JP2021102359A - Instruction system, control method, and program - Google Patents

Abstract

To properly give instructions to a site worker and the like.SOLUTION: An instruction system includes an unmanned aircraft, and radio equipment for receiving an operation of the unmanned aircraft by a user. The unmanned aircraft has an instruction device that indicates a position instructed by the user. The instruction system provides a predetermined display by the instruction device on the basis of the instructions given by the user.SELECTED DRAWING: Figure 3

Description

The present invention relates to instructional systems, control methods, and programs.

Conventionally, a technique for monitoring or the like based on an image taken by an unmanned aerial vehicle (drone) is known (see, for example, Patent Document 1).

JP-A-2018-018406

However, in the prior art, for example, when performing construction confirmation to confirm the status of work or the like based on an image taken by an unmanned aerial vehicle, or when performing inspection such as deterioration of equipment such as tunnels and bridges. , It may not be possible to properly give instructions to on-site workers.

On one side, the purpose is to provide technology that can appropriately give instructions to on-site workers and the like.

One idea is an instruction system having an unmanned aerial vehicle and a radio that accepts the operation of the unmanned aerial vehicle by a user, wherein the unmanned aerial vehicle has an instruction device indicating a position instructed by the user. Provided is an instruction system that performs a predetermined display by the instruction device based on an instruction by a user.

According to one aspect, it is possible to appropriately give instructions to on-site workers and the like.

It is a figure which shows the configuration example of the instruction system which concerns on embodiment. It is a figure which shows the structural example of the unmanned aerial vehicle which concerns on embodiment. It is a figure which shows the structural example of the transmitter which concerns on embodiment. It is a figure which shows the structural example of the information processing apparatus which concerns on embodiment. It is a figure which shows an example of the functional structure of the unmanned aerial vehicle and the transmitter which concerns on embodiment. It is a sequence diagram which shows an example of the processing of the instruction system which concerns on embodiment. It is a figure explaining an example of the display screen in the transmitter which concerns on embodiment. It is a figure explaining an example of the display screen in the transmitter which concerns on embodiment. It is a figure explaining an example of the display screen in the transmitter which concerns on embodiment.

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

<System configuration>
FIG. 1 is a diagram showing a configuration example of the instruction system 1 according to the embodiment. In FIG. 1, the instruction system 1 has an unmanned aerial vehicle 10 and a transmitter 20. The unmanned aerial vehicle 10 and the transmitter 20 are connected so as to be able to communicate with each other by, for example, a wireless radio wave, a mobile phone network, a wireless LAN via the Internet, or the like. The mobile phone network may be, for example, a mobile communication system such as 5G (5th Generation), 4G, or LTE (Long Term Evolution).

The unmanned aerial vehicle 10 is, for example, an unmanned aerial vehicle (drone, UAV (Unmanned Aerial Vehicle), UAS (Unmanned) capable of remote control or autonomous flight.
Aerial System)). The unmanned aerial vehicle 10 may move (fly) in the air based on an instruction from the transmitter 20, for example. Further, the unmanned aerial vehicle 10 may automatically move in the air based on, for example, preset information.

The transmitter 20 is a device that performs various controls on the unmanned aerial vehicle 10 in response to operations by users (operators, operators, managers, supervisors). For example, the transmitter 20 causes the unmanned aerial vehicle 10 to execute various controls for giving instructions to workers at the site in response to the operation of the user.

<Structure>
≪Unmanned aerial vehicle 10≫
FIG. 2A is a diagram showing a configuration example of the unmanned aerial vehicle 10 according to the embodiment. In the example of FIG. 2A, the unmanned aerial vehicle 10 includes an antenna 11, an information processing device 12, propellers 13A to 13D (hereinafter referred to as “propeller 13A, etc.”), a gimbal 14, a camera (photographing device) 15, an instruction device 16, and the like. It has a speaker 17, a microphone 18, and the like. The antenna 11 is an antenna for wireless communication with the transmitter 20. The information processing device 12 is a computer that controls each part of the unmanned aerial vehicle 10.

The gimbal 14 is a rotary table that rotates the camera 15 and the indicator device 16 attached to the gimbal 14 on one or more axes. The gimbal 14 reduces blurring due to vibration caused by the rotor or the like of the unmanned aerial vehicle 10. Further, the gimbal 14 activates the actuator according to the instruction of the user of the transmitter 20, and controls the camera 15 and the instruction device 16 to be directed in the direction of the position instructed by the user of the transmitter 20.

