JP2022182710A - Flight limiting area setting method, way point setting method, management server, information processing system, and program - Google Patents

Abstract

To provide a flight limiting area setting method etc. by which an area for limiting entrance of an aircraft with respect to a plurality of supports and power lines provided between the supports can be set easily and appropriately.SOLUTION: The present invention relates to a flight limiting area setting method by which a flight limiting area for limiting entrance of an aircraft with respect to a plurality of supports and power lines provided between the supports is set by a computer. The method causes the computer to perform: a support coordinate acquisition step of acquiring, by a support coordinate acquisition unit, support coordinates of a power line mounting position of an arm metal of each support; a step of setting, by a reference coordinate setting unit, a reference coordinate shifted by a predetermined distance in a predetermined direction from each support coordinate; and a step of setting, by a flight limiting area setting unit, a flight limiting area in which a boundary is defined by a boundary coordinate range including a coordinate range on an imaginary straight line connecting the reference coordinates on the same power line.SELECTED DRAWING: Figure 11

Description

The present invention relates to a restricted flight area setting method, a waypoint setting method, a management server, an information processing system, and a program.

BACKGROUND ART In recent years, flying vehicles (hereinafter collectively referred to as “flying vehicles”) such as drones and unmanned aerial vehicles (UAVs) have begun to be used in industry. Under these circumstances, Patent Literature 1 discloses a system for inspecting power lines by photographing them with an aircraft.

JP 2020-196355 A

However, in the technique disclosed in Patent Literature 1, it is necessary to preset and store all waypoints by manual input or the like in order to create the flight path of the aircraft. Therefore, when the flight route becomes long, it takes time and effort to set waypoints for the entire flight route.

In addition, although it is important to set flight restriction areas on power lines, etc., in order to ensure safety, parameters for setting flight restriction areas are less important than structures such as buildings where center coordinate information etc. can be set. (For example, coordinate information, etc.) becomes complicated, so there has been a demand for a method of simply and appropriately setting flight restriction areas for power lines and supports (for example, steel towers) that support the power lines.

SUMMARY OF THE INVENTION The present invention has been made in view of such a background. It is an object of the present invention to provide a restricted area setting method or the like, and further to provide a waypoint setting method or the like for automatically setting a waypoint at an appropriate position using the restricted flight area.

A main aspect of the present invention for solving the above-mentioned problems is a flight restriction area setting method for setting, by a computer, a flight restriction area for restricting an aircraft from entering a plurality of supports and a power line provided between the supports. a support coordinate acquisition step of acquiring, in the computer, the support coordinate acquisition unit to acquire the support coordinate regarding the power line mounting position of each cross arm of the support; and a reference coordinate setting unit, a step of setting reference coordinates shifted by a predetermined distance in a predetermined direction from each of the supporting object coordinates; and setting a flight restriction area whose boundary is defined by a boundary coordinate range including

Another invention of the present invention for solving the above-mentioned problems is a waypoint setting method for setting waypoints for the flying object by the computer based on the flight restriction area set by the flight restriction area setting method. and setting the waypoint on the boundary coordinate range defining the boundary of the restricted flight area by a waypoint setting unit.

According to the present invention, in particular, there is provided a flight restriction area setting method that can easily and appropriately set a flight restriction area for restricting an aircraft from entering a plurality of supports and a power line provided between the supports. Further, it is possible to provide a waypoint setting method or the like for automatically setting a waypoint at an appropriate position using the restricted flight area.

1 is a diagram showing the configuration of an information processing system according to an embodiment of the present invention; FIG. 2 is a block diagram showing the hardware configuration of a management server in FIG. 1; FIG. 2 is a block diagram showing the hardware configuration of the user terminal in FIG. 1; FIG. FIG. 2 is a block diagram showing the hardware configuration of the flying object of FIG. 1; FIG. 2 is a block diagram showing functions of a management server in FIG. 1; FIG. 4 is a flow chart of a flight restriction area setting method according to an embodiment of the present invention; 1 is an example of a conceptual diagram showing the configuration of a method for setting a restricted flight area according to an embodiment of the present invention; FIG. 1 is an example of a conceptual diagram showing the configuration of a method for setting a restricted flight area according to an embodiment of the present invention; FIG. It is a figure which illustrates the reference coordinate concerning embodiment of this invention. It is a figure which illustrates the reference coordinate concerning embodiment (another support shape) of this invention. It is a figure which illustrates the virtual straight line concerning embodiment of this invention. It is a figure which illustrates the virtual straight line concerning embodiment (another support shape) of this invention. It is a figure which illustrates the flight restriction area|region concerning embodiment of this invention. 4 is a flow chart of a waypoint setting method according to an embodiment of the present invention; 1 is an example of a conceptual diagram showing the configuration of a waypoint setting method according to an embodiment of the present invention; FIG. It is a figure which illustrates waypoint correction concerning embodiment of this invention.

