.

When the control circuit 552c starts executing the measurement process, the control circuit 552c drives the motor 552f so that the depression angle between the irradiation direction of the laser beam and the horizontal direction becomes 0 degrees, and then the irradiation direction and the reference direction are set. The process of driving the motor 552b is performed so that the azimuth angle becomes 0 degrees.

After that, the control circuit 552c performs a process of causing the diode 552g to emit light. Next, the control circuit 552c measures the time from when the light receiving element 552i which receives the laser light outputs the electric signal to when the light receiving element 552i which receives the reflected light outputs the electric signal. After that, the control circuit 552c measures the distance between the reflection point of the object reflecting the laser beam and the sensing device 552 based on the time measured.

After that, the control circuit 552c sets the coordinate values in the three-dimensional XYZ coordinate system with the position of the sensing device 552 as the origin and the vertical direction as the Z-axis direction based on the irradiation direction of the laser beam and the measured distance. , Calculate for reflection points.

Next, the control circuit 552c drives the motor 552b so that the azimuth angle in the irradiation direction increases by a predetermined step angle Δφ (however, Δφ> 0) until the azimuth angle exceeds 360 degrees. The above process is repeated from the process of causing 552 g of the diode to emit light.

When the azimuth angle in the irradiation direction exceeds 360 degrees, the control circuit 552c drives the motor 552f so that the depression angle in the irradiation direction increases by a predetermined step angle Δθ (however, Δθ> 0). After that, the control circuit 552c repeats the above process from the process of driving the motor 552b so that the azimuth angle becomes 0 degree until the depression angle in the irradiation direction becomes 90 degrees.

As a result, the sensing device 552 calculates the coordinate values of the three-dimensional XYZ coordinate system for the plurality of points of the object located below the first flying object 500, and the sensing representing the calculated coordinate values of the plurality of points. Output data.

When the data communication circuit 514 of the 1st Air Division 500 receives the flight command, the CPU 511 of the 1st Air Division 500 executes the processes of steps S21 to S24 of FIG. As a result, the 1st Air Division 500 transmits an arrival report notifying that it has arrived at the target area to the control device 200 after flying to the target area.

After that, the data communication circuit 514 of the 1st Air Division 500 includes information representing the altitude H determined based on the height Hr of the radio station 900, and senses the target area from above the target area of the altitude H. The commanding sensing command is received from the control device 200. Next, the CPU 511 of the 1st Air Division 500 acquires a sensing command from the data communication circuit 514 and reads information representing the altitude H from the sensing command.

After that, the CPU 511 of the 1st Air Division 500 generates a control signal for hovering flight or turning flight at an altitude of H over the target area, outputs the control signal to the drive circuit 519, and then outputs a signal instructing the sensing device 552 to perform sensing. Output.

Next, the CPU 511 of the 1st Air Division 500 executes the processes of steps S27 to S29. As a result, the 1st Air Division 500 transmits the sensing data output from the sensing device 552 to the control device 200 and then returns to the business office.

When the data communication circuit 204 of the control device 200 receives the arrival report, the CPU 201 executes a usage determination process as shown in FIG. 18 for determining whether or not the target area can be used for the purpose of installing the radio station 900. To do.

When the execution of the use determination process of FIG. 18 is started, the acquisition unit 210 of the control device 200 acquires an arrival report from the data communication circuit 204 (step S71), and the first aircraft 500 receives the arrival report from the acquired arrival report. Information representing the latitude and longitude of the target area that arrived is acquired (step S72).

Next, the control unit 240 reads information representing the height Hr of the radio station 900 from the information storage unit 290, and sets the altitude H to be flown to the first aircraft 500 by the height Hr of the radio station 900 from the target area. Determine high altitude. The altitude H is determined in this way because if the 1st Air Division 500 senses the target area from above the altitude H, there is a space above the target area where the radio station 900 with a height of Hr can be installed. This is because the control device 200 can determine whether or not to do so based on the sensing data.

Next, the control unit 240 generates a sensing command including information representing the altitude H, and outputs the generated sensing command to the data communication circuit 204 with the first aircraft 500 as the destination (step S73). The data communication circuit 204 of the control device 200 receives the sensing data from the first aircraft 500 after transmitting the sensing command to the first aircraft 500. After that, the acquisition unit 210 of the control device 200 acquires the sensing data from the data communication circuit 204 (step S74).

Next, the determination unit 220 determines whether or not the fourth condition that the area of the target area is sufficiently large is satisfied based on the acquired sensing data (step S75). A sufficiently large area of the target area means that the area of the target area is large enough to be suitable for the installation of the radio station 900. Further, the fact that the area of the target area is large enough to be suitable for installing the radio station 900 means that the area is large enough to install the radio station 900 in the target area. The fact that the radio station 900 can be installed in the target area does not simply mean that the radio station 900 can be installed in the target area. For example, after the radio station 900 is installed, the radio station is located in an area adjacent to the target area. Includes that part or all of the 900 does not protrude.

For this purpose, the determination unit 220 reads information representing the radius R of the smallest circle including the horizontal projection shape of the radio station 900 from the information storage unit 290. The horizontal projection shape is the shape of the radio station 900 projected onto the horizontal plane by the light projected from the vertically upward direction when the radio station 900 is installed on the horizontal plane. After that, the determination unit 220 is centered on the center point located in the vertically downward direction of the sensing device 552 and the spherical surface at the distance of the radius R from the center point among the plurality of points whose coordinate values are represented by the sensing data. A plurality of points close to the points are specified based on the coordinate values. Next, the determination unit 220 calculates an equation representing a plane that minimizes the total distance to the specified plurality of points by using, for example, the least squares method.

After that, the determination unit 220 uses the coordinate values of the plurality of points and the calculated equation in advance from the plane represented by the equation among the plurality of points whose coordinate values are represented by the sensing data. A point closer to the plane than the boundary surface at a predetermined distance is specified as a candidate point that is a candidate for a point located on the surface of the target area. After that, the determination unit 220 identifies one or a plurality of regions surrounded by a plurality of candidate points and not including points different from the candidate points as candidate regions that are candidates for regions corresponding to the surface of the target region. To do.

After that, the determination unit 220 sets the candidate region closest to the sensing device 552 or the candidate having the largest area in the one or more candidate regions based on the coordinate values of the specified one or more candidate regions. The area is specified as the area corresponding to the surface of the target area. Further, the determination unit 220 specifies the shape of the specified region as the shape of the surface of the target area, and identifies a plurality of candidate points included in the specified shape as points located on the surface of the target area.

Next, the determination unit 220 reads information representing the horizontal projection shape of the radio station 900 from the information storage unit 290. After that, the determination unit 220 determines whether or not the horizontal projection shape represented by the read information is included in the shape of the surface of the specified target area by determining the coordinate values of the points located on the surface of the target area. Judgment is based on.

At this time, when the determination unit 220 determines that the horizontal projection shape of the radio station 900 is included in the surface shape of the target area, it determines that the fourth condition that the area of the target area is sufficiently large is satisfied. (Step S75; Yes). Further, since there are no obstacles in the space from the surface of the target area to the sky above the altitude H with the surface as the reference surface, the determination unit 220 has a space large enough to install the radio station 900 having a height of Hr. Judge that it exists above the target area. Next, the determination unit 220 determines that the target area can be used for the purpose of installing the object called the radio station 900 because the area of the target area is sufficiently large (step S76).

