JP7017696B2 - Information processing equipment, information processing equipment control method, unmanned aerial vehicle, unmanned aerial vehicle control method, and program - Google Patents

Description

The present invention relates to an information processing device, a control method for the information processing device, an unmanned aerial vehicle, a control method for an unmanned aerial vehicle, and a program, and in particular, specifies a flightable range of the unmanned aerial vehicle and provides information on the specified flightable range. The present invention relates to a mechanism capable of reducing a fall due to a decrease in the remaining battery level of the unmanned aerial vehicle by notifying the unmanned aerial vehicle.

Conventionally, there are unmanned aerial vehicles that are unmanned aerial vehicles. Unmanned aerial vehicles vary from large to small, but in recent years, small unmanned aerial vehicles (commonly known as drones) that can be remotely controlled have been attracting attention (hereinafter, small unmanned aerial vehicles are simply referred to as unmanned aerial vehicles). Referred to.).

An unmanned aerial vehicle, also called a quadcopter or a multicopter, is equipped with a plurality of rotor blades, and by increasing or decreasing the number of rotations of the rotor blades, the unmanned aerial vehicle can move forward, backward, turn, hover, and the like.

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

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

JP-A-2015-113100

By the way, when an unmanned aerial vehicle is to be flown from a vehicle, the unmanned aerial vehicle is returned to the vehicle and recovered when the flight of the unmanned aerial vehicle is completed. However, when an unmanned aerial vehicle flies with the battery built into the unmanned aerial vehicle, if the remaining battery level drops to an amount that the unmanned aerial vehicle cannot fly, it will crash before being recovered by the vehicle. There was a risk of harm to the unmanned aerial vehicle itself, and the impact of the fall could damage the unmanned aerial vehicle itself.

Also, even when collecting an unmanned aerial vehicle on foot instead of a vehicle, if the remaining battery level drops to an amount that the unmanned aerial vehicle cannot fly, the unmanned aerial vehicle will be out of reach of the person who collects it. There was a risk of falling and causing harm to people at the point of fall.

It is an object of the present invention to provide a mechanism for giving more suitable notification based on information on the flight range of an unmanned aerial vehicle.

The present invention is an information processing device capable of communicating with an unmanned aerial vehicle.
An acquisition means for acquiring the first position information indicating the position where the unmanned aerial vehicle is flying and the second position information which is the position information of a specific moving object or a specific portable device .
Based on the first position information and the second position information acquired by the acquisition means, the positional relationship between the range in which the unmanned aerial vehicle can fly and the position indicated by the second position information is passed. With control means to control to know
It is characterized by having .

According to the present invention, it is possible to provide a mechanism for performing more suitable notification based on information on the flight range of an unmanned aerial vehicle.

The figure which shows the system configuration of the unmanned aerial vehicle navigation system. The figure which shows the hardware composition of the unmanned aerial vehicle 101. The figure which shows the hardware composition of the information processing apparatus applicable to a control computer 103. The figure which shows an example of the screen of the map displayed on the CRT310 of the control computer 103. The figure which shows an example of the screen of the map displayed on the CRT310 of the control computer 103. The figure which shows an example of the screen of the map displayed on the CRT310 of the control computer 103. The figure which shows an example of the screen of the map displayed on the CRT310 of the control computer 103. The figure which shows an example of the screen of the map displayed on the CRT310 of the control computer 103. A flowchart showing an example of unmanned aerial vehicle navigation system control processing. A flowchart showing an example of battery level monitoring processing. Unmanned aerial vehicle management database and vehicle management database. The figure which shows an example of the screen of the map displayed on the CRT310 of the control computer 103. A flowchart showing an example of battery level monitoring processing. Vehicle management database. A flowchart showing an example of unmanned aerial vehicle navigation system control processing. A flowchart showing an example of battery level monitoring processing. The figure which shows the system configuration of the unmanned aerial vehicle navigation system.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The embodiment described below is an example of a specific embodiment of the present invention, and is one of the specific embodiments of the configuration described in the claims.

FIG. 1 is a diagram showing a system configuration of an unmanned aerial vehicle navigation system according to the present embodiment.

In the unmanned aerial vehicle navigation system of the present embodiment, the unmanned aerial vehicle 101 and the control computer 103 (information processing device in the present invention) are connected to each other via a network 102 so as to be able to communicate with each other. The network 102 assumes a wireless network in this embodiment.

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

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

By increasing or decreasing the number of rotations of the rotor blades, the unmanned aerial vehicle can move forward, backward, turn, hover, and so on. The number of rotary wings of the unmanned aerial vehicle 101 shown in FIG. 1 is four, but the number is not limited to this. It may be 3 sheets, 6 sheets, or 8 sheets.

Further, the unmanned aerial vehicle 101 may fly wirelessly or may fly by wire, but in the present invention, it shall fly wirelessly.

