JP7075966B2 - Unmanned aerial vehicle control systems, unmanned aerial vehicle control methods, and programs - Google Patents

Description

The present invention relates to an unmanned aerial vehicle control system, an unmanned aerial vehicle control method, and a program.

Conventionally, a technique for flying an unmanned aerial vehicle has been known so as to avoid a flight prohibited area where flight is prohibited. For example, Patent Document 1 describes a technique for setting a flight prohibited area based on the position of a real estate fixed on the ground so that an unmanned aerial vehicle does not come into contact with a real estate such as a steel tower or a power transmission line.

Japanese Patent Application Laid-Open No. 2003-127994

On the ground, not only real estate but also moving objects such as humans and trains exist. When the moving object moves, the flight prohibited area corresponding to the moving object changes. However, since the flight prohibited area of Patent Document 1 considers only real estate fixed on the ground, there is a possibility that the unmanned aerial vehicle may interfere with the moving object or the moving object may interfere with the unmanned aerial vehicle. ..

The present invention has been made in view of the above problems, and an object of the present invention is to enable an unmanned aerial vehicle to fly while avoiding a flight prohibited area that changes according to the movement of a moving object.

In order to solve the above problems, the unmanned aerial vehicle control system according to the present invention uses the moving body position acquisition means for acquiring the moving body position information regarding the current position of the moving body moving on the earth and the moving body position information. Based on this, the area setting means for setting the flight prohibited area for prohibiting the flight of the unmanned aerial vehicle and the flight for controlling the flight of the unmanned aircraft so as to avoid the flight prohibited area set based on the moving body position information. It is characterized by including a control means.

The unmanned aerial vehicle control method according to the present invention performs a flight of an unmanned aerial vehicle based on a moving body position acquisition step for acquiring moving body position information regarding the current position of a moving body moving on the earth and the moving body position information. It includes a region setting step for setting a prohibited flight prohibited area and a flight control step for controlling the flight of the unmanned aerial vehicle so as to avoid the flight prohibited area set based on the moving object position information. It is a feature.

The program according to the present invention is a moving body position acquisition means for acquiring moving body position information regarding the current position of a moving body moving on the earth, and a flight prohibition prohibiting the flight of an unmanned aircraft based on the moving body position information. The computer functions as an area setting means for setting an area and a flight control means for controlling the flight of the unmanned aircraft so as to avoid the flight prohibited area set based on the moving body position information.

Further, the information storage medium according to the present invention is a computer-readable information storage medium in which the above program is stored.

Further, in one aspect of the present invention, the unmanned aerial vehicle control system acquires unmanned aerial vehicle position acquisition means for acquiring unmanned aerial vehicle position information regarding the current position of the unmanned aerial vehicle and destination information regarding the destination of the unmanned aerial vehicle. Further including, the flight control means avoids the flight prohibited area from the current position of the unmanned aerial vehicle based on the unmanned aerial vehicle position information and the destination information. It is characterized by controlling the flight of the unmanned aerial vehicle so as to reach the ground.

Further, in one aspect of the present invention, the area setting means determines at least one of the size and shape of the flight prohibited area based on the moving body position information.

Further, in one aspect of the present invention, the unmanned aerial vehicle control system further includes a situation acquisition means for acquiring the moving body situation information regarding the current situation of the moving body, and the area setting means is used for the moving body situation information. Based on this, the flight prohibited area is set.

Further, in one aspect of the present invention, the moving body status information relates to the current moving status of the moving body, and the area setting means is based on the current moving status indicated by the moving body status information. It is characterized in that the flight prohibited area is set.

Further, in one aspect of the present invention, the unmanned aerial vehicle control system further includes property acquisition means for acquiring mobile property property information regarding the property of the moving body, and the area setting means is based on the moving body property information. , The flight prohibited area is set.

Further, in one aspect of the present invention, the unmanned aerial vehicle control system further includes a movement predicting means for predicting the movement of the moving body from the current position based on the moving body position information, and the area setting means is , The flight prohibited area is set based on the prediction result of the movement prediction means.

Further, in one aspect of the present invention, the movement predicting means predicts the movement of the moving body in time series, and the area setting means sets the flight prohibited area at each time point predicted by the movement predicting means. The flight control means is set and is characterized in that the flight control of the unmanned aerial vehicle is performed based on the time-series change of the flight prohibited area.