After that, the notification unit 230 generates an availability notification notifying that the target area can be used for the purpose. Further, the notification unit 230 acquires from the information storage unit 290 information representing an address stored in advance in association with the information representing the latitude and longitude of the target area acquired in step S72. After that, the notification unit 230 displays the availability notification and the information indicating the address of the target area on the display device 205b of the control device 200 shown in FIG. Further, the notification unit 230 outputs the availability notification to the data communication circuit 204 of FIG. 3 with the terminal device 100 as the destination (step S77).

After that, the control unit 240 outputs a return command for ordering the return to the business office to the data communication circuit 204 with the first aircraft 500 as the destination (step S78), and then ends the execution of the usage determination process.

When the data communication circuit 104a of the terminal device 100 shown in FIG. 2 receives the availability notification, the CPU 101 of the terminal device 100 controls the display device 105b to display the availability notification. The manager who confirms the display of the terminal device 100 prepares the rental contract in the target area. The employee of the mobile telecommunications carrier who confirms the display of the control device 200 visits the displayed address and concludes a rental contract for the target area with the manager. After that, the employee instructs the worker of the mobile communication operator to install the radio station 900, and the worker performs the construction to install the radio station 900 in the target area.

In step S75, when the determination unit 220 determines that there is no candidate area that is a candidate for the area corresponding to the surface of the target area, or the horizontal projection shape of the radio station 900 is not included in the surface shape of the target area. In the case of determining that, it is determined that the fourth condition that the area of the target area is sufficiently large is not satisfied (step S75; No). Further, the determination unit 220 determines that a space large enough to install the radio station 900 does not exist on the target area. Next, the determination unit 220 determines that the target area cannot be used for the purpose of installing the radio station 900 (step S79).

After that, the notification unit 230 generates an unavailability notification notifying that the target area is unusable for the purpose and that the area of the target area is not sufficiently large, and the generated unavailability notification is sent. , Output to the data communication circuit 204 with the terminal device 100 as the destination (step S80). After that, the control unit 240 ends the execution of the use determination process after outputting the return command of the first aircraft 500 (step S78).

When the administrator of the target area visually recognizes the unavailability notification displayed on the terminal device 100, the administrator redetermines a wider area as the target area, and then re-executes the operation of sending the determination request to the terminal device 100.

According to these configurations, the determination unit 220 of the control device 200 is targeted for the purpose of installing the radio station 900 based on the sensing data obtained by the first aircraft 500 optically sensing the target area. Determine if the area is available. Therefore, for example, it is not necessary for the worker of the mobile communication operator to go to the target area and determine whether or not the radio station 900 can be installed in the target area. The cost can be reduced. Further, the control device 200 makes a determination based on new and detailed data, as compared with the case where the worker does not go to the target area and makes a determination based on, for example, a map on which the target area is described. The accuracy can be improved.

In this embodiment, it has been described that the sensing device 552 irradiates an infrared laser beam, but the laser beam may be ultraviolet light or visible light.

In this embodiment, the fact that the radio station 900 can be installed in the target area includes, for example, that a part or the whole of the radio station 900 does not protrude into the area adjacent to the target area after the installation of the radio station 900. However, it is not limited to this. The fact that the radio station 900 can be installed in the target area means, for example, a space in which a worker performs work such as maintenance, repair, and cleaning of the radio station 900 in the target area after the installation of the radio station 900. Including being in the area. In this case, does the determination unit 220 of the control device 200 include a shape obtained by enlarging the horizontal projection shape of the radio station 900 by a predetermined magnification RT (however, RT> 1) in the shape of the surface of the target area? It is sufficient to determine whether or not it is.

<Modification 1 of Example 2>
In the second embodiment, the predetermined object is the radio station 900, the predetermined purpose is to install the radio station 900, and the control device 200 is whether or not the target area can be used for the purpose of installing the radio station 900. However, it is not limited to this.

The predetermined object is a mobile base station vehicle, the predetermined purpose is to park the mobile base station vehicle, and the control device 200 determines whether or not the target area can be used for the purpose of parking the mobile base station vehicle. You may. In this case, the information storage unit 290 of the control device 200 may store information representing the horizontal projection shape of the mobile base station vehicle. Further, the determination unit 220 of the control device 200 may determine whether or not the horizontal projection shape of the mobile base station vehicle is included in the surface shape of the target area specified based on the sensing data.

Further, the predetermined object is not limited to these, and may be any object as long as it is different from the building constructed in the target area, for example.

Further, a predetermined purpose is to build a predetermined building, and the control device 200 may determine whether or not the target area can be used for the purpose of constructing the predetermined building. In this case, the information storage unit 290 of the control device 200 may store, for example, information representing the horizontal projection shape of the building specified from the design drawing of the predetermined building.

The predetermined building may be, for example, a steel tower in which the communication device 910 and the antenna 920 shown in FIG. 15 are installed. Further, the predetermined building may be a house, a condominium, a building, a store, a hospital, or a school.

Further, a predetermined purpose is both to install a predetermined object and to construct a predetermined building, and the control device 200 installs a predetermined object and constructs a predetermined building. It may be determined whether or not the target area can be used for the purpose of doing so. In this case, the determination unit 220 of the control device 200 has both a horizontal projection shape of a predetermined object and a horizontal projection shape of a predetermined building on the surface shape of the target area specified based on the sensing data. It suffices to determine whether or not they are included without overlapping each other.

Further, the predetermined purpose may be a purpose other than the installation of a predetermined object and the construction of a predetermined structure.

<Modification 2 of Example 2>
In the second embodiment, the sensing device 552 of the 1st Air Division 500 has been described as a LiDAR sensor, but it may be a digital stereo camera. In this case, the determination unit 220 of the control device 200 specifies the coordinate values of a plurality of points in the XYZ coordinate system based on the parallax of the two images represented by the sensing data, and uses the specified coordinate values to target. The shape of the area should be specified.

<Modification 3 of Example 2>
In the second embodiment, the fourth condition has been described as a condition that the area of the target area is sufficiently large, but the present invention is not limited to this. The fourth condition according to this modified example is that the magnitude of the inclination of the surface of the target area is sufficiently small.

The magnitude of the surface inclination of the target area is sufficiently small to mean that the size of the surface inclination is small enough to be suitable for the installation of the radio station 900. The fact that the size of the inclination of the surface is small enough to be suitable for installing the radio station 900 includes that the inclination is small enough to install the radio station 900 on the surface. The fact that the inclination is small enough to install the radio station 900 does not mean that the inclination is small enough to install the radio station 900 in the target area, but the radio station 900 can be safely installed in the target area. It means that the slope is small to some extent.

The fact that the radio station 900 can be safely installed in the target area means that, for example, in the installation work of the radio station 900, the radio station 900 itself or a worker may fall over, or after the installation, for example, an external force due to an earthquake or a strong wind. Includes that the radio station 900 is less likely to tip over or move when added.

Therefore, in step S75 of FIG. 18, the determination unit 220 of the control device 200 is based on the sensing data obtained by the sensing device 552 of the 1st Air Division 500, which is a LiDAR sensor, as in the second embodiment. Identify multiple points located on the surface of the target area. Next, the determination unit 220 calculates an equation representing a plane having the minimum total distance to a plurality of points located on the surface of the target area as an equation representing the surface of the target area. After that, the determination unit 220 calculates the angle θ representing the inclination of the surface of the target area by executing the process described in the first modification of the first embodiment using the calculated equation.