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

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

In the present embodiment, it is assumed that the vehicle 104 is a relay vehicle and the unmanned aerial vehicle 101 is used to photograph the subject, but the present invention is not limited to this, for example, because the vehicle 104 carries the cargo for home delivery. The carrier may be a mechanism for sending cargo from the carrier to the delivery destination using the unmanned aerial vehicle 101.

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

Further, the control computer 103 is provided with an operation console. This operation console includes an operation unit for operating the unmanned aerial vehicle 101 and the camera mounted on the unmanned aerial vehicle 101.

Further, the control computer 103 is provided with a GPS receiver, and the current position of the control computer 103 can be specified by receiving a signal from a GPS satellite by the GPS receiver.

The user operates the operation unit to control the flight direction and flight speed to the unmanned aerial vehicle 101. Then, when the control computer 103 receives the operation of the operation unit, it transmits an instruction to the unmanned aerial vehicle 101 to fly according to the received operation content, and when the unmanned aerial vehicle 101 receives the instruction, the unmanned aerial vehicle 101 receives the instruction. The propeller 213 is controlled to fly according to the instruction. In this way, the control computer 103 transmits the operation instruction content operated by the operation unit to the unmanned aerial vehicle 101 to operate the flight of the unmanned aerial vehicle 101.

In addition, the user operates the operation unit to perform a zoom-in operation, a zoom-out operation, and a pan operation of the camera mounted on the unmanned aerial vehicle 101. When the control computer 103 receives the operation of the operation unit, the control computer 103 sends an instruction to the camera to operate according to the received operation content, and when the camera receives the instruction, the control computer 103 follows the instruction. The part that operates each member such as the lens in the camera is operated so as to operate. In this way, the control computer 103 transmits the operation instruction content operated by the operation unit to the camera, and operates the zoom operation of the lens of the camera and the pan operation in the shooting direction.

In the present embodiment, it is assumed that while the unmanned aerial vehicle 101 is in flight, the image is always taken by the camera mounted on the unmanned aerial vehicle 101.

In the present embodiment, it is assumed that the control computer 103 is installed in the vehicle 104, but as another embodiment, the vehicle 104 is provided with a GPS receiver, and the GPS receiver provides a signal from the GPS satellite. Is installed, a device capable of specifying the current position of the vehicle 104 and further transmitting the specified current position information to the control computer 103 is installed, and the device and the control computer 103 communicate with each other to communicate with the vehicle 104. As long as the control computer 103 can acquire the position information of the vehicle 104, it may be installed in a remote place physically separated from the vehicle 104.

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

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

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

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

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

The CPU 201 comprehensively controls each device connected to the system bus. Further, in the external memory 280 connected to the ROM 202 or the peripheral bus I / F 304, a BIOS (Basic Input / Output System) and an operating system program, which are control programs of the CPU 201, are stored.

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

The CPU 201 realizes various operations by loading a program or the like necessary for executing a process into the RAM 203 and executing the program.

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

The PMU 210 is a power management unit and can control the power supply from the battery of the unmanned aerial vehicle 101 to the ESC 211. The ESC211 is an electronic speed controller and can control the rotation speed of the motor 212 connected to the ESC211. By rotating the motor 212 by the ESC 211, the propeller 213 (rotor blade) connected to the motor 212 is rotated. A plurality of sets of ESC 211, motor 212, and propeller 213 are provided according to the number of propeller 213. For example, in the case of a quadcopter, the number of propellers 213 is four, so four of these sets are required.

The wireless LAN BB unit 230 is a baseband unit for communicating via a wireless LAN. The wireless LAN BB unit 230 can generate a baseband signal from the data or signal to be transmitted and send it to the modulation / demodulation circuit. Further, the original data or signal can be obtained from the received baseband signal.

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

The mobile communication BB unit 240 is a baseband unit for communicating via a mobile communication network. The mobile communication BB unit 240 can generate a baseband signal from the data or signal to be transmitted and send it to the modulation / demodulation circuit. Further, the original data or signal can be obtained from the received baseband signal.

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

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

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

The GCU 270 is a gimbal control unit, which is a unit for controlling the operation of the camera 271 and the gimbal 272. The flight of the unmanned aerial vehicle 101 causes vibrations in the aircraft and makes the aircraft unstable. Therefore, the gimbal 272 absorbs the vibrations of the unmanned aerial vehicle 101 so that blurring does not occur when shooting with the camera 271. Maintain level. It is also possible to remotely control the camera 271 with the gimbal 272.

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

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

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

Reference numeral 303 is a RAM, which functions as a main memory, a work area, and the like of the CPU 301. The CPU 301 realizes various operations by loading a program or the like necessary for executing a process from the ROM 302 or the external memory 311 into the RAM 303 and executing the loaded program.

Further, 305 is an input controller, which controls input from a pointing device such as a keyboard (KB) 309. Reference numeral 306 is a video controller, which controls the display on a display such as a CRT display (CRT) 310. Although it is described as CRT310 in FIG. 2, the display may be not only the CRT but also another display such as a liquid crystal display.

