JP6684012B1 - Information processing apparatus and information processing method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an information processing device capable of more accurately and easily setting a route point of a moving body. An information processing apparatus according to the present disclosure is an information processing apparatus for setting a route point of a moving body, and is a display for displaying a visual field image in a virtual three-dimensional space corresponding to a movement target space on a display device. A control unit, a determination unit that determines one selected visual field image from the displayed visual field images, and a point that sets the route point of the moving body in the movement target space based on the viewpoint position of the selected visual field image. And a setting unit. [Selection diagram] Figure 1

Description

  The present disclosure relates to an information processing device and an information processing method for setting a route point of a moving body.

  In recent years, various services using unmanned aerial vehicles such as drones or unmanned aerial vehicles have been provided.

  These air vehicles may be used in applications such as aerial photography, inspection and surveying, for example. When the flying body is caused to fly autonomously for the purpose of such an application and a predetermined process is performed at a predetermined position, a route point of the flying body is set. For example, Patent Document 1 below discloses a technique for setting a flight route for three-dimensional geographical information.

International Publication No. 2019/077682

  When photographing or inspecting an actual structure or the like, more accurate positioning of a route point of a moving body such as a flying body is required. In the technique disclosed in Patent Document 1 above, the route point must be determined from a macroscopic bird's-eye view. Therefore, from the viewpoint of accuracy and operability, the burden on the user in setting the route point is large.

  Therefore, the present invention has been made in view of such a background, and an object of the present invention is to provide an information processing apparatus and an information processing method capable of setting a route point of a moving body more accurately and easily. .

  According to the present disclosure, an information processing apparatus for setting a route point of a moving body, which includes a display control unit that causes a display device to display a visual field image in a virtual three-dimensional space corresponding to a movement target space, is displayed. A determination unit that determines one selected visual field image from the visual field image; and a point setting unit that sets the route point of the moving body in the movement target space based on the visual point position of the selected visual field image, An information processing device is provided.

  Further, according to the present disclosure, there is provided an information processing method for setting a route point of a moving body, which includes displaying a visual field image in a virtual three-dimensional space corresponding to a movement target space on a display device. An information processing method, comprising: determining one selected visual field image from the visual field image; and setting the route point of the moving body in the movement target space based on a visual point position of the selected visual field image. Will be provided.

  According to the present disclosure, a route point of a moving body can be set more accurately and easily.

It is a figure for explaining an outline of a course setup system of a flying body. FIG. 1 is a diagram showing an outline of a system according to an embodiment of the present disclosure. It is a figure which shows the hardware constitutions of the information processing apparatus which concerns on the same embodiment. It is a functional block diagram of the flight object concerning the embodiment. It is a block diagram which shows the function of the control part 11 in the information processing apparatus which concerns on the same embodiment. It is a figure which shows an example of the process in a virtual three-dimensional space. It is a figure which shows an example of the display aspect in the display apparatus by the display control part which concerns on the same embodiment. It is a figure which shows an example of the setting process of the route point by the point setting part which concerns on the same embodiment. It is a flowchart figure regarding the control of the information processing apparatus which concerns on the same embodiment.

  Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the present specification and the drawings, constituent elements having substantially the same functional configuration are designated by the same reference numerals, and duplicate description will be omitted.