The instruction device 16 is a device that indicates (instructs) an object to be displayed (instruction target) designated by the user of the transmitter 20 to workers and the like at the site. The indicator device 16 may be, for example, a laser pointer (Laser Pointer, a laser light indicator) that irradiates the position with a laser beam, a lighting device that irradiates the position with light, or the like. The lighting device may be LED lighting or the like using a light emitting diode (LED, Light Emitting Diode) and having a relatively high straightness.

Further, the instruction device 16 may be, for example, a device for adding (adhering) a substance of a predetermined color to the position. By adding a substance of a predetermined color, for example, it becomes easy for a worker at the site or the like to confirm it later. In addition, instructions can be given even when there are no workers or the like at the site. The device for adding (injecting) the substance of the predetermined color may be, for example, a marking spray for spraying ink. Further, the device for adding the substance of the predetermined color may be, for example, a stamp or the like which is attached to the tip of a rod-shaped actuator such as an electric cylinder which expands and contracts electrically according to a user's instruction and adds ink when it comes into contact with the device.

The instruction device 16 may be fixed to the gimbal 14 or the camera 15 so that a predetermined display can be performed by irradiating a laser beam or the like in the same direction as the shooting direction (pan and tilt) of the camera 15, for example. In this case, the instruction device 16 may be fixed to the gimbal 14 or the camera 15 so that the optical axis of the camera 15 and the irradiation direction of the instruction device 16 are parallel to each other. As a result, the object (subject) in the center of the image captured by the camera 15 can be displayed in a predetermined manner by irradiating the laser beam or the like.

The instruction device 16 may be attached to a gimbal or the like different from the gimbal 14 of the camera 15. Thereby, for example, an object in a region other than the central portion of the image captured by the camera 15 can be displayed by the instruction device 16.

The instruction device 16 may set a figure to be displayed on the object by irradiating a laser beam or the like or adding a substance of a predetermined color by the operation of the user of the transmitter 20. In this case, the instruction device 16 may change the object installed in front of the light source based on the control signal transmitted from the information processing device 12 by the operation of the user of the transmitter 20. Thereby, for example, the user can switch the figure shown to the worker or the like by irradiating the object to one of the ○ shape, the × shape, and the like according to the inspection result in the image. The object installed in front of the light source may be, for example, a shielding plate provided with a slit for passing light, which is switched by an actuator, or a small liquid crystal having the light source as a backlight.

Further, the unmanned aerial vehicle 10 may have a plurality of instruction devices 16. In this case, the unmanned aerial vehicle 10 may have a plurality of different types of indicating devices 16 such as a laser pointer and a marking spray. The instruction device 16 may irradiate a laser beam or the like, add a substance of a predetermined color, or the like along a locus of a position designated by the operation of the user of the transmitter 20. Thereby, for example, the user of the transmitter 20 can show characters, figures, and the like to workers at the site by an operation such as handwriting input.

The speaker 17 is a speaker that outputs various sounds. The microphone 18 is a microphone for inputting sound.

≪Transmitter 20≫
FIG. 2B is a diagram showing a configuration example of the transmitter 20 according to the embodiment. In the example of FIG. 2B, the transmitter 20 has a control stick 21A, a control stick 21B, a monitor 22, an antenna 23, a clamp 24, an information processing device 25, an information processing device 28, and a touch panel display 29.

The control sticks 21A and the control sticks 21B are control sticks that receive instructions for movement of the unmanned aerial vehicle 10 from the user. The monitor 22 is a monitor on which the state of the unmanned aerial vehicle 10 and the like are displayed by the information processing device 25. The antenna 23 is an antenna for wireless communication with the unmanned aerial vehicle 10. The transmitter 20 may perform wireless communication with the unmanned aerial vehicle 10 by radio waves directly transmitted to the unmanned aerial vehicle 10. Further, the transmitter 20 may perform wireless communication with the more remote unmanned aerial vehicle 10 via the wireless LAN access point on the transmitter 20 side, the Internet, and the wireless LAN access points installed around the site. .. Wireless communication with a more remote unmanned aerial vehicle 10 may be performed via a base station or the like of a mobile phone network.

The clamp 24 is a fixture that fixes the information processing device 28 to the information processing device 25. The information processing device 25 is a computer that controls each part of the transmitter 20.