307 is a memory controller, which can be used in an external storage device (hard disk (HD)) for storing boot programs, various applications, font data, user files, edit files, various data, etc., a flexible disk (FD), or a PCMCIA card slot. Controls access to external memory 311 such as CompactFlash® memory connected via an adapter.

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

The CPU 301 can be displayed on the CRT 310 by, for example, executing an outline font expansion (rasterization) process in the display information area in the RAM 303. Further, the CPU 301 enables a user instruction with a mouse cursor or the like (not shown) on the CRT 310.

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

Next, with reference to FIGS. 4 to 8, the map screen displayed on the CRT 310 of the control computer 103 in the unmanned aerial vehicle navigation system according to the present embodiment will be described.

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

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

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

Further, the vehicle icon 402, which is an icon corresponding to the vehicle 104, corresponds to the current position of the vehicle 104 (more accurately, the control computer 103) specified by the signal received by the GPS receiver included in the control computer 103. Display at a position on the map 400. The GPS receiver may be provided in the vehicle 104.

By checking the map 400, the user can grasp the current positions of the unmanned aerial vehicle 101 and the vehicle 104.

Next, FIGS. 5 and 6 will be described. In FIG. 5, a flight range 501 indicating a flight range of the unmanned aerial vehicle 101 is displayed on the map 400. The flight range 501 is specified by the voltage of the battery of the unmanned aerial vehicle 101 and the like. The method of specifying the flight range 501 will be described in detail later.

The flightable range 501 is displayed so that when the movable range is narrowed due to a decrease in the battery voltage of the unmanned aerial vehicle 101, the size of the circle in the flightable range is also reduced, for example, as shown in FIG.

The flight range 601 of FIG. 6 shows a state in which the flight range 501 is narrowed from the state of FIG. 5 due to a decrease in the battery voltage of the unmanned aerial vehicle 101.

Then, when the vehicle 104 is outside the flight range 501 (601), a warning indicating that the vehicle 104 is outside the flight range 501 and a notification prompting the vehicle 104 to move within the flight range 501 (601). Notification 502 including.

By performing the notification 502, the user knows that the vehicle 104 is in a position where the unmanned aerial vehicle 101 cannot be recovered, whereby the vehicle 104 is placed within the flight range 501 (601) where the unmanned aerial vehicle 101 can be recovered. The unmanned aerial vehicle 101 can be moved to recover the unmanned aerial vehicle 101, reducing the risk that the unmanned aerial vehicle 101 will fall to a place other than the vehicle 104, causing the unmanned aerial vehicle 101 to break down or injuring a person due to the unmanned aerial vehicle 101. Is possible.

Further, when the vehicle 104 is moved, the vacant lot is identified (503) and the parking lot is identified (504), so that the unmanned aerial vehicle can be safely and quickly moved to where the user moves the vehicle 104. It is possible to immediately recognize whether the 101 can be recovered, and by displaying the remaining flight time of the unmanned aerial vehicle 101 as shown in 505, it is possible to move the vehicle 104 in a hurry or whether there is still room. It can be recognized by the user.

This is the end of the description of FIGS. 5 and 6, and then FIG. 7 will be described.

FIG. 7 is another embodiment of FIG. 5, and is a diagram in which the influence of wind around the unmanned aerial vehicle 101 is taken into consideration when specifying the flight range of the unmanned aerial vehicle 101. When the unmanned aerial vehicle 101 flies from windward to leeward, it can fly farther due to the influence of the wind. Therefore, in FIG. 7, the flight range of the unmanned aerial vehicle 101 (the flight range of FIG. 7) is shown. 701) is set wide only in the leeward direction. FIG. 7 is an example of a case where the wind is blowing from the northwest to the southeast around the unmanned aerial vehicle 101.

This is the end of the description of FIG. 7, and then FIG. 8 will be described.

5 to 7 have described the display of the map screen after the unmanned aerial vehicle 101 has started flight, but FIG. 8 will explain the map screen before the unmanned aerial vehicle 101 has started flight.

In FIG. 8, the flight range of the unmanned aerial vehicle 101 is displayed in three patterns (803 to 805). On the line of flight range 805, even if the unmanned aircraft 101 flies from the current position (stop position of the vehicle 104) to the line and takes a picture while hovering (standby) for 20 minutes at that position, it returns to the current position. It shows the position where it can come, and even if the unmanned aircraft 101 flies from the current position (the stop position of the vehicle 104) to the line on the line of the flight range 804 and takes a picture while hovering at that position for 10 minutes. Indicates a position where the aircraft can return to the current position, and on the line of the flight range 803, the unmanned aircraft 101 flies from the current position (the stop position of the vehicle 104) to the line and immediately without hovering at that position. If you turn back, it shows the position where you can return to the current position. Note that 803 to 805 are examples, and the flightable range may be displayed in more detail.

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

Next, with reference to FIG. 9, a flowchart showing an example of the unmanned aerial vehicle navigation system control process in the present invention will be described.