After that, when the determination unit 220 determines that the calculated angle θ is equal to or less than the fourth threshold value represented by the information stored in advance in the information storage unit 290, the magnitude of the inclination of the surface of the target area is sufficiently large. It is determined that the fourth condition of being small is satisfied (step S75; Yes). Next, the determination unit 220 determines that the target area can be used for the purpose of installing the radio station 900 (step S76). A person skilled in the art can experimentally determine a suitable value of the fourth threshold value.

On the other hand, when the determination unit 220 determines that the calculated angle θ is larger than the fourth threshold value, it determines that the fourth condition is not satisfied (step S75; No). Next, the determination unit 220 determines that the target area cannot be used for the purpose of installing the radio station 900 because the size of the inclination of the surface of the target area is not sufficiently small (step S79).

<Modification 4 of Example 2>
In the third modification of the second embodiment, the sensing device 552 of the first flying object 500 has been described as a LiDAR sensor, but it may be a digital stereo camera. In this case, the determination unit 220 of the control device 200 specifies the coordinate values of the three-dimensional XYZ coordinate system of a plurality of points based on the parallax of the two images represented by the sensing data, and determines the specified coordinate values. It may be used to specify the magnitude of the inclination of the surface of the target area.

<Modification 5 of Example 2>
In the third modification of the second embodiment, it has been described that the sensing device 552 of the first aircraft 500 is a LiDAR sensor, but the present invention is not limited to this. The sensing device 552 according to this modification is an optical acceleration sensor, which detects a gravitational acceleration of "1.0" G when the first flying object 500 is landing on the horizontal plane, and is θ degrees with respect to the horizontal plane. When the first flying object 500 is landing on the slope, the gravitational acceleration of "cosθ" G is detected.

Therefore, the first air vehicle 500 detects the gravitational acceleration by the sensing device 552 between landing in the target area and taking off, and transmits the sensing data representing the detected gravitational acceleration to the control device 200. .. Further, the control device 200 calculates an angle θ representing the inclination of the surface of the target area based on the gravitational acceleration represented by the sensing data.

<Modified Example 6 of Example 2>
In the second embodiment, the fourth condition has been described as a condition that the area of the target area is sufficiently large, but the present invention is not limited to this. The fourth condition according to this modification is that the size of the unevenness on the surface of the target area is sufficiently small.

When the size of the surface unevenness of the target area is sufficiently small, it means that the size of the surface unevenness is small enough to be suitable for the installation of the radio station 900. The fact that the size of the unevenness on the surface is small enough to be suitable for installing the radio station 900 includes that the unevenness is small enough to allow the radio station 900 to be installed on the surface. The fact that the unevenness is small enough to install the radio station 900 does not mean that the unevenness is small enough to install the radio station 900 in the target area, but the radio station 900 can be safely installed in the target area. It means that the unevenness is small to the extent.

Therefore, in step S75 of FIG. 18, the determination unit 220 of the control device 200 is based on the sensing data obtained by the sensing device 552 of the 1st Air Division 500, which is a LiDAR sensor, as in the second embodiment. Identify multiple points located on the surface of the target area. Next, the determination unit 220 executes the process described in the second modification of the first embodiment, and the size of the unevenness on the surface of the target area is large based on the coordinate values of the plurality of points represented by the sensing data. Calculate the coordinates. After that, the determination unit 220 determines whether or not the calculated unevenness size is larger than the fifth threshold value represented by the information stored in advance in the information storage unit 290. A person skilled in the art can experimentally determine a suitable value of the fifth threshold value.

At this time, when the determination unit 220 determines that the size of the unevenness is equal to or less than the fifth threshold value, it determines that the fourth condition that the size of the unevenness on the surface of the target area is sufficiently small is satisfied (step S75; Yes). Next, the determination unit 220 determines that the target area can be used for the purpose of installing the radio station 900 because the size of the unevenness on the surface is suitable for the installation of the radio station 900 (step S76).

On the other hand, when the determination unit 220 determines that the size of the unevenness is larger than the fifth threshold value, it determines that the fourth condition is not satisfied (step S75; No), and is a target for the purpose of installing the radio station 900. The area is determined to be unusable (step S79).

<Modification 7 of Example 2>
In the sixth modification of the second embodiment, the sensing device 552 of the first flying object 500 has been described as a LiDAR sensor, but it may be a digital stereo camera. In this case, the determination unit 220 of the control device 200 uses the coordinate values of the XYZ coordinate system of a plurality of points specified based on the parallax of the two images represented by the sensing data, and the unevenness of the surface of the target area. You just have to specify the size.

<Modification 8 of Example 2>
In the second embodiment, the fourth condition has been described as a condition that the area of the target area is sufficiently large, but the present invention is not limited to this. The fourth condition according to this modification is that the altitude of the target area is suitable for the installation of the radio station 900.

In this variant, the target area is, for example, a building, condominium, or school rooftop area, or mountainous or hilly area, and the altitude of the target area is adjacent to or near the target area. The ground surface such as the ground, the water surface of a river or a lake, or the sea surface is used as a reference plane, and is represented by the distance from the reference plane. On the other hand, the GPS altitude uses the surface of a spheroid that approximates the shape of the ground surface as a reference plane.

In step S75 of FIG. 18, the determination unit 220 of the control device 200 according to this modification is the sensing generated by the sensing device 552 of the first flying object 500, which is a LiDAR sensor, as in the modification 3 of the second embodiment. Based on the data, identify multiple points located on the surface of the target area. After that, the determination unit 220 determines the point closest to the sensing device 552 among the plurality of points located on the surface of the target area based on the coordinate values of the plurality of points in the XYZ coordinate system with the sensing device 552 as the origin. Identify. Next, the determination unit 220 calculates the distance from the specified point to the sensing device 552 as the distance from the target area to the sensing device 552.

Next, in order to identify a plurality of points located on the ground surface, the determination unit 220 uses, for example, a pattern based on the coordinate values represented by the sensing data for points different from the points located on the surface of the target area. Perform matching. In pattern matching, the determination unit 220 uses, for example, a three-dimensional pattern of roads and intersections, and a three-dimensional pattern of waves generated in the sea or lakes. After that, the determination unit 220 sets the determination unit 220 only at a distance shorter than a predetermined distance from the point located on the surface of the target area or the point closest to the target area among the plurality of points located on the specified ground surface. Identify one of one or more points apart. Next, the determination unit 220 calculates the distance from the specified point to the sensing device 552 as the distance from the ground surface adjacent to the target area or the ground surface near the target area to the sensing device 552.

After that, the determination unit 220 calculates the altitude of the target area with the ground surface as a reference surface by subtracting the distance from the target area to the sensing device 552 from the distance from the ground surface to the sensing device 552. After that, the determination unit 220 determines whether or not the calculated altitude of the target area is equal to or higher than the first altitude represented by the information stored in advance in the information storage unit 290 and equal to or lower than the second altitude.

At this time, if the determination unit 220 determines that the altitude of the target area is equal to or higher than the first altitude and lower than or equal to the second altitude, the fourth condition that the altitude of the target area is suitable for the installation of the radio station 900 is satisfied. It is determined that this has been done (step S75; Yes). Next, the determination unit 220 determines that the target area can be used for the purpose of installing the radio station 900 because the altitude of the target area is suitable for the installation of the radio station 900 (step S76).