The contents of the embodiments of the present invention are listed and explained. The present invention has, for example, the following configuration.
[Item 1]
A flight restriction area setting method for setting, by a computer, a flight restriction area for restricting an aircraft from entering a plurality of supports and a power line provided between the supports, comprising:
to said computer,
a support coordinate obtaining step of obtaining, by a support coordinate obtaining unit, the support coordinates relating to the power line mounting position of the cross arm of each of the supports;
a step of setting reference coordinates that are shifted by a predetermined distance in a predetermined direction from the coordinates of each of the supports by a reference coordinate setting unit;
setting a flight restriction area, the boundary of which is defined by a boundary coordinate range including a coordinate range on the virtual straight line connecting the reference coordinates on the same power line, by a flight restriction area setting unit; let
A flight restriction area setting method characterized by:
[Item 2]
The predetermined direction is a direction orthogonal to the extending direction of the power line in the horizontal direction,
A flight restriction area setting method according to item 1, characterized by:
[Item 3]
A waypoint setting method for setting a waypoint for the flying object by the computer based on the flight restriction area set by the flight restriction area setting method according to item 1 or 2,
setting the waypoint on the boundary coordinate range defining the boundary of the flight restriction area by a waypoint setting unit;
A waypoint setting method characterized by:
[Item 4]
The step of setting the waypoint further includes, if the waypoint is within a predetermined distance range from the support, moving the corresponding waypoint to the boundary of the predetermined distance range from the support.
The waypoint setting method according to item 3, characterized by:
[Item 5]
A management server for setting a flight restriction area for restricting an aircraft from entering a plurality of supports and power lines provided between the supports,
a support coordinate acquisition unit that acquires support coordinates related to the power line mounting position of each cross arm of the support;
a reference coordinate setting unit that sets reference coordinates shifted by a predetermined distance in a predetermined direction from the coordinates of each support;
a flight restriction area setting unit that sets a flight restriction area whose boundary is defined by a boundary coordinate range including a coordinate range on the virtual straight line connecting the reference coordinates on the same power line,
A management server characterized by:
[Item 6]
An information processing system for setting a flight restriction area for restricting entry of an aircraft to a plurality of supports and power lines provided between the supports,
a support coordinate acquisition unit that acquires support coordinates related to the power line mounting position of each cross arm of the support;
a reference coordinate setting unit that sets reference coordinates shifted by a predetermined distance in a predetermined direction from the coordinates of each support;
a flight restriction area setting unit that sets a flight restriction area whose boundary is defined by a boundary coordinate range including a coordinate range on the virtual straight line connecting the reference coordinates on the same power line,
An information processing system characterized by:
[Item 7]
A program for causing a computer to execute a flight restriction area setting method for setting a flight restriction area for restricting an aircraft from entering a plurality of supports and a power line provided between the supports,
to said computer,
a support coordinate obtaining step of obtaining, by a support coordinate obtaining unit, the support coordinates relating to the power line mounting position of the cross arm of each of the supports;
a step of setting reference coordinates that are shifted by a predetermined distance in a predetermined direction from the coordinates of each of the supports by a reference coordinate setting unit;
and setting a flight restriction area whose boundary is defined by a boundary coordinate range including a coordinate range on the virtual straight line connecting the reference coordinates on the same power line by the flight restriction area setting. ,
A program characterized by

<Details of Embodiment>
Hereinafter, embodiments of a flight restriction area setting method, a waypoint setting method, etc., according to embodiments of the present invention will be described. In the accompanying drawings, the same or similar elements are denoted by the same or similar reference numerals and names, and duplicate descriptions of the same or similar elements may be omitted in the description of each embodiment. Also, the features shown in each embodiment can be applied to other embodiments as long as they are not mutually contradictory.