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

In step S901, the control computer 103 activates the unmanned aerial vehicle navigation system according to an instruction from the user.

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

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

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

In step S904, the control computer 103 acquires the information of the unmanned aerial vehicle 101 from the unmanned aerial vehicle management database of FIG. 11A, which stores the information of the unmanned aerial vehicle 101 in the external memory 311 of the control computer 103 in advance.

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

The unmanned aerial vehicle ID 1101 in the unmanned aerial vehicle management database of FIG. 11A stores an ID for uniquely identifying the unmanned aerial vehicle 101. The current position 1102 stores the current position of the unmanned aerial vehicle 101 specified by the signal received by the GPS unit 250 included in the unmanned aerial vehicle 101. The current position 1102 is appropriately received from the unmanned aerial vehicle 101 and updated.

The flight speed of the unmanned aerial vehicle 101 is stored in the flight speed 1103. The flightable time 1104 when fully charged stores the time that the unmanned aerial vehicle 101 can fly when it is fully charged.

The voltage 1105 of the battery at the time of full charge stores the voltage (remaining amount of the battery) of the unmanned aerial vehicle 101 when the unmanned aerial vehicle 101 is fully charged. As the battery voltage 1106 that makes it impossible to fly, the voltage (remaining amount of the battery) that makes the unmanned aerial vehicle 101 unable to fly is stored.

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

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

<Calculation formula>
(1) (Battery voltage when fully charged 1105-Battery voltage that makes it impossible to fly 1106) ÷ Flyable time when fully charged 1104 = Voltage that drops per minute (battery capacity)

(2) Current battery voltage 1107-Battery voltage that makes it impossible to fly 1106 = Battery remaining amount (voltage) that can fly

(3) Remaining battery level (voltage) that can fly ÷ Voltage that drops per minute = Remaining flight time 1108
In the corresponding vehicle ID 1109, the vehicle ID (vehicle ID 1110) of the vehicle 104 in which the unmanned aerial vehicle 101 is stored is stored.

The vehicle ID 1110 in the vehicle management database of FIG. 11B stores an ID for uniquely identifying the vehicle 104.

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

In the corresponding unmanned aerial vehicle ID 1112, the unmanned aerial vehicle ID (unmanned aerial vehicle ID 1101) of the unmanned aerial vehicle 101 stored in the vehicle 104 is stored.

The unmanned aerial vehicle ID 1101, the flight speed 1103, the flightable time at the time of full charge 1104, the voltage of the battery at the time of full charge 1105, the voltage of the battery that cannot fly 1106, the corresponding vehicle ID 1109, the vehicle ID 1110, the corresponding unmanned aerial vehicle. ID 1112 shall be registered by the user in advance.

This completes the explanation of FIG. 11 and returns to the explanation of FIG.

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

The movable range (distance) can be calculated by the formula "flying speed 1103 x flightable time at full charge 1104/2 = movable range (distance)".

In step S906, the control computer 103 receives from the user the designation of the position to fly the unmanned aerial vehicle 101 on the map.

In step S907, the control computer 103 determines whether the flight start instruction of the unmanned aerial vehicle 101 has been received from the user based on whether the flight position determination button 802 of FIG. 8 has been pressed according to the user operation.

In step S908, the unmanned aerial vehicle 101 is flown to the position designated by the user in step S906.

In step S909, the control computer 103 executes the battery remaining amount monitoring process. The details of the process of step S909 will be described with reference to FIG. This is the end of the description of FIG.

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

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

The process shown in FIG. 10 shall be appropriately performed at a predetermined timing from the start of the flight of the unmanned aerial vehicle 101 to the end of the flight.

In step S1001, the control computer 103 acquires the voltage (remaining battery level) of the battery of the current unmanned aerial vehicle 101, and the acquired value is the acquired value of the unmanned aerial vehicle 101 in the unmanned aerial vehicle management database of FIG. 11 (a). Stored in the current battery voltage 1107.

In step S1002, the control computer 103 acquires the position information of the current unmanned aerial vehicle 101. The acquired position information is stored in the current position 1102 of the unmanned aerial vehicle 101 in the unmanned aerial vehicle management database of FIG. 11 (a).

Step S1001 and step S1002 are examples of the acquisition means for acquiring the position information indicating the position where the unmanned aerial vehicle is flying and the remaining amount of the battery of the unmanned aerial vehicle in the present invention. In S1002 and step S1003, the position information indicating the position where the unmanned aerial vehicle is flying, the remaining amount of the battery of the unmanned aerial vehicle, and the position of the vehicle for recovering the unmanned aerial vehicle can be specified in the present invention. This is an example of an acquisition means for acquiring information.

In step S1003, the control computer 103 acquires the position information of the current vehicle 104. The acquired position information is stored in the current position 1111 of the vehicle 104 in the vehicle management database of FIG. 11 (b).