On the other hand, when the determination unit 220 determines that the altitude of the target area is lower than the first altitude or higher than the second altitude, it determines that the fourth condition is not satisfied (step S75; No). It is determined that the target area cannot be used for the purpose of installing the radio station 900 (step S79).

In this modification, the sensing device 552 of the 1st Air Division 500 has been described as a LiDAR sensor, but it may be a digital stereo camera.

In this modification, it has been described that the altitude suitable for installing the radio station 900 is an altitude equal to or higher than the first altitude and lower than the second altitude. The altitude suitable for the installation of the radio station 900 is the difference between the altitude of the ground surface used as the reference plane of the altitude and the altitude of the measurement point on the ground surface at a predetermined distance from the radio station 900. Includes an altitude at which the radio station 900 can transmit radio waves with a predetermined intensity SS or higher at the measurement point when the difference is less than or equal to the predetermined difference. Further, the altitude suitable for the installation of the radio station 900 is such that when a radio wave having a predetermined intensity SR is transmitted from the measurement point, the transmitted radio wave is transmitted by the radio station 900 with a predetermined intensity S or higher. Includes altitudes that can be received at.

A predetermined purpose according to this modification is to install a predetermined object, the predetermined object is a radio station 900, and the fourth condition is that the altitude of the target area is suitable for the installation of the radio station 900. I explained that it is a condition. Further, the determination unit 220 according to this modified example determines that the fourth condition is satisfied when the altitude of the target area with respect to the ground surface is the first altitude or higher and the second altitude or lower (step S75). Yes), it was explained that the target area is determined to be usable for the purpose of installing the radio station 900 (step S76). On the other hand, if the determination unit 220 determines that the fourth condition is not satisfied (step S75; No), it determines that the target area cannot be used for the purpose of installing the radio station 900 (step S76). did.

However, the present invention is not limited to these, and the predetermined purpose is to build a predetermined building, and the fourth condition is that the altitude of the target area is suitable for the construction of a predetermined building. There may be.

Further, when the predetermined building is constructed in the target area, the communication device 910 shown in FIG. 15 is set at a height of 3rd altitude or higher and 4th altitude or lower with the surface of the target area as a reference plane. And it may be a steel tower in which the antenna 920 can be installed. In this case, the fourth condition may be that the altitude of the target area is suitable for the installation of the steel tower. Further, in this case, the determination unit 220 determines that the altitude of the target area with respect to the ground surface is equal to or higher than the altitude of the fourth altitude lower than the first altitude and is lower than the second altitude by the third altitude. If it is as follows, it may be determined that the fourth condition is satisfied (step S75; Yes), and it may be determined that the target area can be used for the purpose of installing the steel tower (step S76). On the other hand, if the determination unit 220 determines that the fourth condition is not satisfied (step S75; No), the determination unit 220 may determine that the target area cannot be used for the purpose of installing the steel tower (step S76).

Further, the predetermined purpose is not limited to this, and the predetermined purpose is, for example, for the observer to observe the flight state of the unmanned aerial vehicle including the 1st Air Division 500 with the naked eye or, for example, using a telescope. There may be. In this case, the first and second altitudes are predetermined, for example, by law or based on the range of flight altitudes of the unmanned aerial vehicle determined by the company that manufactures, sells, or uses the unmanned aerial vehicle. You may.

Further, the predetermined purpose is to allow the observer to observe the flight state of the unmanned aerial vehicle with the naked eye or by using a telescope, and the flight state of the unmanned aerial vehicle obtained by the observation, for example, including a smartphone. The terminal device may be used by the observer to inform the operator of the unmanned aerial vehicle. Further, the predetermined purpose is to image the unmanned aerial vehicle with a digital camera, and the data representing the moving image obtained by the imaging is used by the operator of the unmanned aerial vehicle via a terminal device connected to the digital camera. It may be transmitted to the terminal device or the control device 200 that controls the flight of the unmanned aerial vehicle. Further, a predetermined purpose may be to monitor, observe, or observe a predetermined animal, object, or natural phenomenon including a human.

<Modified Example 9 of Example 2>
In the modified example 8 of the second embodiment, the control device 200 acquires the sensing data obtained by the sensing device 552 included in the first flying object 500, and based on the sensing data, the target area with the ground surface as the reference plane. I explained that the altitude is calculated, but it is not limited to this.

The control device 200 has first data representing the GPS altitude measured by the GPS circuit 516 of the first aircraft 500 while the first aircraft 500 is landing in the target area, and the first aircraft 500 is on the ground surface. Second data representing the GPS altitude measured by the GPS circuit 516 during landing may be acquired. In this case, the control device 200 may calculate the altitude of the target area with the ground surface as a reference plane by subtracting the GPS altitude represented by the first data from the GPS altitude represented by the second data.

Further, the first flying object 500 receives the signal emitted from the quasi-zenith satellite instead of the GPS circuit 516 that receives the signal emitted from the GPS satellite, and based on the received signal, the latitude, longitude, and A QZSS (Quasi-Zenith Satellite System) circuit (not shown) for measuring altitude may be provided. In this case, the control device 200 is based on the first data representing the altitude of the target area measured by the QZSS circuit and the second data representing the altitude of the ground surface measured by the QZSS circuit. The altitude of the target area may be calculated with the above as the reference plane. According to these configurations, the control device 200 can accurately calculate the altitude of the target area with the ground surface as a reference plane, as compared with the case of using the GPS altitude measured by the GPS circuit 516.

Further, the 1st Air Division 500 may include an altitude sensor (not shown) that measures altitude based on atmospheric pressure instead of GPS circuit 516. In this case, the control device 200 is based on the first data representing the altitude of the target area measured by the altitude sensor and the second data representing the altitude of the ground surface measured by the altitude sensor. The altitude of the target area may be calculated with the above as the reference plane.

<Modification 10 of Example 2>
In the modified example 8 of the second embodiment, the fourth condition is the condition that the altitude of the target area is suitable for the installation of the radio station 900, but the present invention is not limited to this. The fourth condition according to this modification is that the altitude of the target area is suitable for the installation of the radio station 900. In this modification, the altitude suitable for the installation of the radio station 900 will be described as an altitude equal to or higher than the first altitude and lower than the second altitude.

The 1st Air Division 500 according to this modification flies to the target area by executing the processes of steps S21 to S24 in FIG. After that, the 1st Air Division 500 receives from the control device 200 a sensing command that includes information representing the altitude H with respect to the target area as a reference plane and orders the target area to be sensed from above the altitude H.

Next, the CPU 511 of the 1st Air Division 500 acquires the sensing instruction and acquires the information representing the altitude H included in the sensing instruction. After that, the CPU 511 adds the altitude H with respect to the target area to the GPS altitude of the target area represented by the information included in the flight command acquired in step S21. As a result, the CPU 511 converts the altitude H with the target area as the reference plane into the GPS altitude. Next, the CPU 511 outputs a control signal for hovering flight over the target area to the drive circuit 519 at the calculated GPS altitude, and then outputs a signal instructing sensing to the sensing device 552 which is a LiDAR sensor. ..