The contents of the embodiments of the present disclosure will be listed and described. The technology according to the embodiments of the present disclosure has the following configurations.
(Item 1)
An information processing device for setting a route point of a moving body,
A display control unit for displaying a visual field image in a virtual three-dimensional space corresponding to the movement target space on a display device;
A determining unit that determines one selected visual field image from the displayed visual field images,
A point setting unit that sets the route point of the moving body in the movement target space based on the viewpoint position of the selected visual field image;
An information processing device comprising:
(Item 2)
The information processing apparatus according to item 1, wherein the point setting unit sets a position in the movement target space corresponding to a viewpoint position of the selected visual field image as the route point of the moving body.
(Item 3)
3. The information processing device according to item 1 or 2, wherein the point setting unit sets the direction of the moving body at the route point of the moving body based on the line-of-sight direction at the viewpoint position of the selected visual field image.
(Item 4)
The moving body includes a camera,
The information processing apparatus according to any one of Items 1 to 3, wherein the point setting unit sets the orientation of the optical axis of the camera based on the line-of-sight direction at the viewpoint position of the selected visual field image.
(Item 5)
The moving body includes a camera,
The information according to any one of Items 1 to 4, wherein the point setting unit sets a position in the movement target space where the camera can generate a captured image corresponding to the selected visual field image as the route point. Processing equipment.
(Item 6)
The information processing apparatus according to any one of Items 1 to 5, wherein the display control unit controls to display the view image on a stereoscopic device.
(Item 7)
7. The information processing device according to any one of Items 1 to 6, wherein the display control unit displays a position corresponding to a viewpoint position of the view image on a screen related to map information corresponding to the movement target space. .
(Item 8)
The information processing apparatus according to any one of Items 1 to 7, wherein the information related to the virtual three-dimensional space is information generated based on geographic information provided from an external server.
(Item 9)
An information processing method for setting a route point of a moving body,
Displaying a visual field image in a virtual three-dimensional space corresponding to the moving target space on a display device,
Determining a selected field-of-view image from the field-of-view images displayed;
Setting the route point of the moving body in the movement target space based on the viewpoint position of the selected visual field image;
An information processing method including:

  Hereinafter, a route setting system for an aircraft according to an embodiment of the present disclosure will be described with reference to the drawings. FIG. 1 is a diagram for explaining an outline of a route setting system for an air vehicle.

  In the example shown in FIG. 1, a state in which a route point (waypoint) 1001 and a flight route 1002 of a flying object in a virtual three-dimensional space 1000 are visualized is shown. The virtual three-dimensional space 1000 is a space generated based on virtual three-dimensional space data corresponding to an actual flight target space (an example of a moving target space).

  The virtual three-dimensional space 1000 is based on geographic information provided from an external server, such as spatial data issued by Google Maps (registered trademark), Google Earth (registered trademark), GSI, or the like. Good. Such three-dimensional space data may include object information such as the architectural object 1010. The architectural object 1010 may be provided in addition to the geographical information. Further, the information of the building object included in the geographical information may be deleted in the virtual three-dimensional space 1000. Thereby, for example, the flight target space before and after the construction of the building can be expressed.

  As shown in FIG. 1, a plurality of route points 1001 are set in the virtual three-dimensional space 1000, and a flight route 1002 is set so as to connect these route points 1001. At the route point 1001, for example, the direction (including before and after the conversion) and the attitude of the flying body, the direction of the camera mounted on the flying body, and the like can be set. By such setting, for example, the flight course at the route point 1001 can be appropriately set, and the imaging direction at the route point 1001 can be designated.

  In one embodiment of the present disclosure, the directions and postures of the above-described flying object and camera are set using a visual field image in the virtual three-dimensional space 1000. By setting while confirming the field-of-view image, it becomes possible to more appropriately determine the direction and posture of the flight vehicle or camera desired by the flight operator or the administrator. Hereinafter, a system according to an embodiment of the present disclosure will be described.

  FIG. 2 is a diagram showing an outline of the system 1 according to the present embodiment. As shown in FIG. 2, the system 1 includes an information processing device 10 and a display device 20 (21). The system 1 can transmit information regarding the flight route to the flying body 30. Further, the system 1 can receive geographical information from the external server 40.

  The information processing device 10 is provided so as to be connectable to the display device 20 via a network such as the Internet. Examples of networks include local area networks (LAN), wide area networks (WAN), infrared, wireless, WiFi, point-to-point (P2P) networks, telecommunications networks, cloud communications and the like.

  The display device 20 is a display device such as a display, a television, a screen or a monitor. The display device 20 has a function of displaying information transmitted from the information processing device 10. The display device 20 may include an input device such as a mouse, a keyboard, a switch, a button, a sensor, a microphone, or a touch panel, and the display device 20 transfers information obtained by input to the input device to the information processing device 10. You may send it.