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

In step S1005, the control computer 103 acquires information on the wind direction and wind speed around the current position of the unmanned aerial vehicle 101 from a server that provides a web service that distributes weather information. Although step S1005 is not an essential process in the present invention, by executing the process of step S1005, the wind direction and the wind speed are taken into consideration when displaying the flight range of the unmanned aerial vehicle 101 on the map in step S1006. It is possible to show a more accurate flight range. Specifically, for example, the display shown in FIG. 701 is possible.

In step S1006, the control computer 103 displays the flight range of the unmanned aerial vehicle 101 at the present time on the map. Specifically, for example, the flightable range 501 of FIG. 5, the flightable range 601 of FIG. 6, and the flightable range 701 of FIG. 7 are specified and displayed. The flightable range can be specified by the current position 1102 of the unmanned aerial vehicle 101 and the formula of "flight speed 1103 x remaining flight time 1108 = flight range (distance)".

In step S1006, the range in which the unmanned aerial vehicle can fly is determined by using the position information of the unmanned aerial vehicle acquired by the acquisition means, the remaining amount of the battery, and the flight speed of the unmanned aerial vehicle in the present invention. It is an example of a specific means for specifying, and is also an example of a notification means for notifying the user of the range in which the unmanned aerial vehicle specified by the specific means can fly.

In step S1007, the control computer 103 determines whether the vehicle 104 is within the flightable range displayed in step S1006, based on the current position 1102 of the unmanned aerial vehicle 101, the current position 1111 of the vehicle 104, and the flightable range of the unmanned aerial vehicle 101. Judgment is based on information. When it is determined that the vehicle 104 is within the flightable range, the control computer 103 shifts the process to step S1010, and when it is determined that the vehicle 104 is not within the flightable range, the control computer 103 shifts to step S1008. Move the process to.

In step S1008, the control computer 103 notifies the user that the vehicle 104 is not within the flight range. As the method of notification, it is sufficient that the user can recognize that the vehicle 104 is not within the flight range. Therefore, for example, a warning sound is emitted from a speaker provided in the control computer 103, or the notification shown in the notification 502 of FIG. 5 is performed. It is conceivable to do.

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

Step S1008 causes the user to recognize that the position of the vehicle specified by the specific information in the present invention is outside the flight range of the unmanned aerial vehicle specified by the specific means. This is an example of a notification means for notifying.

In step S1009, the control computer 103 identifies and displays the vacant lot (503) and identifies and displays the parking lot (504). By executing the process of step S1010, the user can immediately recognize where to move the vehicle 104 to safely and quickly recover the unmanned aerial vehicle 101.

In step S1010, the control computer 103 determines whether the flight end instruction of the unmanned aerial vehicle 101 has been received from the user. If the control computer 103 receives the flight end instruction of the unmanned aerial vehicle 101 from the user, the process ends, and if the user does not receive the flight end instruction of the unmanned aerial vehicle 101, the process returns to step S1001. That is, unless the unmanned aerial vehicle 101 is charged on the way, the flight range displayed in step S1006 after returning the processing from step S1010 to step S1001 gradually becomes narrower, so that the user can use the unmanned vehicle more accurately in real time. It is possible to know the flight range of the aircraft 101.

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

This is the end of the description of FIG.

Next, a second embodiment of the battery remaining amount monitoring process in the present invention will be described with reference to FIGS. 12 to 14.

Since each process of steps S1301 to S1309 is the same process as each process of steps S1001 to S1009, and step S1313 is the same process as step S1010, the description thereof will be omitted.

In step S1310, the control computer 103 determines in the vehicle management database of FIG. 14 whether or not there is a vehicle 104 other than the vehicle 104 in which the unmanned aerial vehicle 101 is stored within the flightable range displayed in step S1306. It is specified by referring to the current position 1402. If the control computer 103 has a vehicle 104 other than the vehicle 104 in which the unmanned aerial vehicle 101 is stored in the flightable range, the process shifts to step S1311, and the control computer 103 shifts the process to the flightable range. If there is no other vehicle 104 other than the vehicle 104 in which the unmanned aerial vehicle 101 is stored, the process proceeds to step S1313.

In step S1311, the control computer 103 determines whether or not an instruction to make a recovery request has been received for the vehicle 104 other than the vehicle 104 in which the unmanned aerial vehicle 101 within the flight range is stored. If the instruction to make a collection request is received, the process is transferred to step S1312, and if the instruction to make a collection request is not received, the process is transferred to step S1313.

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

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

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

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

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

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

By executing the processes of steps S1310 to S1312, for example, the vehicle 104 in which the unmanned aerial vehicle 101 is stored is out of the flightable range and can be moved to the flightable range within the flightable time of the unmanned aerial vehicle 101. If this is not possible, another vehicle 104 can be asked to collect the unmanned aerial vehicle 101, and the risk of the unmanned aerial vehicle 101 becoming inoperable and falling can be further reduced.