Further, in one aspect of the present invention, the unmanned aircraft control system obtains time information regarding arrival time and distance information regarding travel distance when the unmanned aircraft flies to a destination while avoiding the flight prohibited area. Further including the acquisition means, the flight control means is characterized in that the flight control of the unmanned aircraft is performed based on the time information and the distance information.

Further, in one aspect of the present invention, the unmanned aerial vehicle control system further includes a designated reception means for receiving a designation regarding whether to prioritize the arrival time or the travel distance, and the flight control means is the designated reception means. It is characterized in that the flight control of the unmanned aerial vehicle is performed based on the designated result received by.

Further, in one aspect of the present invention, the flight control means controls the flight of the unmanned aerial vehicle so as to avoid the flight prohibited area by making the unmanned aerial vehicle stand by.

Further, in one aspect of the present invention, the moving body is a player or a golf cart moving in a golf course, and the moving body position acquisition means is based on a detection signal of a GPS sensor of the player terminal or the golf cart terminal. The moving body position information indicating the current position of the player or the golf cart is acquired, and the area setting means sets the flight prohibited area based on the current position of the player or the golf cart. The flight control means controls the flight of the unmanned aircraft carrying luggage to be carried to a predetermined point in the golf course so as to avoid the flight prohibited area set based on the current position of the player or the golf cart. , Characterized by that.

According to the present invention, it is possible to fly an unmanned aerial vehicle while avoiding a flight prohibited area that changes according to the movement of a moving object.

It is a figure which shows the whole structure of an unmanned aerial vehicle control system. It is a figure for demonstrating the luggage storage part, and is the external view of the unmanned aerial vehicle. It is a figure which shows a mode that a player orders a product. It is a figure which shows the state that the product ordered by a player is delivered. It is a functional block diagram which shows an example of the function realized by an unmanned aerial vehicle control system. It is a figure which shows an example of the map data. It is a figure which shows an example of the receiving place data. It is a figure which shows how the flight prohibition area is set. It is a figure which shows how the flight prohibition area is set. It is a figure which shows how the flight prohibition area is set. It is a figure which shows how the flight prohibition area is set. It is a figure which shows the flight route which avoids a flight prohibited area. It is a flow diagram which shows an example of the process executed in an unmanned aerial vehicle control system. It is a figure which shows the detail of the flight prohibition area avoidance processing. It is a functional block diagram of a modification. It is a figure which shows the flight prohibition area set while the player is moving. It is a figure which shows the flight prohibition area which is set while the player is stopped. It is a figure which shows the setting method of the flight prohibition area in the modification (3).

[1. Overall configuration of unmanned aerial vehicle control system]
Hereinafter, an example of an embodiment of the unmanned aerial vehicle control system according to the present invention will be described. In the present embodiment, a process related to an unmanned aerial vehicle control system will be described by taking as an example a scene in which an unmanned aerial vehicle delivers a product ordered by a player during a round at a golf course.

FIG. 1 is a diagram showing an overall configuration of an unmanned aerial vehicle control system. As shown in FIG. 1, the unmanned aerial vehicle control system 1 includes an administrator terminal 10, an unmanned aerial vehicle 20, and a mobile terminal 30. The administrator terminal 10, the unmanned aerial vehicle 20, and the mobile terminal 30 are connected to each other via a network so that data can be transmitted and received. In FIG. 1, the administrator terminal 10, the unmanned aerial vehicle 20, and the mobile terminal 30 are shown one by one, but a plurality of these may be present.

The administrator terminal 10 is a computer operated by an administrator, and is, for example, a personal computer, a server computer, or a portable terminal (including a tablet terminal and a smartphone). The manager is a person who manages the unmanned aerial vehicle control system 1, and is, for example, a golf course clerk who provides a product delivery service. For example, the manager terminal 10 may be operated by the manager in or near the clubhouse of the golf course. The administrator terminal 10 includes a control unit 11, a storage unit 12, a communication unit 13, an operation unit 14, and a display unit 15.