After that, the CPU 511 of the 1st Air Division 500 acquires information representing the latitude and longitude of the target area included in the flight command. Next, the CPU 511 outputs the sensing data obtained by the sensing device 552 and the information representing the GPS altitude, latitude, and longitude of the first flying object 500 to the data communication circuit 514 with the control device 200 as the destination. To do. After that, the 1st Air Division 500 returns to the business office by executing the processes of steps S28 and S29.

The determination unit 220 of the control device 200 according to this modification executes the process of step S74 in FIG. 18, and the sensing data and the GPS altitude and latitude of the first aircraft 500 when the sensing data are obtained are determined. And the information representing the longitude is acquired (step S74). Next, the determination unit 220 calculates the distance from the target area to the sensing device 552 of the 1st Air Division 500 by executing the process described in the modified example 8 of the second embodiment. After that, the determination unit 220 calculates the GPS altitude of the target area by subtracting the distance from the target area to the sensing device 552 from the GPS altitude of the first aircraft 500.

Next, the determination unit 220 acquires information representing the latitude and longitude of the first aircraft 500 and information representing the geoid height stored in advance in association with the information storage unit 290. The GPS height is based on the surface of a spheroid that approximates the shape of the ground surface, the geoid height is the distance from the surface of the spheroid to the average sea level, and the altitude is based on the average sea level. Therefore, the determination unit 220 of the control device 200 calculates the altitude of the target area by subtracting the geoid height represented by the acquired information from the GPS altitude of the target area.

After that, when the determination unit 220 determines that the calculated altitude of the target area is equal to or higher than the first altitude represented by the information stored in advance in the information storage unit 290 and equal to or lower than the second altitude, the determination unit 220 determines that the target area has an altitude of the target area. It is determined that the fourth condition that the altitude is suitable for the installation of the radio station 900 is satisfied (step S75; Yes). Next, the determination unit 220 determines that the target area can be used for the purpose of installing the radio station 900 because the altitude of the target area is suitable for the installation of the radio station 900 (step S76).

On the other hand, when the determination unit 220 determines that the altitude of the target area is lower than the first altitude or higher than the second altitude, it determines that the fourth condition is not satisfied (step S75; No). It is determined that the target area cannot be used for the purpose of installing the radio station 900 (step S79).

In this modification, the determination unit 220 of the control device 200 subtracts the geoid height associated with the information representing the latitude and longitude of the first flying object 500 from the GPS altitude of the target area to obtain the target area. I explained that the altitude is calculated, but it is not limited to this. For example, the determination unit 220 calculates the altitude of the target area by subtracting the geoid height associated with the information representing the latitude and longitude of the level origin such as Tokyo Bay from the GPS altitude of the target area. You may.

Further, in this modification, the fourth condition is that the altitude of the target area is suitable for the installation of the radio station 900, but the present invention is not limited to this, and the sea level of the target area is wireless. It may be a condition that it is suitable for the installation of the station 900.

Further, the fourth condition may be a condition that the altitude or altitude of the target area is suitable for the construction of a predetermined building.

<Modified Example 11 of Example 2>
In the modified example 10 of the second embodiment, the sensing device 552 of the first flying object 500 has been described as a LiDAR sensor, but it may be a digital stereo camera.

Further, in the modified example 10 of the second embodiment, the control device 200 determines the distance from the target area calculated based on the sensing data to the sensing device 552, and the GPS of the first aircraft 500 when the sensing data is obtained. It was explained that the altitude of the target area is calculated based on the altitude, but it is not limited to this. The control device 200 subtracts the geoid height from the altitude measured by the GPS circuit 516 of the 1st Air Division 500 or the QZSS circuit (not shown) while the 1st Air Division 500 is landing in the target area. The altitude of the target area may be calculated.

Further, the 1st Air Division 500 is provided with an altitude sensor that measures the altitude based on the atmospheric pressure, and the control device 200 is the altitude measured by the altitude sensor while the 1st Air Division 500 is landing in the target area. The sensing data representing the above may be received from the 1st Air Division 500.

<Modification 12 of Example 2>
In the second embodiment, the fourth condition has been described as a condition that the area of the target area is sufficiently large, but the present invention is not limited to this. The fourth condition according to this modification is that the positional relationship between the target area and the buildings around the target area is sufficiently good.

In this modified example, the periphery of the target area will be described as referring from the boundary line separated from the target area by a predetermined distance to the target area. Further, a sufficiently good positional relationship between the target area and the buildings around the target area means that the positional relationship is good enough to be suitable for the installation of the radio station 900. A good positional relationship suitable for the installation of the radio station 900 is a peripheral area that hinders or may hinder the propagation of radio waves emitted from the radio station 900 into the space when the radio station 900 is installed in the target area. Includes a positional relationship in which the area of the surface (hereinafter referred to as an obstacle surface) of the building is equal to or less than a predetermined area S. The obstacle surface also includes the surface of surrounding buildings within a predetermined altitude range based on the location of the target area. In this modification, the predetermined altitude range is higher than the altitude of the target area and is higher than the altitude of the target area by Hh (however, Hh> 0). ..

The 1st Air Division 500 according to this modification is a LiDAR sensor, a sensing device 522, while hovering at an altitude Hh higher than the altitude of the target area in accordance with a sensing command transmitted from the control device 200. Optically sense the target area.

The determination unit 220 of the control device 200 according to this modification executes the process described in the second embodiment in step S75 of FIG. 18, and thereby, based on the sensing data, a plurality of points located on the surface of the target area. To identify. Further, the determination unit 220 calculates an equation representing the surface of the target area by executing the process described in the modification 3 of the second embodiment.

After that, the determination unit 220 identifies a plurality of points, which are closer to the origin than the surface represented by the equation, among the plurality of points represented by the sensing data, based on the coordinate values. As a result, the determination unit 220 identifies a plurality of points within a predetermined altitude range.

After that, the determination unit 220 identifies a boundary line horizontally separated from the outer edge of the target area by a predetermined distance, and positions the boundary line closer to the target area than the vertical boundary curved surface including all of the specified boundary lines on the surface. A plurality of points are specified based on the coordinate values. As a result, the determination unit 220 identifies a plurality of points within a predetermined altitude range and around the target area.

Next, the determination unit 220 calculates the area of the obstacle surface by counting the specified plurality of points. After that, when the determination unit 220 determines that the calculated area of the obstacle surface is equal to or less than the area S represented by the information stored in advance in the information storage unit 290, the determination unit 220 and the construction around the target area It is determined that the fourth condition that the positional relationship between the object and the object is sufficiently good is satisfied (step S75; Yes). Next, the determination unit 220 determines that the target area can be used for the purpose of installing the radio station 900 (step S76). A suitable value of the area S can be determined by a person skilled in the art by an experiment.

On the other hand, when the determination unit 220 determines that the calculated area of the obstacle surface is larger than the area S, it determines that the fourth condition is not satisfied (step S75; No). Next, the determination unit 220 determines that the target area cannot be used for the purpose of installing the radio station 900 (step S79).

In this modification, the predetermined altitude range is higher than the altitude of the target area and is higher than the altitude of the target area by an altitude Hh or less, but is limited to this. Not a translation. The predetermined altitude range may be a range from altitude H1 to H2 (however, H1 <H2) with respect to the surface of the target area, and may include an altitude lower than the altitude of the target area. good.

In this modification, the sensing device 552 of the 1st Air Division 500 has been described as a LiDAR sensor, but it may be a digital stereo camera.