The information processing device 28 may be, for example, a smartphone or the like. The information processing device 28 may be connected to the information processing device 25 so as to be able to communicate with the information processing device 25 by, for example, a communication cable or short-range wireless communication such as BLE (Bluetooth (registered trademark) Low Energy). The touch panel display 29 is a touch panel display of the information processing device 28. The information processing device 28 causes the touch panel display 29 to display images (moving images and still images) taken by the camera 15 of the unmanned aerial vehicle 10. Further, the information processing device 28 receives an operation on the instruction device 16 and the like of the unmanned aerial vehicle 10 from the user by the touch panel display 29.

<< Information processing device 12, information processing device 25, and information processing device 28 >>
FIG. 2C is a diagram showing a configuration example of the information processing device 12, the information processing device 25, and the information processing device 28 according to the embodiment.

Hereinafter, the information processing device 12 will be described as an example. The configuration of the information processing device 25 and the information processing device 28 may be the same as the configuration of the information processing device 12, respectively.

In the example of FIG. 2C, the information processing device 12 has a drive device 300, an auxiliary storage device 302, a memory device 303, a CPU 304, an interface device 305, and the like, which are connected to each other by a bus B, respectively.

The auxiliary storage device 302 stores the installed program and also stores necessary files, data, and the like. The memory device 303 reads and stores the program from the auxiliary storage device 302 when the program is instructed to start. The CPU 304 realizes the function related to the information processing device 12 according to the program stored in the memory device 303. The interface device 305 is used as an interface for connecting to an external device.

The program that realizes the processing in the information processing apparatus 12 may be provided by the recording medium 301. When the recording medium 301 on which the program is recorded is set in the drive device 300, the program is installed in the auxiliary storage device 302 from the recording medium 301 via the drive device 300. However, the program does not necessarily have to be installed from the recording medium 301, and may be downloaded from another computer via the network.

An example of the recording medium 301 is a portable recording medium such as a CD-ROM, a DVD disc, or a USB memory. Further, as an example of the auxiliary storage device 302, an HDD (Hard Disk Drive), a flash memory, or the like can be mentioned. Both the recording medium 301 and the auxiliary storage device 302 correspond to computer-readable recording media.

<< Functional configuration of unmanned aerial vehicle 10 and transmitter 20 >>
FIG. 2D is a diagram showing an example of the functional configuration of the unmanned aerial vehicle 10 and the transmitter 20 according to the embodiment.

(Unmanned aerial vehicle 10)
The unmanned aerial vehicle 10 has a transmission / reception unit 101, a flight control unit 102, a photographing unit 103, and a control unit 104. Each of these parts may be realized by the cooperation of one or more programs installed in the information processing device 12 and hardware such as the CPU 104 of the information processing device 12.

The transmitter / receiver 101 receives data from the transmitter 20. Further, the transmission / reception unit 101 transmits data to the transmitter 20.

The flight control unit 102 controls the movement of the unmanned aerial vehicle 10 in the air based on the data received from the transmitter 20 and the like. The photographing unit 103 photographs an image with the camera 15 of the unmanned aerial vehicle 10. The control unit 104 controls each unit of the unmanned aerial vehicle 10.

The control unit 104 makes a voice call between a worker or the like in the vicinity of the unmanned aerial vehicle 10 and the user of the transmitter 20 by the operation of the user of the transmitter 20, for example. In this case, the control unit 104 transmits the voice of the worker or the like collected by the microphone 18 to the transmitter 20, and outputs the user's voice received from the transmitter 20 to the speaker 17. In this case, the control unit 104 may be able to change the volume of the speaker 17 by the operation of the user of the transmitter 20.

When the user's voice received from the transmitter 20 is output to the speaker 17, the control unit 104 may output a sound having a phase opposite to the ambient sound (environmental sound) collected by the microphone 18 from the speaker 17. As a result, for example, the sound (hovering sound) caused by the propeller 13A or the like when the unmanned aerial vehicle 10 is flying is reduced, the worker or the like can easily hear the voice from the user, and the user can hear the voice from the worker or the like. It can be made easier to hear. In this case, the control unit 104 extracts the sound produced by the propeller 13A or the like from the sound collected by the microphone 18 by AI (Artificial Intelligence) or the like using deep learning or the like, and outputs a sound having a phase opposite to the extracted sound. It may be output from the speaker 17.