  Further, the display device may be the VR goggles 21. The VR goggles 21 are an example of a display device that stereoscopically represents a virtual three-dimensional space corresponding to the flight target space and displays the virtual three-dimensional space for the user. By using such VR goggles 21, it is possible to enhance the sense of presence in the virtual three-dimensional space, and to set the information regarding the route points of the aircraft more precisely. Note that the display device is not limited to the VR goggles 21 as long as stereoscopic viewing is possible, and any display device may be used.

  The flying body 30 is an example of a moving body. Although an unmanned air vehicle is shown as an example of the mobile object in FIG. 2, the mobile object may be, for example, a vehicle, a ship, a diving device, or the like, and the form is particularly limited as long as the mobile object operates autonomously by a control signal. Not done. Examples of the air vehicle 30 include an unmanned air vehicle (for example, a drone, a multicopter, etc.) that autonomously fly based on control information obtained in advance from a control device such as the information processing device 10. The type of flying body is not particularly limited. The flying body 30 flies autonomously based on the information about the flight route and the route point transmitted from the information processing device 10. The flying body 30 may be connected to the information processing apparatus 10 via, for example, LTE, 5G, infrared rays, WiFi, Bluetooth (registered trademark), BLE (Bluetooth Low Energy), or a wire.

  The external server 40 is configured by a single server or a plurality of servers (for example, cloud servers) and has geographical information. Such geographic information may include, for example, map information and topographical information, and additional information and meta information associated with these. The additional information is, for example, information about a building. The geographical information may be provided by GIS (Geographic Information System). The information processing device 10 may acquire the geographic information from the external server 40 through an API (Application Programming Interface). Note that, for example, when the information processing device 10 stores geographic information in the storage 13 or the like in advance, the information processing device 10 does not have to acquire the geographic information from the external server 40.

  For example, when the flight route of the flight vehicle 30 is set and the flight vehicle 30 performs a predetermined work at a route point (a point in the flight route where work by the flight vehicle 30 such as shooting and inspection is performed). To do. At this time, in order to appropriately perform the work by the flying object 30, the flying object 30 may be set to have a predetermined orientation or attitude with respect to the object or the object space. However, if an attempt is made to set the orientation and orientation of the flying body 30 by numerical values, it is difficult to know whether the actual orientation of the flying body 30 in the target flight space will be the desired orientation until the actual flight.

  Therefore, the system 1 according to the present embodiment constructs a virtual three-dimensional space 1000 corresponding to the flight target space, and sets a virtual flying object (or a camera mounted on the flying object) in the virtual three-dimensional space 1000 as a viewpoint. Acquire a field-of-view image. A field-of-view image that reflects a desired field of view is selected from the field-of-view images as a selected field-of-view image, and a route point of the air vehicle is set based on the viewpoint position of the selected field-of-view image. Thus, the user flying the flying object 30 can more intuitively understand the route point of the flying object 30. That is, the route point of the flying object 30 can be set more accurately.

  Hereinafter, each component of the system 1 according to the present embodiment will be described.

  FIG. 3 is a diagram showing a hardware configuration of the information processing device 10 according to the present embodiment. The illustrated configuration is an example, and other configurations may be included.

  As illustrated, the information processing device 10 is connected to a database (not shown) and constitutes a part of the system. The information processing device 10 may be a general-purpose computer such as a workstation or a personal computer, or may be logically realized by cloud computing.

  The information processing device 10 includes at least a control unit 11, a memory 12, a storage 13, a communication unit 14, an input / output unit 15, and the like, which are electrically connected to each other via a bus 16.

  The control unit 11 is an arithmetic device that controls the overall operation of the information processing device 10, controls the transmission and reception of data between each element, and executes information processing necessary for execution of an application and authentication processing. For example, the control unit 11 is a CPU (Central Processing Unit), and executes a program or the like stored in the storage 13 and expanded in the memory 12 to perform each information processing.