The predetermined purpose of this modification is to install the radio station 900, which is a predetermined object, in the target area, and the fourth condition is the positional relationship between the target area and the buildings around the target area. However, it was explained that the condition is good enough to be suitable for the installation of the radio station 900. However, the present invention is not limited to this, and the predetermined purpose is to build a predetermined building, and the fourth condition is the positional relationship between the target area and the buildings around the target area. , It may be a condition that the condition is good enough to be suitable for the construction of a predetermined building.

<Modified Example 13 of Example 2>
The modified example 8 or 10 of the second embodiment and the modified example 12 of the second embodiment can be combined with each other. Therefore, the fourth condition is suitable for the installation of the radio station 900 whose altitude, altitude, or sea level is a predetermined object, or the construction of a predetermined building, and the target area and the target area. It may be a condition that the positional relationship with the buildings around the building is sufficiently good.

<Modification 14 of Example 2>
Modification 2 of Example 2 can be combined with Example 1. Therefore, when the terminal device 100 according to the present modification performs an operation for transmitting the determination request by the administrator of the target area, the determination request and the target are executed by executing the process described in the first embodiment. The control device 200 contains a first image file generated by imaging the area and destination information indicating the destination of the covering covering the target area in order to indicate that the location is where the radio station 900 is desired to be installed. Send to.

Upon receiving the determination request, the first image file, and the destination information, the control device 200 according to this modification executes the same processing as the first determination processing shown in FIG. As a result, the determination unit 220 of the control device 200 determines whether or not the material on the surface of the target area is sufficiently hard.

In this modification, the material being sufficiently hard means that the material is hard enough to be suitable for the installation of the radio station 900. Further, the fact that the material is hard enough to be suitable for installing the radio station 900 includes that the material is hard enough to be able to install the radio station 900 on the surface of the target area made of the material. The fact that the radio station 900 can be installed in the target area does not simply mean that the radio station 900 can be installed in the target area, but means that the radio station 900 can be safely installed in the target area. The fact that the radio station 900 can be safely installed in the target area means that the radio station 900 itself or a worker may fall over, for example, in the installation work of the radio station 900, as described in the modification 3 of the second embodiment. , Including the possibility that the radio station 900 will tip over or move after installation is less than a predetermined possibility.

Therefore, the material is sufficiently hard to the extent that the shape of the surface does not change due to the weight of the radio station 900 when or after the radio station 900 is installed on the surface of the target area composed of the material. Or, even if it changes, the shape of the surface changes only to the extent that the possibility that the radio station 900 falls or moves is lower than the predetermined possibility, or to the extent that there is no such possibility. It means that it is reasonably hard.

When the determination unit 220 of the control device 200 determines that the surface material of the target area is not sufficiently hard, it determines that the first condition that the hardness of the target area is suitable for the installation of the radio station 900 is not satisfied. To do. After that, the determination unit 220 determines that the target area cannot be used for the purpose of installing the radio station 900. On the other hand, when it is determined that the first condition is satisfied, the control unit 240 of the control device 200 causes the covering body to be sent to the destination represented by the destination information.

The shape of the covering body according to this modification is a square shape or a rectangle shape, and has a width including the horizontal projection shape of the radio station 900. Upon receiving the covering, the administrator lays the covering on the surface of the target area and includes the covering in the angle of view of the digital camera 107 included in the terminal device 100, and then performs the imaging operation. After that, the terminal device 100 transmits to the control device 200 a laying report notifying that the target area is covered with the covering body and a second image file generated by imaging the covering body.

Upon receiving the laying report and the second image file, the control device 200 executes the same process as the second determination process shown in FIG. As a result, the determination unit 220 of the control device 200 determines the target area whose surface is imaged to obtain the first image, the target area whose surface is covered by the covering body imaged to obtain the second image, and the target area. Is the same or not.

At this time, if it is determined that they are not the same, the notification unit 230 has a purpose that the target area of the first image and the target area of the second image are different, and that both target areas are for installing the radio station 900. A non-use notification notifying that the terminal device 100 is not used is output to the terminal device 100 as a destination.

On the other hand, when the determination unit 220 of the control device 200 determines that they are the same, it determines whether or not the second condition that the covering body is in a completely expanded state is satisfied. At this time, if the determination unit 220 determines that the second condition is not satisfied, it determines that the area of the target area is not sufficiently large. Next, the determination unit 220 determines that the target area cannot be used for the purpose of installing the radio station 900.

On the other hand, when the determination unit 220 of the control device 200 determines that the second condition is satisfied, it determines that the area of the target area is sufficiently large. After that, the control unit 240 of the control device 200 outputs a flight command to order the flight to the target area to the first aircraft 500 as a destination.

The 1st Air Division 500 according to this modification performs the same processing as in the second embodiment to optically sense the target area from above the target area at altitude H, and then transfers the sensing data to the control device 200. Send.

The control device 200 according to this modification executes the same processing as the usage determination processing shown in FIG. As a result, the determination unit 220 of the control device 200 has a target area whose surface is covered with the covering body imaged to obtain the second image and a target area whose surface is covered with the optically sensed covering body. And are the same.

At this time, if it is determined that they are not the same, the notification unit 230 is not used for the purpose of installing the radio station 900 in the target area imaged in order to obtain the second image, and the second image file. A non-use notification notifying the stored latitude, longitude, and the fact that the target area does not exist at a high altitude is output to the terminal device 100 as a destination.

When the determination unit 220 of the control device 200 determines that they are the same, whether the fourth condition described in the second embodiment is satisfied instead of the third condition described in the first embodiment based on the sensing data. Judge whether or not. When the determination unit 220 determines that the fourth condition that the area of the target area is sufficiently large is satisfied, it determines that the target area can be used for the purpose of installing the radio station 900. On the other hand, if the determination unit 220 determines that the fourth condition is not satisfied, it determines that the target area cannot be used for the purpose of installing the radio station 900.

In this modification, the combination of Example 1 and the modification 2 of Example 2 in which the target area is sensed by the sensing device 552 of the 1st Air Division 500, which is a digital stereo camera, has been described. It is not limited to. The first embodiment and the second embodiment in which the target area is sensed by the sensing device 552 which is a LiDAR sensor may be combined. In this case, in step S36 of FIG. 12, the determination unit 220 performs perspective projection processing using, for example, three-dimensional coordinate values of a plurality of points represented by sensing data and predetermined parameters including a focal length. May generate a target area image which is a third image by executing. After that, the determination unit 220 may determine whether or not the target area of the second image acquired in step S33 and the target area of the generated third image are the same.

<Modified Example 15 of Example 2>
In the second embodiment, it has been explained that the administrator of the target area performs an operation for transmitting the determination request to the terminal device 100, but the present invention is not limited to this. For example, an employee of a mobile communication operator who does not have the knowledge to determine whether or not the radio station 900 can be installed may perform the operation on the terminal device 100. Further, even a person having the knowledge may perform the operation on the terminal device 100 in order to confirm that his / her own determination is correct.

Examples 1 and 2 of the present invention, modified examples 1 to 17 of the first embodiment, and modified examples 1 to 15 of the second embodiment can be combined with each other.