(Transmitter 20)
The transmitter 20 has a reception unit 201, a transmission / reception unit 202, a display unit 203, and a control unit 204. Each of these parts may be realized by the cooperation of one or more programs installed in at least one of the information processing device 25 and the information processing device 28 and hardware such as a CPU.

The reception unit 201 receives various operations from the user. The transmission / reception unit 202 receives data from the unmanned aerial vehicle 10. Further, the transmission / reception unit 202 transmits data to the unmanned aerial vehicle 10. The display unit 203 displays various information on the screen. The control unit 204 controls each unit of the transmitter 20. The control unit 204 makes a voice call with the unmanned aerial vehicle 10 by using, for example, an information processing device 28 microphone such as a smartphone and a speaker (not shown).

<Processing>
An example of the processing of the instruction system 1 according to the embodiment will be described with reference to FIGS. 3 to 4C. FIG. 3 is a sequence diagram showing an example of processing of the instruction system 1 according to the embodiment. 4A to 4C are diagrams illustrating an example of a display screen on the transmitter 20 according to the embodiment.

In step S1, the reception unit 201 of the transmitter 20 receives from the user an operation of flying and moving the unmanned aerial vehicle 10. Here, the transmitter 20 accepts operations with, for example, the control stick 21A and the control stick 21B.

Subsequently, the transmission / reception unit 202 of the transmitter 20 transmits data (flight control instruction) instructing the flight of the unmanned aerial vehicle 10 to the unmanned aerial vehicle 10 in response to the operation of the user (step S2). Subsequently, the flight control unit 102 of the unmanned aerial vehicle 10 makes a flight based on the received data (step S3).

Subsequently, the photographing unit 103 of the unmanned aerial vehicle 10 photographs an image with the camera 15 (step S4). Subsequently, the transmission / reception unit 101 of the unmanned aerial vehicle 10 transmits the captured image to the transmitter 20 (step S5). The unmanned aerial vehicle 10 may automatically take a moving image with the camera 15 while flying, and stream the taken moving image to the transmitter 20 in real time.

Subsequently, the display unit 203 of the transmitter 20 displays the received image on the screen (step S6). Here, the transmitter 20 may display the moving image received from the unmanned aerial vehicle 10 on the touch panel display 29. Thereby, for example, the user can remotely control the unmanned aerial vehicle 10 while viewing the moving image from the unmanned aerial vehicle 10.

Further, the unmanned aerial vehicle 10 connects a voice call between the unmanned aerial vehicle 10 and the transmitter 20 in response to a user operation on the transmitter 20. As a result, a user such as a supervisor who is not at the site can have a conversation with a worker at the site while viewing the image of the site.

Further, the unmanned aerial vehicle 10 may notify the on-site worker or the like of the identification information of the user of the transmitter 20 in response to the operation of the user by the transmitter 20. In this case, the unmanned aerial vehicle 10 uses, for example, the color issued by the lamp, the user's face image on the display device (display) mounted on the unmanned aerial vehicle 10, the department to which the unmanned aerial vehicle 10 belongs, the position, and the like. The identification information may be notified to on-site workers and the like.

In the example of FIG. 4A, the transmitter 20 displays a moving image taken by the facility 402, the flange 403 of the pipe to the facility 402, the on-site worker 404, and the like on the display screen 401 of the touch panel display 29.

Here, the transmitter 20 accepts the user's operation by the control stick 21A or the like, and when the unmanned aerial vehicle 10 is moved to the vicinity of the flange 403, the display screen 411 of FIG. 4B is displayed. On the display screen 411 of FIG. 4B, a moving image in which the flange 403 and the bolt (nut) 412 and the like are photographed is displayed.

Subsequently, the reception unit 201 of the transmitter 20 receives a predetermined instruction operation from the user (step S7). Subsequently, the transmission / reception unit 202 of the transmitter 20 transmits data (instruction control instruction) for controlling the instruction device 16 and the like of the unmanned aerial vehicle 10 to the unmanned aerial vehicle 10 in response to the user's instruction operation (step S8). .. Subsequently, the control unit 104 of the unmanned aerial vehicle 10 performs instruction control based on the received data (step S9). Here, the unmanned aerial vehicle 10 may perform a predetermined display by the instruction device 16 at a position corresponding to the position on the image instructed by the user.