Next, FIG. 14 will be described. FIG. 14 is an example of the vehicle management database in the second embodiment of the battery remaining amount monitoring process. Since 1401 to 1403 in FIG. 14 are the same as those in 1110 to 1112 in FIG. 11, the description thereof will be omitted. The temporary corresponding unmanned aerial vehicle ID 1404 temporarily stores the unmanned aerial vehicle ID (unmanned aerial vehicle ID 1101) of the unmanned aerial vehicle 101 when the vehicle 104 receives the collection request of the unmanned aerial vehicle 101.

This is the end of the description of FIGS. 12 to 14.

Next, another embodiment of the unmanned aerial vehicle navigation system control process in the present invention will be described with reference to FIGS. 15 and 16.

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

In step S1501, the unmanned aerial vehicle 101 activates the unmanned aerial vehicle navigation system according to an instruction from the user via the control computer 103.

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

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

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

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

In step S1506, the unmanned aerial vehicle 101 is transmitted from the control computer 103 by selecting the flight position determination button 802 on the screen of the map of FIG. 8 transmitted to the control computer 103 in step S1505 according to the user operation. , Receives a flight start request for the unmanned aerial vehicle 101.

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

In step S1508, the unmanned aerial vehicle 101 executes the battery remaining amount monitoring process. The details of the process of step S1508 will be described with reference to FIG.

This is the end of the description of FIG. 15, and then the details of the battery remaining amount (capacity) monitoring process in step S1508 of FIG. 15 will be described with reference to FIG.

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

The process shown in FIG. 16 shall be appropriately performed at a predetermined timing from the start of the flight of the unmanned aerial vehicle 101 to the end of the flight.

In step S1601, the unmanned aerial vehicle 101 acquires the voltage (remaining amount of battery) of the battery of the current unmanned aerial vehicle 101, and the acquired value is the current value of the unmanned aerial vehicle 101 in the unmanned aerial vehicle management database of FIG. 11 (a). It is stored in the voltage 1107 of the battery of.

In step S1602, the unmanned aerial vehicle 101 acquires the position information of the current unmanned aerial vehicle 101. The acquired position information is stored in the current position 1102 of the unmanned aerial vehicle 101 in the unmanned aerial vehicle management database of FIG. 11 (a).

In step S1603, the unmanned aerial vehicle 101 acquires the position information of the current vehicle 104. The acquired position information is stored in the current position 1111 of the vehicle 104 in the vehicle management database of FIG. 11B.

In step S1604, the unmanned aerial vehicle 101 acquires information on the wind direction and wind speed around the current position of the unmanned aerial vehicle 101 from a server that provides a web service that distributes weather information. Although step S1604 is not an essential process in the present invention, by executing the process of step S1604, the wind direction and the wind speed are taken into consideration when displaying the flight range of the unmanned aerial vehicle 101 on the map in step S1605. It is possible to show a more accurate flight range. Specifically, for example, the display shown in FIG. 701 is possible.

In step S1605, the unmanned aerial vehicle 101 is at a position on the map corresponding to the current position of the unmanned aerial vehicle 101, the unmanned aerial vehicle 101 specified by the position information acquired in step S1602, and the vehicle 104, and the unmanned aerial vehicle 101, and the vehicle 104. Regenerate a map that displays icons (eg, unmanned aerial vehicle icon 401 and vehicle icon 402 in FIG. 4) and displays the current flight range of the unmanned aerial vehicle 101. As the flightable range, for example, the flightable range 501 of FIG. 5, the flightable range 601 of FIG. 6, and the flightable range 701 of FIG. 7 are displayed. The flightable range can be specified by the current position 1102 of the unmanned aerial vehicle 101 and the formula of "flight speed 1103 x remaining flight time 1108 = flight range (distance)".

In step S1606, the unmanned aerial vehicle 101 transmits the map regenerated in step S1605 to the control computer 103.

In step S1607, the unmanned aerial vehicle 101 informs whether the vehicle 104 is within the flight range of the unmanned aerial vehicle 101, the current position 1102 of the unmanned aerial vehicle 101, the current position 1111 of the vehicle 104, and the flight range of the unmanned aerial vehicle 101. Judge based on. When the unmanned aerial vehicle 101 determines that the vehicle 104 is within the flightable range, the process shifts to step S1609, and when it is determined that the vehicle 104 is not within the flightable range, the unmanned aerial vehicle 101 processes in step S1608. Transition.

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

In step S1609, the unmanned aerial vehicle 101 determines whether or not the flight end instruction of the unmanned aerial vehicle 101 has been received from the user via the control computer 103. If the unmanned aerial vehicle 101 receives the flight end instruction of the unmanned aerial vehicle 101 from the user, the process ends, and if the user does not receive the flight end instruction of the unmanned aerial vehicle 101, the process returns to step S1601. That is, unless the unmanned aerial vehicle 101 is charged on the way, the flight range specified in step S1605 gradually narrows after returning the process from step S1609 to step S1601, so that the user can use the unmanned vehicle more accurately in real time. It is possible to know the flight range of the aircraft 101.