A control device 200 having a configuration for realizing the functions according to any of Examples 1 and 2, Modifications 1 to 16 of Example 1, and Modifications 1 to 15 of Example 2, and Examples. Modification Example 17 of 1 The present invention can be provided as a control device 510 having a configuration for realizing the function, and is a system composed of a plurality of devices, the first and second embodiments, and the first modification of the first embodiment. It is also possible to provide a system as a whole having a configuration for realizing the functions according to any one of the above 17 and the modifications 1 to 15 of the second embodiment.

As a control device 200 having a configuration for realizing the functions according to any of Examples 1 and 2, Modifications 1 to 16 of Example 1, and Modifications 1 to 15 of Example 2 in advance. Can be provided. Further, by applying the program, the existing control device is made to function as the control device 200 according to any one of Examples 1 and 2, Modifications 1 to 16 of Example 1, and Modifications 1 to 15 of Example 2. You can also do it. That is, a program for realizing each functional configuration by the control device 200 exemplified in any of the above-described Examples 1 and 2, Modified Examples 1 to 16 of Example 1, and Modified Examples 1 to 15 of Example 2 is provided. By being executed by a computer (CPU or the like) that controls an existing control device, it can be changed to any one of Examples 1 and 2, Modifications 1 to 16 of Example 1, and Modifications 1 to 15 of Example 2. It can function as such a control device 200.

It can be provided as a control device 510 provided in advance with a configuration for realizing the function according to the modified example 17 of the first embodiment of the present invention. Further, by applying the program, the existing control device can be made to function as the control device 510 according to the modification 17 of the first embodiment. That is, a computer (CPU or the like) that controls an existing control device executes a program for realizing each functional configuration by the control device 510 illustrated in the modification 17 of the first embodiment, whereby the first embodiment is executed. It can function as the control device 510 according to the modified example 17.

The distribution method of such a program is arbitrary, and can be stored and distributed in a recording medium such as a memory card, a CD (Compact Disc) -ROM, or a DVD (Digital Versatile Disc) -ROM, or can be distributed on the Internet or the like. It can also be distributed via a communication medium. The method according to the present invention includes the control device 200 according to any one of Examples 1 and 2, Modified Examples 1 to 16 of Example 1, and Modified Examples 1 to 15 of Example 2, and Example 1. It can be carried out by using the control device 510 according to the modification 17 of the above. Further, the method according to the present invention corresponds to the delivery system 1 according to any one of the first and first modifications 1 to 17, and one of the second and second modifications 1 to 15. It can be carried out using the determination system 2.

Further, the present invention enables various embodiments and modifications without departing from the broad spirit and scope of the present invention. Moreover, the above-described embodiment is for explaining the present invention, and does not limit the scope of the present invention. That is, the scope of the present invention is indicated by the scope of claims, not by the embodiment. Then, various modifications made within the scope of the claims and the equivalent meaning of the invention are considered to be within the scope of the present invention.

(Additional note)
(Appendix 1)
An acquisition unit that acquires a request to determine whether the target area can be used for a predetermined purpose,
A control unit that controls the flight of the first aircraft to the target area is provided.
The acquisition unit further acquires sensing data, which is data obtained by the first air vehicle optically sensing the target area.
A determination unit for determining whether or not the target area can be used for the predetermined purpose based on the acquired sensing data is further provided.
A control device characterized by that.

(Appendix 2)
The acquisition unit further acquires the first image obtained by imaging the surface of the target area with or separately from the request.
The determination unit
Based on the acquired first image, it is determined whether or not the surface satisfies the predetermined first condition.
If it is determined that the surface does not satisfy the first condition, it is determined that the target area cannot be used for the predetermined purpose.
When it is determined that the surface satisfies the first condition, the control unit flies the first air vehicle to the target area.
The control device according to Appendix 1, wherein the control device is characterized by the above.

(Appendix 3)
The acquisition unit further acquires a second image that is different from the first image and is obtained by imaging the covering body that covers the target area.
The determination unit
Based on the acquired second image, it is determined whether or not the covering body satisfies a predetermined second condition.
If it is determined that the covering does not satisfy the second condition, it is determined that the target area cannot be used for the predetermined purpose.
When the control unit determines that the surface satisfies the first condition and the covering body satisfies the second condition, the control unit flies the first flying object to the target area.
The control device according to Appendix 2, wherein the control device is characterized by the above.

(Appendix 4)
The determination unit
To obtain the target area in which the surface is imaged in order to obtain the first image and the second image based on the feature points based on the first image and the feature points based on the second image. Further, it is determined whether or not the target area whose surface is covered by the covering body imaged in the image is the same as that of the target area.
If it is determined that they are the same, it is determined whether or not the covering body imaged to obtain the second image satisfies the second condition.
The control device according to Appendix 3, wherein the control device is characterized by the above.

(Appendix 5)
The predetermined purpose is to install a predetermined object or to build a predetermined building.
The control device according to any one of Supplementary note 1 to 4, wherein the control device is characterized by the above.

(Appendix 6)
The predetermined object is a radio station and
The predetermined purpose is to install the radio station.
The control device according to Appendix 5, wherein the control device is characterized by the above.

(Appendix 7)
The determination unit
Based on the sensing data, the distance from the ground surface to the target area is calculated.
Based on the calculated distance, it is determined whether or not the target area can be used for the predetermined purpose.
The control device according to Appendix 5 or 6, wherein the control device is characterized by the above.

(Appendix 8)
The determination unit
Based on the sensing data, the positional relationship between the building at a distance shorter than a predetermined distance from the target area and the target area is specified.
Based on the identified positional relationship, it is determined whether or not the target area can be used for the predetermined purpose.
The control device according to any one of Supplementary note 5 to 7, wherein the control device is characterized by the above.

(Appendix 9)
The predetermined purpose is to use the target area as a port.
The sensing data represents a target area image obtained by the first aircraft capturing the target area.
The determination unit determines whether or not any one or more of the first air vehicle and the second air vehicle different from the first air vehicle can land in the target area based on the target area image. To do
The control device according to Appendix 1, wherein the control device is characterized by the above.

(Appendix 10)
The predetermined purpose is to use the target area as a port.
The sensing data represents a target area image obtained by the first aircraft capturing the target area.
The first image is an image different from the target area image, and is different from the target area image.
When the determination unit determines that the surface of the target area does not satisfy the first condition based on the acquired first image, the first flight and the second flight different from the first flight It is determined that any one or more of the bodies cannot land in the target area.
The control device according to Appendix 2, wherein the control device is characterized by the above.

(Appendix 11)
The predetermined purpose is to use the target area as a port.
The request includes destination information indicating the destination of the covering covering the target area to indicate that the target area will be used as the port.
The sensing data represents a target area image obtained by the first aircraft capturing the target area.
The first image is an image different from the target area image, and is different from the target area image.
When the determination unit determines that the surface of the target area does not satisfy the first condition based on the acquired first image, the first flight and the second flight different from the first flight It is determined that any one or more of the bodies cannot land in the target area,
When the control unit determines that the surface satisfies the first condition, the control unit outputs the destination information.
The acquisition unit, together with or separately from a report notifying that the target area is covered with the covering, has an image different from the target area image and the first image, and the covering covering the target area. The second image obtained by imaging is further acquired, and
When the determination unit determines that the covering body does not satisfy the second condition based on the acquired second image, any one or more of the first flying object and the second flying object is said. Judging that it is impossible to land in the target area,
The control device according to Appendix 3 or 4, wherein the control device is characterized by the above.