<Configuration>
As shown in FIG. 1, the information processing system according to the present embodiment has a management server 1, one or more user terminals 2, and one or more aircraft 4. FIG. The management server 1, the user terminal 2, and the aircraft 4 are communicably connected to each other via a network. Note that the illustrated configuration is an example, and the configuration is not limited to this.

<Management server 1>
FIG. 2 is a diagram showing the hardware configuration of the management server 1. As shown in FIG. Note that the illustrated configuration is an example, and other configurations may be employed.

As illustrated, a management server 1 is connected to a plurality of user terminals 2 and an aircraft 4 and constitutes part of this system. The management server 1 may be, for example, a general-purpose computer such as a workstation or personal computer, or may be logically realized by cloud computing.

The management server 1 includes at least a processor 10 , a memory 11 , a storage 12 , a transmission/reception section 13 , an input/output section 14 and the like, which are electrically connected to each other through a bus 15 .

The processor 10 is an arithmetic device that controls the overall operation of the management server 1, controls transmission and reception of data between elements, executes applications, and performs information processing necessary for authentication processing. For example, the processor 10 is a CPU (Central Processing Unit) and/or a GPU (Graphics Processing Unit), and executes a program for this system stored in the storage 12 and developed in the memory 11 to perform each information process. .

The memory 11 includes a main memory composed of a volatile memory device such as a DRAM (Dynamic Random Access Memory), and an auxiliary memory composed of a non-volatile memory device such as a flash memory or a HDD (Hard Disc Drive). . The memory 11 is used as a work area for the processor 10, and stores a BIOS (Basic Input/Output System) executed when the management server 1 is started, various setting information, and the like.

The storage 12 stores various programs such as application programs. A database storing data used for each process may be constructed in the storage 12 .

The transmission/reception unit 13 connects the management server 1 to the network. The transmitting/receiving unit 13 may include a short-range communication interface of Bluetooth (registered trademark) and BLE (Bluetooth Low Energy).

The input/output unit 14 is an information input device such as a keyboard and a mouse, and an output device such as a display.

A bus 15 is commonly connected to the above elements and transmits, for example, address signals, data signals and various control signals.

<User terminal 2>
The user terminal 2 shown in FIG. 3 also includes a processor 20 , a memory 21 , a storage 22 , a transmission/reception section 23 , an input/output section 24 and the like, which are electrically connected to each other through a bus 25 . Since the function of each element can be configured in the same manner as the management server 1 described above, detailed description of each element will be omitted.

<Aircraft 4>
FIG. 4 is a block diagram showing the hardware configuration of the flying object 4. As shown in FIG. Flight controller 41 may have one or more processors, such as programmable processors (eg, central processing units (CPUs)).

The flight controller 41 also has a memory 411 and can access the memory. Memory 411 stores logic, code, and/or program instructions executable by the flight controller to perform one or more steps. The flight controller 41 may also include sensors 412 such as an inertial sensor (acceleration sensor, gyro sensor), GPS sensor, proximity sensor (for example, rider).

Memory 411 may include, for example, separable media or external storage devices such as SD cards and random access memory (RAM). Data acquired from cameras/sensors 42 may be communicated directly to memory 411 and stored. For example, still image/moving image data captured by a camera or the like may be recorded in an internal memory or an external memory. It may be recorded in one of the user terminals 2 . A camera 42 is installed on the flying object 4 via a gimbal 43 .

Flight controller 41 includes a control module, not shown, configured to control the state of the vehicle. For example, the control module may be configured to adjust the spatial orientation, velocity, and/or acceleration of a vehicle having six degrees of freedom (translational motions x, y, and z, and rotational motions _θx , _θy , and _θz ). , ESC 44 (Electric Speed Controller) to control the propulsion mechanism (motor 45, etc.) of the aircraft. A propeller 46 is rotated by a motor 45 powered by a battery 48 to generate a lift force of the aircraft. The control module can control one or more of the states of the mount, sensors.

Flight controller 41 is configured to transmit and/or receive data from one or more external devices (e.g., transceiver (propo) 49, terminal, display, or other remote controller). It is possible to communicate with the unit 47 . Transceiver 49 may use any suitable means of communication, such as wired or wireless communication.

For example, the transceiver 47 utilizes one or more of a local area network (LAN), a wide area network (WAN), infrared, wireless, WiFi, point-to-point (P2P) networks, telecommunications networks, cloud communications, and the like. can do.