This is the end of the description of FIG. 16, and then, with reference to FIG. 17, another embodiment of the system configuration of the unmanned aerial vehicle navigation system will be described.

In the embodiment of FIG. 1, a system in which the control computer 103 installed in the vehicle 104 and the unmanned aerial vehicle 101 communicate with each other is assumed, but in the present embodiment, instead of the control computer 103, a person is used. It is assumed that the transmitter 1703, which is operated while being carried around, and the unmanned aerial vehicle 101 communicate with each other.

FIG. 17 is a diagram showing a system configuration of an unmanned aerial vehicle navigation system.

In the system of the present embodiment, the unmanned aerial vehicle 101 and the transmitter 1703 that receives an operation instruction from the user regarding the flight of the unmanned aerial vehicle 101 and transmits the operation content to the unmanned aerial vehicle 101 mutually via the network 102. It is connected by wire or wireless so that it can communicate with.

Since the configuration of the unmanned aerial vehicle 101 is the same as that of the unmanned aerial vehicle 101 of FIG. 1, the description thereof will be omitted.

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

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

Further, the transmitter 1703 is connected to an information processing device 1701 such as a smartphone or a tablet PC (tablet terminal) so as to be able to communicate with each other. The information processing device 1701 is provided with a display 1702, and an image taken by the camera of the unmanned aerial vehicle 101 can be displayed on the display 1702. Further, the display 1702 can display the screens of the maps shown in FIGS. 4 to 8 and 12.

Further, the information processing device 1701 is provided with a GPS receiver, and obtains information (latitude, longitude) of the current position of the information processing device 1701 by receiving a signal from a GPS satellite by the GPS receiver. Can be done.

Further, the information processing apparatus 1701 can execute each process (specifically, FIGS. 9, 10, and 13) performed by the control computer 103. However, although the vehicle position information was acquired in step S902, step S1003, and step S1303, in the present embodiment, the position information of the information processing apparatus 1701 is acquired, and the maps shown in FIGS. 4 to 8 and 12 are obtained. The position of the information processing apparatus 1701 is displayed on the screen instead of the position of the vehicle. Further, in step S1502 of FIG. 15 and step S1603 of FIG. 16, the unmanned aerial vehicle 101 acquired the position information of the vehicle, but in the present embodiment, the position information of the information processing apparatus 1701 is acquired. Further, in step S1007 of FIG. 10, step S1307 of FIG. 13, and step S1607 of FIG. 16, it was determined whether the vehicle 104 is within the flightable range of the unmanned aerial vehicle 101. Is within the flight range of the unmanned aerial vehicle 101.

In FIG. 17, the transmitter 1703 and the information processing device 1701 are shown as separate housings, but the functions of the information processing device 1701 are incorporated into the transmitter 1703, and the transmitter 1703 and the information processing device 1701 are combined. It can be a transmitter 1703 or an information processing device 1701.

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

The user operates the operation units such as the operation instruction unit 1704 and the operation instruction unit 1705 to control the flight direction and the flight speed to the unmanned aerial vehicle 101. Then, when the transmitter 1703 receives the operation of the operation unit, it transmits an instruction to the unmanned aerial vehicle 101 to fly according to the received operation content, and when the unmanned aerial vehicle 101 receives the instruction, the said operation is performed. Control the propeller 213 to fly as instructed. In this way, the transmitter 1703 transmits the operation instruction content operated by the operation unit to the unmanned aerial vehicle 101 to operate the flight of the unmanned aerial vehicle 101.

In addition, the user operates the operation unit to perform a zoom-in operation, a zoom-out operation, and a pan operation of the camera mounted on the unmanned aerial vehicle 101. When the transmitter 1703 receives the operation of the operation unit, the transmitter 1703 transmits an instruction to the camera to operate according to the received operation content, and when the camera receives the instruction, the transmitter operates according to the instruction. The part that operates each member such as the lens in the camera is operated so as to be performed. In this way, the transmitter 1703 transmits the operation instruction content operated by the operation unit to the camera, and operates the zoom operation of the lens of the camera and the pan operation in the shooting direction.

This is the end of the description of FIG.

As described above, according to the present invention, by specifying the flightable range of the unmanned aerial vehicle and giving notification using the information of the specified flightable range, the drop due to the decrease in the remaining battery level of the unmanned aerial vehicle is reduced. be able to.

The present invention can be, for example, an embodiment as a system, an apparatus, a method, a program, a storage medium, or the like, and specifically, may be applied to a system composed of a plurality of devices, or 1 It may be applied to a device consisting of two devices.

The present invention includes a software program that realizes the functions of the above-described embodiment, which is directly or remotely supplied to a system or an apparatus. The present invention also includes cases where the computer of the system or apparatus can also read and execute the supplied program code.

Therefore, in order to realize the functional processing of the present invention on a computer, the program code itself installed in the computer also realizes the present invention. That is, the present invention also includes the computer program itself for realizing the functional processing of the present invention.