  The memory 12 includes a main memory configured by a volatile storage device such as a DRAM (Dynamic Random Access Memory) and an auxiliary storage configured by a non-volatile storage device such as a flash memory or a HDD (Hard Disc Drive). . The memory 12 is used as a work area or the like of the control unit 11, and also stores a BIOS (Basic Input / Output System) executed when the information processing apparatus 10 is started up, various setting information, and the like.

  The storage 13 stores various programs such as application programs. A database that stores data used for each process may be built in the storage 13.

  The communication unit 14 connects the information processing device 10 to a network and / or a block chain network. The communication unit 14 may include a short-range communication interface of Bluetooth (registered trademark) and BLE (Bluetooth Low Energy).

  The input / output unit 15 is an information input device such as a keyboard and a mouse, and an output device such as a display.

  The bus 16 is commonly connected to each of the above elements and transmits, for example, an address signal, a data signal, and various control signals.

  FIG. 4 is a functional block diagram of the flying object 30 according to the present embodiment. Note that the following functional block diagram is described as a concept stored in a single device (aircraft in FIG. 4) for the sake of simplicity, but for example, a part of the functions is described in an external device (for example, , The information processing apparatus 10) or may be logically configured by using cloud computing technology.

  The flight controller 31 can have one or more processors, such as programmable processors (eg, central processing units (CPU)).

  The flight controller 31 has a memory 311 and can access the memory. Memory 311 stores logic, code, and / or program instructions executable by flight controller 31 to perform one or more steps.

  The memory 311 may include a separable medium such as an SD card or a random access memory (RAM) or an external storage device. Data obtained from the external device 35 such as the camera 351 or the sensor 352 may be directly transmitted to and stored in the memory 311. For example, still image / moving image data captured by a camera or the like is recorded in an internal memory or an external memory. The external device 35 is installed on the flying body via the gimbal 34.

The flight controller 31 includes a controller 312 that is configured to control the condition of the air vehicle. For example, the controller 312 may adjust the spatial arrangement, velocity, and / or acceleration of a vehicle having 6 degrees of freedom (translational motions x, y and z, and rotational motions θ _x , θ _y and θ _z ). In addition, the propulsion mechanism (motor 37, etc.) of the flying body is controlled via an ESC (Electric Speed Controller) 36. Rotation of the propeller 38 by the motor 37 causes lift of the air vehicle. The control unit 312 can control one or more of the states of the mounting unit and the sensors.

  The flight controller 31 is a transceiver configured to transmit and / or receive data from one or more external devices (eg, transceiver (propo), terminal, display, or other remote controller). 33 can be communicated with. The transceiver can use any suitable communication means, such as wired or wireless communication.

  For example, the transmission / reception unit 33 is one or more of a local area network (LAN), a wide area network (WAN), infrared, wireless, wired, WiFi, point-to-point (P2P) network, telecommunication network, cloud communication, and the like. Can be used.

  The transmission / reception unit 33 transmits and / or receives at least one of data acquired by a camera or various sensors, processing results generated by the flight controller 31, predetermined control data, a user command from a terminal or a remote controller, and the like. Or you can receive. It should be noted that in the present embodiment, communication with the information processing device 10 can be performed via the transmitting / receiving unit 33.

  The sensor 352 (included in the external device 25) according to the present embodiment is an inertial sensor (acceleration sensor, gyro sensor), positioning sensor (GPS sensor), distance measuring sensor (for example, laser sensor, ultrasonic sensor, LiDAR). , Or may include a geomagnetic sensor. Also included is a sensor or a vision / image sensor (eg, camera 351).

  FIG. 5 is a block diagram showing the functions of the control unit 11 in the information processing apparatus 10 according to this embodiment. The configuration illustrated in FIG. 5 is an example, and the configuration is not limited to this.

  The control unit 11 includes an acquisition unit 111, a display control unit 112, a determination unit 113, and a spot setting unit 114.