The transmitting/receiving unit 47 transmits and/or receives one or more of data obtained by the sensors 42, processing results generated by the flight controller 41, predetermined control data, user commands from a terminal or a remote controller, and the like. be able to.

Sensors 42 according to this embodiment may include inertial sensors (acceleration sensors, gyro sensors), GPS sensors, proximity sensors (eg lidar), or vision/image sensors (eg cameras).

<Management server functions>
FIG. 5 is a block diagram illustrating functions implemented in the management server 1. As shown in FIG. In this embodiment, the management server 1 includes a support object coordinate acquisition unit 110, a reference coordinate setting unit 120, a flight restriction area setting unit 130, a waypoint setting unit 140, a waypoint correction unit 150, a storage unit 160, a flight execution A portion 170 is provided. The storage unit 160 also includes various databases including a support-related information storage unit 162 , a reference coordinate information storage unit 164 , a flight restriction area information storage unit 166 and a flight information storage unit 168 .

The support coordinate acquisition unit 110 obtains the support coordinates (for example, the three-dimensional coordinates of the attachment points of the suspension insulators that support the power lines extending from the tip of the cross arm) related to the power line attachment positions of the cross arms of each support. Each is obtained from the information storage unit 162 . The support coordinates may be stored in advance, for example, by the user selecting the power line attachment position of the cross arm from the map information displayed on the user terminal 2, or by flying the aircraft 4 in advance. It may be calculated and stored directly or indirectly based on information acquired by various sensors (for example, GPS position information, atmospheric pressure sensor information, photographing information, etc.), or may be stored in advance by other methods. good too. In addition, here, when the height coordinates of the support coordinates are separately required (for example, in the case of selection from the above map information), prestored height information related to the support (for example, support height information of cross arm, height information of tip of cross arm, height information of mounting point of suspension insulator supporting the power line, etc.).

The reference coordinate setting unit 120 sets reference coordinates shifted by a predetermined distance in a predetermined direction from the coordinates of each support, and stores the reference coordinates in the reference coordinate information storage unit 164 . The predetermined direction is, for example, the outward direction of the power line (the side opposite to the support in the horizontal direction), and in particular, the direction orthogonal to the extension direction of the power line from each support coordinate in the horizontal direction (see FIG. 9). could be. The predetermined distance is a value set by the user and may be a safe distance away from the power line. A specific reference coordinate setting process will be described later.

The flight restriction area setting unit 130 sets a flight restriction area whose boundary is defined by a boundary coordinate range including a coordinate range on a virtual straight line connecting the reference coordinates with a virtual straight line (see FIGS. 10 to 12). It is stored in the restricted area information storage unit 166 .

The waypoint setting unit 140 sets power line waypoints for acquiring information (eg, image information, video information, etc.) related to power lines, and acquisition information (eg, image information, video information, etc.) related to members constituting a support. and an insulator shooting waypoint for acquiring acquisition information (for example, image information, video information, etc.) related to the insulator installed near the tip of the cross arm of the support. A waypoint is set on the boundary of the restricted flight area and stored in the flight information storage unit 168 .

The flight information storage unit 168 stores flight information used in flights for the purpose of, for example, inspecting supports, power lines, and the like. The flight information includes, for example, flight route information (including waypoint information), flight speed, minimum flight altitude, captured image overlap ratio, information obtained during flight (eg, image information, video information, etc.).

The flight execution unit 170 executes a flight for inspection or the like based on various flight information stored in the flight information storage unit 168 .

<Example of flight restriction area setting method>
A flight restriction area setting method according to the present embodiment will be described with reference to FIGS. 6 to 13, including the operation of the information processing system according to the present embodiment. FIG. 6 illustrates a flowchart of the flight restriction area setting method according to this embodiment. 7 and 8 are examples of conceptual diagrams showing the configuration of the flight restricted area setting method according to the embodiment of the present invention. Hereinafter, the support X will be mainly described as an example.

First, as exemplified in FIG. 9, the management server 1 uses the support coordinate acquisition unit 110 to acquire the support coordinates for the power line attachment positions A and B of the support X from the support related information storage unit 162. (SQ101).

Next, as exemplified in FIG. 9, the management server 1 uses the reference coordinate setting unit 120 to set the reference coordinates shifted by a predetermined distance in a predetermined direction (for example, the outward direction of the power line) from the coordinates of each support. The power lines adjacent to the coordinates are respectively set and stored in the reference coordinate information storage unit 164 (SQ102).