(Appendix 12)
Based on the target area image, the determination unit determines whether or not any one or more of the first air vehicle and the second air vehicle different from the first air vehicle can take off from the target area. Further judgment,
The control device according to any one of Supplementary note 9 to 11, wherein the control device is characterized by the above.

(Appendix 13)
A terminal device that sends a request to determine whether the target area can be used for a predetermined purpose, and
Upon receiving the request, the control device for controlling the flight of the first aircraft to the target area is provided.
The control device is
Further receiving the sensing data, which is the data obtained by the first air vehicle optically sensing the target area, and
Based on the received sensing data, it is determined whether or not the target area can be used for the predetermined purpose.
A system characterized by that.

(Appendix 14)
The method that the controller executes
The first acquisition step in which the control device acquires a request for determining whether or not the target area can be used for a predetermined purpose.
A control step in which the control device controls the flight of the first aircraft to the target area.
A second acquisition step in which the control device acquires sensing data, which is data obtained by the first air vehicle optically sensing the target area.
The control device has a determination step of determining whether or not the target area can be used for the predetermined purpose based on the acquired sensing data.
A method characterized by that.

1: Delivery system 2: Judgment system 100: Terminal devices 101, 201, 511: CPU
102, 202, 512: RAM
103a, 203a, 513a: ROM
103b, 513b: Flash memory 104a, 204, 514: Data communication circuit 104b: Voice communication circuit 105a, 205a: Video card 105b, 205b: Display device 105c, 205b: Input device 106, 516: GPS circuit 107: Digital camera 109a: Speaker 109b: Microphone 200, 510: Control device 203b: Hard disk 210: Acquisition unit 220: Judgment unit 230: Notification unit 240: Control unit 250: Update unit 290: Information storage unit 500: First flying object 518: Input / output port 519 : Drive circuit 521 to 524: Propeller arm 531 to 534: Propeller 541a: First holding frame 541b: Second holding frame 542a, 542b: Guide rail 543: Support leg 551: Imaging device 552: Sensing device 552a: Turntable 552b, 552f: Motor 552c: Control circuit 552d: Measuring unit 552e: Support member 552g: Diode 552h: Half mirror 552i: Light receiving element 600: Second flying object 900: Radio station 910: Communication device 911: Communication circuit 912, 918: Conversion circuit 913: Oscillator 914: Modulation circuit 915: PA
916: LNA
917: Demodulation circuit 920: Antenna 930: Support 940: Base CL: Optical fiber cable IN: Internet

Claims (14)

An acquisition unit that acquires a request to determine whether the target area can be used for a predetermined purpose,
A control unit that controls the flight of the first aircraft to the target area is provided.
The acquisition unit further acquires sensing data, which is data obtained by the first air vehicle optically sensing the target area.
A determination unit for determining whether or not the target area can be used for the predetermined purpose based on the acquired sensing data is further provided.
A control device characterized by that. The acquisition unit further acquires the first image obtained by imaging the surface of the target area with or separately from the request.
The determination unit
Based on the acquired first image, it is determined whether or not the surface satisfies the predetermined first condition.
If it is determined that the surface does not satisfy the first condition, it is determined that the target area cannot be used for the predetermined purpose.
When it is determined that the surface satisfies the first condition, the control unit flies the first air vehicle to the target area.
The control device according to claim 1. The acquisition unit further acquires a second image that is different from the first image and is obtained by imaging the covering body that covers the target area.
The determination unit
Based on the acquired second image, it is determined whether or not the covering body satisfies a predetermined second condition.
If it is determined that the covering does not satisfy the second condition, it is determined that the target area cannot be used for the predetermined purpose.
When the control unit determines that the surface satisfies the first condition and the covering body satisfies the second condition, the control unit flies the first flying object to the target area.
The control device according to claim 2. The determination unit
To obtain the target area in which the surface is imaged in order to obtain the first image and the second image based on the feature points based on the first image and the feature points based on the second image. Further, it is determined whether or not the target area whose surface is covered by the covering body imaged in the image is the same as that of the target area.
If it is determined that they are the same, it is determined whether or not the covering body imaged to obtain the second image satisfies the second condition.
The control device according to claim 3. The predetermined purpose is to install a predetermined object or to build a predetermined building.
The control device according to any one of claims 1 to 4, wherein the control device is characterized by the above. The predetermined object is a radio station and
The predetermined purpose is to install the radio station.
The control device according to claim 5. The determination unit
Based on the sensing data, the distance from the ground surface to the target area is calculated.
Based on the calculated distance, it is determined whether or not the target area can be used for the predetermined purpose.
The control device according to claim 6. The determination unit
Based on the sensing data, the positional relationship between the building at a distance shorter than a predetermined distance from the target area and the target area is specified.
Based on the identified positional relationship, it is determined whether or not the target area can be used for the predetermined purpose.
The control device according to claim 6 or 7. The predetermined purpose is to use the target area as a port.
The sensing data represents a target area image obtained by the first aircraft capturing the target area.
The determination unit determines whether or not any one or more of the first air vehicle and the second air vehicle different from the first air vehicle can land in the target area based on the target area image. To do
The control device according to claim 1. The predetermined purpose is to use the target area as a port.
The sensing data represents a target area image obtained by the first aircraft capturing the target area.
The first image is an image different from the target area image, and is different from the target area image.
When the determination unit determines that the surface of the target area does not satisfy the first condition based on the acquired first image, the first flight and the second flight different from the first flight It is determined that any one or more of the bodies cannot land in the target area.
The control device according to claim 2. The predetermined purpose is to use the target area as a port.
The request includes destination information indicating the destination of the covering covering the target area to indicate that the target area will be used as the port.
The sensing data represents a target area image obtained by the first aircraft capturing the target area.
The first image is an image different from the target area image, and is different from the target area image.
When the determination unit determines that the surface of the target area does not satisfy the first condition based on the acquired first image, the first flight and the second flight different from the first flight It is determined that any one or more of the bodies cannot land in the target area,
When the control unit determines that the surface satisfies the first condition, the control unit outputs the destination information.
The acquisition unit, together with or separately from a report notifying that the target area is covered with the covering, has an image different from the target area image and the first image, and the covering covering the target area. The second image obtained by imaging is further acquired, and
When the determination unit determines that the covering body does not satisfy the second condition based on the acquired second image, any one or more of the first flying object and the second flying object is said. Judging that it is impossible to land in the target area,
The control device according to claim 3 or 4. Based on the target area image, the determination unit determines whether or not any one or more of the first air vehicle and the second air vehicle different from the first air vehicle can take off from the target area. Further judgment,
The control device according to any one of claims 9 to 11. A terminal device that sends a request to determine whether the target area can be used for a predetermined purpose, and
Upon receiving the request, the control device for controlling the flight of the first aircraft to the target area is provided.
The control device is
Further receiving the sensing data, which is the data obtained by the first air vehicle optically sensing the target area, and
Based on the received sensing data, it is determined whether or not the target area can be used for the predetermined purpose.
A system characterized by that. The method that the controller executes
The first acquisition step in which the control device acquires a request for determining whether or not the target area can be used for a predetermined purpose.
A control step in which the control device controls the flight of the first aircraft to the target area.
A second acquisition step in which the control device acquires sensing data, which is data obtained by the first air vehicle optically sensing the target area.
The control device has a determination step of determining whether or not the target area can be used for the predetermined purpose based on the acquired sensing data.
A method characterized by that.

Images