  The acquisition unit 111 has a function of acquiring various information from inside or outside the control unit 11. For example, the acquisition unit 111 acquires geographical information from the external server 40 or the storage 13. The geographic information includes geographic information about an actual flight target space corresponding to a virtual three-dimensional space described later. The virtual three-dimensional space may be rendered by the control unit 11 when displayed on the display device or the like by the display control unit 112, for example.

  The display control unit 112 has a function of causing a display device to display a visual field image in a virtual three-dimensional space corresponding to the flight target space. As shown in FIG. 1, such a virtual three-dimensional space is a space that is modeled corresponding to the flight target space in which the flying body 30 is scheduled to fly.

  FIG. 6 is a diagram illustrating an example of processing in the virtual three-dimensional space. A virtual three-dimensional space 1000 shown in FIG. 6 includes a building object 1010. Around the building object 1010, a flight path 1001a of the air vehicle and path points 1002a and 1002b of the air vehicle are preset. Here, it is assumed that the new flight route 1001b is set next with the route point 1002b as the starting point, that is, the next route point is set.

  Here, in the virtual three-dimensional space 1000, the visual field image at the viewpoint position 1003 is acquired. Here, the visual field image corresponding to the line of sight 1004c at the viewpoint position 1003 is acquired. The viewpoint position 1003 and the line of sight 1004c can be appropriately changed, for example, via the input / output unit 15. With such a change, a plurality of visual field images are acquired. The visual field image may be a still image or a moving image.

  The display control unit 112 outputs the acquired visual field image to the display devices 20 and 21.

  FIG. 7 is a diagram showing an example of a display mode on the display device 20 by the display control unit 112 according to the present embodiment. As shown in FIG. 7, a visual field image Img1 is displayed on the display device 20. A part of the virtual three-dimensional space 1000 is shown in the visual field image Img1. The visual field image Img1 is acquired at the viewpoint position 1003 in FIG.

  The visual field image Img1 includes the architectural object 1010, the flight route 1001a and the route point 1002b that have already been set. The visual field image Img1 is an image of the architectural object 1010 viewed from an oblique direction.

  The display control unit 112 may display the position 1006 corresponding to the viewpoint position 1003 of the visual field image Img1 on the screen 1005 related to the map information corresponding to the flight target space. The screen 1005 may be displayed so as to be superimposed on the visual field image Img1. Such map information may be information relating to a two-dimensional map or may be map information corresponding to a three-dimensional space acquired from a visual field different from the visual field image Img1. As a result, the viewpoint position 1003 can be grasped in a bird's-eye view.

  The display control unit 112 may also display information at the viewpoint position 1003 at which the visual field image Img1 is acquired. In the example shown in FIG. 7, viewpoint position information 1007 is displayed in the visual field image Img1. The viewpoint position information 1007 displays latitude information (Lat.), Lightness information (Lon.), Horizontal angle information (Dir.), And elevation angle information (Ang.). As a result, more accurate information regarding the viewpoint position can be grasped.

  The user who sets the route of the flying body 30 can appropriately change the visual field image Img1 displayed on the display device 20 to determine a desired visual field image. Such an operation may be performed by an input device such as a touch panel attached to the display device 20, or may be performed via the input / output unit 15 of the information processing device 10.

  The determination unit 113 has a function of determining a selected visual field image from the visual field images displayed on the display device 20. For example, it is assumed that the determination unit 113 appropriately changes the view image by the user's operation displayed on the display device 20. Then, when the user obtains a desired visual field and the user performs an operation related to the determination via the input / output unit 15 or the like, the determination unit 113 displays the visual field image currently displayed on the display device 20. Determined as the selected visual field image. Further, when a plurality of visual field images are obtained, the determination unit 113 may determine one of the visual field images as the selected visual field image. When the visual field image is a moving image, the determination unit 113 may extract one frame and determine the selected visual field image.

  The point setting unit 114 has a function of setting a route point of the aircraft 30 in the flight target space based on the viewpoint position of the selected visual field image. For example, the point setting unit 114 may set the viewpoint position as the route point of the air vehicle 30.