Here, a specific processing example of the reference coordinate setting unit 120 will be described below. First, the outward direction (horizontal direction opposite to the support) is specified with respect to the power line. For this purpose, for example, a support region is set to indicate the region where the support exists and its peripheral region. Specifically, for example, a circular support region may be set with the center coordinates of the support as the center point and the distance from the center coordinates to the support coordinates as the radius. A circular support area may be set with the support coordinates in , as a diameter, or the user may set the support area with respect to the map information displayed on the user terminal 2 by a setting operation for setting the support area. However, as long as at least the region where the support exists can be set, any known method of setting the region may be adopted. For example, the center coordinates of the support may be stored in the support-related information storage unit 162 by operating the flying object 4 to move it to the top of the head of the support, etc., and using the GPS sensor information as the center coordinates. The middle point of the support coordinates at the power line attachment positions A and B of the cross arm may be set as the center coordinates. Then, the coordinates of a position (for example, a position 5 m or 10 m away from the power line in the horizontal direction) shifted by a predetermined distance in the direction orthogonal to the direction in which the power line extends from the coordinates of each support in the horizontal direction are calculated, and the coordinates of the support are calculated. Coordinates outside the object area are set as reference coordinates. Here, in order to make sure that one of the calculated coordinates is included in the support region, a distance shorter than the predetermined distance ( For example, 1 m, etc.) may be used. As another setting method, instead of comparing with the support area range, comparison with only the center coordinates is performed to determine which coordinate has the larger distance (i.e., coordinates outside the power line and farther from the support). ) may be set as reference coordinates.

10, it is possible to set reference coordinates for the power line mounting positions A, A', and B of the cross arm in the same manner as in the example shown in FIG. It is possible.

Next, as exemplified in FIGS. 11 to 13, the management server 1 sets the boundary coordinate range including the coordinate range on the virtual straight line connecting the reference coordinates on the same power line with a virtual straight line by setting the flight restriction area. A flight restriction area whose boundary is defined by is set (SQ103). More specifically, since the virtual straight lines do not directly intersect with each other on the power line installation position A side, the intersection of the virtual extension straight lines obtained by further extending the virtual straight lines from the reference coordinate point is stored in the flight restriction area information storage unit 166, for example. Since the virtual straight lines directly intersect on the power line installation position B side, this intersection point is stored in the flight restriction area information storage unit 166, for example. A flight restriction area whose boundary is defined by a boundary coordinate range formed by connecting the intersection points derived in this manner is set and stored in the flight restriction area information storage unit 166 .

As described above, the present invention can be applied to a plurality of supports and power lines provided between the supports, for example, without grasping all the coordinates where the power lines exist, an area for restricting the entry of an aircraft (flight restriction area). area) can be easily and appropriately set.

<Example of waypoint setting method>
The waypoint setting method according to the present embodiment will be described with reference to FIGS. 14 to 16, including the operation of the information processing system according to the present embodiment. FIG. 12 illustrates a flowchart of a waypoint setting method according to this embodiment. Hereinafter, the support X will be mainly described as an example.

First, as exemplified in FIG. 15 , the management server 1 uses the waypoint setting unit 140 to set power line waypoints for obtaining information (for example, image information, video information, etc.) related to the power line, and supports. Member shooting waypoints for acquiring acquisition information (e.g., image information, video information, etc.) related to constituent members, and acquisition information (e.g., image information, video information, etc.) related to insulators installed near the tip of the cross arm of the support information, etc.) is set on the boundary of the flight restriction area and stored in the flight information storage unit 168 (SQ201).

Here, in at least one of the member imaging waypoint and the insulator imaging waypoint, when acquiring information from the lower side of the support, the support has a leg portion that widens from the upper side to the lower side (so-called root opening). In this case, there is a possibility that the flying object 4 is too close.