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

Examples of the recording medium for supplying the program include a flexible disk, a hard disk, an optical disk, a magneto-optical disk, MO, a CD-ROM, a CD-R, a CD-RW, and the like. There are also magnetic tapes, non-volatile memory cards, ROMs, DVDs (DVD-ROM, DVD-R) and the like.

In addition, as a method of supplying the program, the browser of the client computer is used to connect to the homepage of the Internet. Then, it can also be supplied by downloading the computer program of the present invention itself or a compressed file including an automatic installation function to a recording medium such as a hard disk from the homepage.

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

In addition, the program of the present invention is encrypted, stored in a storage medium such as a CD-ROM, and distributed to users, and the key information for decrypting the encryption is downloaded from the homepage to the user who clears the predetermined conditions. Let me. Then, by using the downloaded key information, it is also possible to execute an encrypted program and install it on a computer.

Further, the function of the above-described embodiment is realized by the computer executing the read program. In addition, based on the instruction of the program, the OS or the like running on the computer performs a part or all of the actual processing, and the function of the above-described embodiment can be realized by the processing.

Further, the program read from the recording medium is written to the memory provided in the function expansion board inserted in the computer or the function expansion unit connected to the computer. After that, based on the instruction of the program, the function expansion board, the CPU provided in the function expansion unit, or the like performs a part or all of the actual processing, and the function of the above-described embodiment is also realized by the processing.

It should be noted that the above-described embodiments are merely examples of embodiment of the present invention, and the technical scope of the present invention should not be construed in a limited manner by these. That is, the present invention can be implemented in various forms without departing from the technical idea or its main features.

101 Unmanned aerial vehicle 103 Control computer 104 Vehicle 1701 Information processing device 1703 Transmitter

Claims (13)

An information processing device that can communicate with unmanned aerial vehicles
An acquisition means for acquiring the first position information indicating the position where the unmanned aerial vehicle is flying and the second position information which is the position information of a specific moving object or a specific portable device .
Based on the first position information and the second position information acquired by the acquisition means, the positional relationship between the range in which the unmanned aerial vehicle can fly and the position indicated by the second position information is passed. With control means to control to know
An information processing device characterized by being equipped with. The information processing device according to claim 1, wherein the control means is further controlled so as to notify the positional relationship based on the remaining amount of the battery of the unmanned aerial vehicle. The information processing apparatus according to claim 1 or 2, wherein the control means is further controlled so as to notify the positional relationship based on the information on the flight speed of the unmanned aerial vehicle. The information processing device according to any one of claims 1 to 3, wherein the specific mobile body is a specific vehicle. The fourth aspect of the present invention is characterized in that the control means is further controlled so as to notify the position where the specific vehicle for collecting the unmanned aerial vehicle can be stopped within the range in which the unmanned aerial vehicle can fly. Information processing equipment. The information processing device according to any one of claims 1 to 5, wherein the specific portable device includes a control device for controlling the operation of the unmanned aerial vehicle. The information processing according to any one of claims 1 to 5, wherein the specific portable device can communicate with a control device that controls the operation of the unmanned aerial vehicle, and includes a terminal having a display. Device. The information processing device according to any one of claims 1 to 7, wherein the information processing device is the same device as the specific portable device. The control means is characterized in that, as a notification of the positional relationship, it is controlled to display a map in which the range in which the unmanned aerial vehicle can fly and the position indicated by the second position information are mapped. The information processing apparatus according to any one of 8 to 8 . It is a control method for information processing devices that can communicate with unmanned aerial vehicles.
The acquisition step of acquiring the first position information indicating the position where the unmanned aerial vehicle is flying and the second position information which is the position information of a specific moving object or a specific portable device .
Based on the first position information and the second position information acquired in the acquisition step , the positional relationship between the range in which the unmanned aerial vehicle can fly and the position indicated by the second position information is passed. A control method for an information processing device, which comprises a control step for controlling to know. A program characterized in that a computer functions as each means of the information processing apparatus according to any one of claims 1 to 10 . It ’s an unmanned aerial vehicle.
An acquisition means for acquiring the first position information indicating the position where the unmanned aerial vehicle is flying and the second position information which is the position information of a specific moving object or a specific portable device .
Based on the first position information and the second position information acquired by the acquisition means, the positional relationship between the range in which the unmanned aerial vehicle can fly and the position indicated by the second position information is determined. An unmanned aerial vehicle characterized by having control means and controls to notify . It ’s a control method for unmanned aerial vehicles.
The acquisition step of acquiring the first position information indicating the position where the unmanned aerial vehicle is flying and the second position information which is the position information of a specific moving object or a specific portable device .
Based on the first position information and the second position information acquired in the acquisition step , the positional relationship between the range in which the unmanned aerial vehicle can fly and the position indicated by the second position information is passed. A method of controlling an unmanned aerial vehicle, characterized in that it comprises a control step that controls it to be known.

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