  FIG. 8 is a diagram showing an example of a route point setting process by the point setting unit 114 according to the present embodiment. The point setting unit 114 sets the route point 1002c. This route point 1002c is a position corresponding to the viewpoint position 1003 shown in FIG. That is, the position where the visual field image Img1 displayed in FIG. 7 can be acquired can be set as the route point as it is. Thereby, the route point desired by the user can be set more accurately. In addition, the point setting unit 114 may set the route point by giving an offset in consideration of the positional relationship between the aircraft 30 and the camera 351 to the viewpoint position.

  The point setting unit 114 may also set the orientation of the flying body 30 at the route point or the orientation of the optical axis of the camera 351 mounted on the flying body 30 based on the line-of-sight direction at the viewpoint position of the selected visual field image. Good. The orientation mentioned here includes a horizontal orientation and an elevation angle. As shown in FIG. 8, the directions of the air vehicle 30 or the optical axis directions 1004a, 1004b, and 1004c of the camera 351 at the route points 1002a, 1002b, and 1002c are the directions corresponding to the line-of-sight directions at the viewpoint positions corresponding to the route points. May be In this way, by setting the orientation of the flying body 30 and the orientation of the optical axis of the camera 351 based on the line-of-sight direction at the viewpoint position, the flying body 30 in the work in the flight target space represented in the virtual three-dimensional space 1000. Or the direction of the optical axis of the camera 351 can be more accurately set to an appropriate direction.

  In addition, when the point setting unit 114 sets the orientation of the flying object 30 based on the line-of-sight direction, for example, an external device 35 such as a sensor 352 or an actuator is loaded on the flying object 30 and an object included in the visual field image is included. There may be a case where work is performed by the external device 35 on a building or the like corresponding to. Further, the case where the spot setting unit 114 sets the direction of the optical axis of the camera 351 based on the line-of-sight direction may be a case where the camera 351 photographs a building or the like corresponding to the object included in the view image. .

  In addition, the spot setting unit 114 may set a position in the flight target space where the camera 351 can generate a captured image corresponding to the selected visual field image as a route spot. That is, the spot setting unit 114 may set the route spot so that the camera 351 can generate the captured image corresponding to the selected visual field image. The point and the direction can be obtained from the relationship between the relative position and orientation of the flying object 30 and the camera 351, and the relationship between the position information of the virtual three-dimensional space and the position information of the actual flight target space. Thereby, for example, the captured image obtained by the camera 351 can be obtained as an image in a situation closer to the selected visual field image.

  The information regarding the route point set by the point setting unit 114 is output to the air vehicle 30, for example. The flying body 30 performs processing related to the flight mode and work at the route point based on the acquired information about the route point. Further, the information regarding the route point may be stored in the storage 13 as appropriate. Further, the flight route may be set based on the route point by another program of the control unit 11 or the like.

  FIG. 9 is a flowchart of the control of the information processing device 10 according to this embodiment. First, the acquisition unit 111 acquires geographical information from the external server 40 or the like (step SQ101). Next, the display control unit 112 causes the display device 20 to display the visual field image in the virtual three-dimensional space obtained based on the acquired geographical information (step SQ103).

  Next, the determination unit 113 determines one selected visual field image from the visual field images based on the user's operation or the like (step SQ105). Then, the spot setting unit 114 sets the route spot of the flying object 30 based on the selected visual field image (step SQ107). The control unit 11 outputs the information related to the set route point to the flying object 30 and / or the storage 13 or the like (step SQ109). The output processing of the information related to the route points may be performed for each setting of one route point, or after the control unit 11 performs the setting process of the plurality of route points, the plurality of route points are collectively processed. May be output.

  As described above, the system 1 according to the present embodiment acquires a visual field image in the virtual three-dimensional space corresponding to the flight target space, and sets the route point of the aircraft based on the desired visual field image. This makes it possible to intuitively and more accurately set the route point (and the orientation of the flying object or the camera) in a space simulating an environment close to the actual flight target space. Therefore, it becomes possible to set the route point of the air vehicle more accurately and easily than before, and the burden on the user is reduced.