In step S7, the transmitter 20 may accept, for example, an operation of tapping the position of the bolt 412 on the display screen 411 of FIG. 4B. Then, the unmanned aerial vehicle 10 may recognize the image taken by the camera 15 and control the gimbal 14 so that the position of the bolt 412 becomes the center of the image taken by the camera 15. In this case, the unmanned aerial vehicle 10 gradually changes the shooting direction of the camera 15 under the control of the gimbal 14, and stops the control of the gimbal 14 when the position of the bolt 412 becomes the center of the shot image of the camera 15. You may do so.

Further, the unmanned aerial vehicle 10 may recognize the image taken by the camera 15 and move the unmanned aerial vehicle 10 so that the position of the bolt 412 becomes the center of the image taken by the camera 15. In this case, the unmanned aerial vehicle 10 may control the propeller 13A or the like so as to approach the bolt 412 designated by the user while avoiding contact with surrounding obstacles detected by the sensor or the like.

On the display screen 421 of FIG. 4C, the unmanned aerial vehicle 10 moves to the vicinity of the bolt 412 designated by the user, and controls the gimbal 14 so that the position of the bolt 412 becomes the center of the captured image of the camera 15. .. Then, when the bolt 412 is designated as a display target by the user, the unmanned aerial vehicle 10 activates the instruction device 16 to perform a predetermined display on the bolt 412. In this case, for example, when the position of the bolt 412 (coordinates of the pixels on the screen) is double-tapped or the like on the display screen 421 of the touch panel display 29 of the transmitter 20, the unmanned aerial vehicle 10 uses the indicator device 16. The x mark 422 is displayed at the position of the bolt 412 by starting and irradiating the laser beam. As a result, for example, the user can instruct the on-site worker or the like the position of the bolt that is not marked among the bolts in the place where the on-site worker or the like cannot easily confirm due to lack of scaffolding or the like. it can.

<Control of indicator device 16>
In the process of step S9 of FIG. 3, the control unit 104 of the unmanned aerial vehicle 10 notifies the user of the transmitter 20 to that effect when the object existing at the position instructed by the user of the transmitter 20 is a human body. The operation of the indicator device 16 may be restricted. As a result, when the object to be displayed instructed by the user is a person, it is possible to prevent the irradiation of a laser beam or the like, the addition of ink, or the like.

In this case, the unmanned aerial vehicle 10 may determine (estimate, infer) the subject photographed by the camera 15 by AI or the like using deep learning or the like. Then, when the unmanned aerial vehicle 10 determines that the subject designated as the display target by the user of the transmitter 20 is a person, the transmitter 20 sends a message indicating that the subject designated as the display target is a person. The user may be notified. Then, the unmanned aerial vehicle 10 may not activate the instruction device 16.

Further, in the process of step S9 of FIG. 3, the control unit 104 of the unmanned aerial vehicle 10 determines that the current position of the unmanned aerial vehicle 10 acquired by using a satellite positioning system such as GPS (Global Positioning System) is within a predetermined area or the like. If the position instructed by the user of the transmitter 20 exceeds a predetermined threshold value (for example, horizontal when viewed from the unmanned aerial vehicle 10) when viewed from the unmanned aerial vehicle 10, the user of the transmitter 20 is notified to that effect. However, the operation of the indicator device 16 may be restricted. As a result, for example, when a law (for example, the Aviation Law) prohibits the act of irradiating an aircraft flying over the airfield with a laser beam, the law can be complied with. it can.

<Flight sound output>
The control unit 104 of the unmanned aerial vehicle 10 may reproduce the sound data recorded in advance and output the reproduced sound data to the speaker 17 while moving by the user's operation or by autonomous flight. .. As a result, on-site workers and the like can recognize that the unmanned aerial vehicle 10 is moving in the air in the vicinity, so that the possibility that the workers and the like jump out on the movement path of the unmanned aerial vehicle 10 can be further reduced. Can be done. The unmanned aerial vehicle 10 should not output the sound data while it is not flying, during a voice call with the transmitter 20, or while it is stationary (hovering) at a fixed position in the air. It may be.

Further, when the unmanned aerial vehicle 10 is operating the instruction device 16 while moving in the air, the unmanned aerial vehicle 10 may output the sound to the speaker 17 with a sound different from the normal time or a volume. In this case, when the unmanned aerial vehicle 10 is moving in the air without operating the instruction device 16, the unmanned aerial vehicle 10 may reproduce the first sound and output it from the speaker 17 at the first volume. Then, when the unmanned aerial vehicle 10 is moving in the air while operating the instruction device 16, the unmanned aerial vehicle 10 reproduces and outputs a second sound different from the first sound, or reproduces the first sound and produces the first volume. The speaker 17 may output at a second volume louder than that. Thereby, when moving in the air while irradiating the laser beam or the like, the possibility that the worker or the like jumps out on the irradiation path of the laser beam or the like can be further reduced.