Therefore, in such a case, as illustrated in FIG. 16, the management server 1 uses the waypoint correction unit 150 to correct at least one of the member photographing waypoint and the insulator photographing waypoint (SQ202). More specifically, first, for example, a circular support region having a radius of a predetermined distance from the center coordinates of the support may be set, or the user may specify the map information displayed on the user terminal 2 as a support region. The object area may be set by a setting operation, but is not limited to this. If the area where the support including at least the legs exists or the surrounding area can be set, a known method for setting the area can be used. may be adopted. The radius of the predetermined distance may be any distance as long as it is sufficiently distant from the support. , if the leg shape is square, calculate from the dimension of one side of the leg), and the length obtained by adding the safe separation distance to this may be the radius. Then, when at least one of the member photographing waypoint and the insulator photographing waypoint exists within the support region, the waypoint correction unit 150, as illustrated in FIG. Modify the corresponding waypoint position (e.g., move it onto the nearest support area boundary, or extend an imaginary straight line from the center coordinates of the member or insulator being filmed or the support to the corresponding waypoint) move it to the intersection of the imaginary straight line and the support area boundary, etc.). In the example of FIG. 16, the power line imaging waypoint is not corrected by the waypoint correction unit 150. This is because it is assumed that the aircraft will fly near the power lines, so it will not be affected by the legs unlike waypoints for photographing parts.

In this way, the present invention makes it possible to set a waypoint at an appropriate position using the above-described flight restriction area, and furthermore, set a support area in consideration of the legs of the support. To allow the waypoint to be corrected to a safe position.

The above-described embodiments are merely examples for facilitating understanding of the present invention, and are not intended to limit and interpret the present invention. It goes without saying that the present invention can be modified and improved without departing from its spirit, and that equivalents thereof are included in the present invention.

1 management server 2 user terminal 4 aircraft

Claims (7)

A flight restriction area setting method for setting, by a computer, a flight restriction area for restricting an aircraft from entering a plurality of supports and a power line provided between the supports, comprising:
to said computer,
a support coordinate obtaining step of obtaining, by a support coordinate obtaining unit, the support coordinates relating to the power line mounting position of the cross arm of each of the supports;
a step of setting reference coordinates that are shifted by a predetermined distance in a predetermined direction from the coordinates of each of the supports by a reference coordinate setting unit;
setting a flight restriction area, the boundary of which is defined by a boundary coordinate range including a coordinate range on the virtual straight line connecting the reference coordinates on the same power line, by a flight restriction area setting unit; let
A flight restriction area setting method characterized by: The predetermined direction is a direction orthogonal to the extending direction of the power line in the horizontal direction,
The flight restriction area setting method according to claim 1, characterized in that: A waypoint setting method for setting a waypoint for the flying object by the computer based on the flight restriction area set by the flight restriction area setting method according to claim 1 or 2,
setting the waypoint on the boundary coordinate range defining the boundary of the flight restriction area by a waypoint setting unit;
A waypoint setting method characterized by: The step of setting the waypoint further includes, if the waypoint is within a predetermined distance range from the support, moving the corresponding waypoint to the boundary of the predetermined distance range from the support.
4. The waypoint setting method according to claim 3, characterized in that: A management server for setting a flight restriction area for restricting an aircraft from entering a plurality of supports and power lines provided between the supports,
a support coordinate acquisition unit that acquires support coordinates related to the power line mounting position of each cross arm of the support;
a reference coordinate setting unit that sets reference coordinates shifted by a predetermined distance in a predetermined direction from the coordinates of each support;
a flight restriction area setting unit that sets a flight restriction area whose boundary is defined by a boundary coordinate range including a coordinate range on the virtual straight line connecting the reference coordinates on the same power line,
A management server characterized by: An information processing system for setting a flight restriction area for restricting entry of an aircraft to a plurality of supports and power lines provided between the supports,
a support coordinate acquisition unit that acquires support coordinates related to the power line mounting position of each cross arm of the support;
a reference coordinate setting unit that sets reference coordinates shifted by a predetermined distance in a predetermined direction from the coordinates of each support;
a flight restriction area setting unit that sets a flight restriction area whose boundary is defined by a boundary coordinate range including a coordinate range on the virtual straight line connecting the reference coordinates on the same power line,
An information processing system characterized by: A program for causing a computer to execute a flight restriction area setting method for setting a flight restriction area for restricting an aircraft from entering a plurality of supports and a power line provided between the supports,
to said computer,
a support coordinate obtaining step of obtaining, by a support coordinate obtaining unit, the support coordinates relating to the power line mounting position of the cross arm of each of the supports;
a step of setting reference coordinates that are shifted by a predetermined distance in a predetermined direction from the coordinates of each of the supports by a reference coordinate setting unit;
setting a flight restriction area, the boundary of which is defined by a boundary coordinate range including a coordinate range on the virtual straight line connecting the reference coordinates on the same power line, by a flight restriction area setting unit; let
A program characterized by

Images