  Although the preferred embodiments of the present disclosure have been described above in detail with reference to the accompanying drawings, the technical scope of the present disclosure is not limited to such examples. It is obvious that a person having ordinary knowledge in the technical field of the present disclosure can conceive various changes or modifications within the scope of the technical idea described in the claims. It is understood that the above also naturally belongs to the technical scope of the present disclosure.

  The device described in the present specification may be realized as a single device, or may be realized by a plurality of devices (for example, cloud servers) or the like, which are partially or wholly connected by a network. For example, the control unit 11 and the storage 13 of the information processing device 10 may be realized by different servers connected to each other via a network.

  The series of processes performed by the apparatus described in the present specification may be realized using any of software, hardware, and a combination of software and hardware. It is possible to create a computer program for realizing each function of the information processing apparatus 10 according to the present embodiment, and mount the computer program on a PC or the like. It is also possible to provide a computer-readable recording medium in which such a computer program is stored. The recording medium is, for example, a magnetic disk, an optical disk, a magneto-optical disk, a flash memory, or the like. Further, the above computer program may be distributed, for example, via a network without using a recording medium.

  Further, the processes described using the flowcharts in this specification do not necessarily have to be executed in the illustrated order. Some processing steps may be performed in parallel. In addition, additional processing steps may be adopted, and some processing steps may be omitted.

  Further, the effects described in the present specification are merely illustrative or exemplary, and are not limitative. That is, the technique according to the present disclosure may have other effects that are apparent to those skilled in the art from the description of the present specification, in addition to or instead of the above effects.

  The air vehicle of the present disclosure can be expected to be used as an industrial air vehicle in surveys, surveys, observations, and the like. Further, the aircraft of the present disclosure can be used in airplane-related industries such as multicopter drones.

1 System 10 Information Processing Device 20 Display Device 21 VR Goggles 30 Flying Object (Example of Moving Object)
40 external server 111 acquisition unit 112 display control unit 113 determination unit 114 point setting unit

Claims (9)

An information processing device for setting a route point of a moving body,
A display control unit for displaying a visual field image in a virtual three-dimensional space corresponding to the movement target space on a display device;
A determining unit that determines a selected field-of-view image at one viewpoint position from the displayed field-of-view image,
Based on the viewpoint position of the selected field image, and the point setting portion that sets the path points of the moving body in the moving object space,
An information processing device comprising:   The information processing apparatus according to claim 1, wherein the point setting unit sets a position in the movement target space corresponding to a viewpoint position of the selected visual field image as the route point of the moving body.   The information processing apparatus according to claim 1, wherein the point setting unit sets the direction of the moving body at the route point of the moving body based on the line-of-sight direction at the viewpoint position of the selected visual field image. The moving body includes a camera,
The information processing apparatus according to claim 1, wherein the point setting unit sets the direction of the optical axis of the camera based on the line-of-sight direction at the viewpoint position of the selected visual field image. The moving body includes a camera,
The said point setting part sets the position in the said movement object space which the said camera can produce | generate the captured image corresponding to the said selected visual field image as the said route point, The any one of Claims 1-4. Information processing equipment.   The information processing device according to claim 1, wherein the display control unit performs control to display the visual field image on a stereoscopic device.   The information processing according to any one of claims 1 to 6, wherein the display control unit displays a position corresponding to a viewpoint position of the visual field image on a screen related to map information corresponding to the movement target space. apparatus.   The information processing apparatus according to claim 1, wherein the information related to the virtual three-dimensional space is information generated based on geographic information provided from an external server. An information processing method for setting a route point of a moving body,
Displaying a visual field image in a virtual three-dimensional space corresponding to the moving target space on a display device,
Determining a selected field of view image at one viewpoint position from the displayed field of view image;
And that on the basis of the viewpoint position of the selected field image, sets the path points of the moving body in the moving object space,
An information processing method including:

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