<Modification example 1>
The unmanned aerial vehicle 10 may have a lighting device different from the indicator device 16. As a result, a clearer image can be taken by the camera 15 even in a relatively dark place such as a room or a tunnel. In this case, the lighting device may be installed at a position that illuminates the front of the unmanned aerial vehicle 10. Alternatively, it may be attached to the gimbal 14, the camera 15, or the indicator 16.

Further, the control unit 104 of the unmanned aerial vehicle 10 may be able to set (change) the illuminance (brightness) of the lighting device by the operation of the user of the transmitter 20.

<Modification 2>
Each functional unit of the unmanned aerial vehicle 10 and the transmitter 20 may be realized by cloud computing composed of, for example, one or more computers. Further, a part of the processing of the unmanned aerial vehicle 10 may be executed by the transmitter 20.

Although the examples of the present invention have been described in detail above, the present invention is not limited to such specific embodiments, and various modifications are made within the scope of the gist of the present invention described in the claims.・ Can be changed.

1 Instruction system 10 Unmanned aerial vehicle 11 Antenna 12 Information processing device 13A Propeller 13B Propeller 13C Propeller 13D Propeller 14 Gimbal 15 Camera 16 Instruction device 17 Speaker 18 Microphone 20 Transmitter 21A Control stick 21B Control stick 22 Monitor 23 Antenna 24 Clamp 25 Information processing device 28 Information processing device 29 Touch panel display 101 Transmitting / receiving unit 102 Flight control unit 103 Imaging unit 104 Control unit 201 Reception unit 202 Transmitting / receiving unit 203 Display unit 204 Control unit

Claims (11)

An instruction system having an unmanned aerial vehicle and a radio that accepts the operation of the unmanned aerial vehicle by a user.
The unmanned aerial vehicle
It has an instruction device that indicates the position instructed by the user.
An instruction system that performs a predetermined display by the instruction device based on an instruction by the user. The indicator is
The predetermined display is performed by at least one of a laser light indicator that irradiates a laser beam at the position, a lighting device that irradiates light at the position, and a device that adds a substance of a predetermined color to the position.
The instruction system according to claim 1. The unmanned aerial vehicle
When the object at the position instructed by the user is a human body, the user is notified to that effect and the operation of the instruction device is restricted.
The instruction system according to claim 1 or 2. The unmanned aerial vehicle
When moving without operating the indicator, the first sound is played and output at the first volume.
When moving while operating the instruction device, a second sound different from the first sound is reproduced and output, or the first sound is reproduced and a second volume larger than the first volume is produced. Output with,
The instruction system according to any one of claims 1 to 3. The unmanned aerial vehicle
The image taken by the photographing device is displayed by the radio, and the image is displayed.
The predetermined display is performed by the instruction device at a position corresponding to the position on the image instructed by the user.
The instruction system according to any one of claims 1 to 4. The indicator is
A table on which a photographing device for capturing an image to be displayed by the radio is supported, or installed on the photographing device.
The instruction system according to any one of claims 1 to 5. The unmanned aerial vehicle
Based on the instruction by the user, the figure to be displayed by the instruction device is set.
The instruction system according to any one of claims 1 to 6. The unmanned aerial vehicle
It has a propeller, a microphone, and a speaker,
When the sound received from the radio is output from the speaker, the sound collected by the microphone and having a phase opposite to that of the propeller is output from the speaker.
The instruction system according to any one of claims 1 to 7. It has an instruction device that indicates the position instructed by the user.
An unmanned aerial vehicle that performs a predetermined display by the instruction device based on the instruction by the user. An instruction system having an unmanned aerial vehicle having an instruction device indicating a position instructed by a user and a radio device for receiving an operation of the unmanned aerial vehicle by the user.
An instruction method in which a predetermined display is performed by the instruction device of the unmanned aerial vehicle based on the instruction by the user. On the computer
The process of accepting the operation of specifying the position by the user,
A program for executing a process of transmitting information to the unmanned aerial vehicle to perform a predetermined display by an instruction device of the unmanned aerial vehicle in response to the operation.

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