The control unit 11 includes, for example, at least one microprocessor. The control unit 11 executes processing according to the programs and data stored in the storage unit 12. The storage unit 12 includes a main storage unit and an auxiliary storage unit. For example, the main storage unit is a volatile memory such as RAM, and the auxiliary storage unit is a non-volatile memory such as a hard disk or flash memory. The communication unit 13 includes a communication interface for wired communication or wireless communication. The communication unit 13 performs data communication via the network. The operation unit 14 is an input device, for example, a pointing device such as a touch panel or a mouse, a keyboard, or the like. The operation unit 14 transmits the operation content to the control unit 11. The display unit 15 is, for example, a liquid crystal display unit, an organic EL display unit, or the like. The display unit 15 displays the screen according to the instructions of the control unit 11.

The unmanned aerial vehicle 20 is an aircraft on which no one is on board, for example, an unmanned aerial vehicle driven by a battery (so-called drone) or an unmanned aerial vehicle driven by an engine. In the present embodiment, the unmanned aerial vehicle 20 has a departure / arrival station near the clubhouse and is placed under the control of the administrator. The unmanned aerial vehicle 20 includes a control unit 21, a storage unit 22, a communication unit 23, a sensor unit 24, and a luggage storage unit 25. Since the hardware configurations of the control unit 21, the storage unit 22, and the communication unit 23 are the same as those of the control unit 11, the storage unit 12, and the communication unit 13, respectively, the description thereof will be omitted. The unmanned aerial vehicle 20 also includes a general physical configuration such as a propeller, a motor, and a battery, but the description thereof is omitted here.

The sensor unit 24 includes a camera 24A and a GPS sensor 24B. The camera 24A includes an image pickup element such as a CCD image sensor or a CMOS image sensor, and records an image (still image or moving image) taken by the image pickup element as digital data. The GPS sensor 24B includes a receiver that receives a signal from the satellite, and detects position information based on the signal received by the receiver. An arbitrary sensor may be mounted on the unmanned aircraft 20, and the sensor unit 24 includes an infrared sensor, a voice sensor (mic), a wind direction wind speed sensor, an acceleration sensor, a gyro sensor, a geomagnetic sensor, an altitude sensor, and a displacement sensor. It may include a temperature sensor, a heat detection sensor, and the like.

The luggage storage unit 25 includes a fixing member for fixing the luggage to the unmanned aerial vehicle 20. FIG. 2 is a diagram for explaining the luggage storage unit 25, and is an external view of the unmanned aerial vehicle 20. As shown in FIG. 2, for example, the luggage storage unit 25 includes a frame 25A having a space for storing luggage. For example, when a product ordered by a player is stored in a box and transported, the frame 25A is large enough to allow the box to be placed and fixed inside the box.

Further, the parcel storage unit 25 includes an arm 25B that supports the parcel being delivered so as not to fall down, and a fixing member 25C having a known locking mechanism. When the loader is placed on the arm 25B, the administrator closes the fixing member 25C and fixes the load so that the load does not move in the horizontal direction. The arm 25B can be opened and closed by the rotation of a motor (not shown), and when the unmanned aerial vehicle 20 lands at a predetermined receiving place, the arm 25B opens downward and the number of loads placed on the arm 25B is large. It can be placed on the ground by falling down about cm.

The luggage storage unit 25 may have a space for storing and fixing the luggage, and is not limited to the above example. For example, it may have an arm for fixing the luggage by sandwiching it from the left-right direction and the vertical direction, or it may have a magnet for fixing the luggage by magnetic force. Further, for example, the luggage storage unit 25 may have a containment vessel, a net, a bag, or the like for storing the luggage.

The mobile terminal 30 is a computer that moves together with the mobile body, and is, for example, a portable terminal (including a tablet terminal or a smartphone), a personal computer, or the like. A moving object is an object that moves on the earth, and is, for example, an animal such as a human being, a car, a motorcycle, or a train. In other words, a moving object is an object that sets a flight prohibited area. In the present embodiment, a case where the player moving on the golf course is a moving body will be described. The mobile terminal 30 is a portable terminal, and is stored in, for example, a pocket of clothes worn by a player.

The mobile terminal 30 includes a control unit 31, a storage unit 32, a communication unit 33, an operation unit 34, a display unit 35, and a GPS sensor 36. Since these hardware configurations are the same as those of the control unit 11, the storage unit 12, the communication unit 13, the operation unit 14, the display unit 15, and the GPS sensor 24B, the description thereof will be omitted.

The programs and data described as being stored in the storage units 12, 22, and 32 may be supplied via the network. Further, the hardware configuration of the administrator terminal 10, the unmanned aerial vehicle 20, and the mobile terminal 30 is not limited to the above example, and various computer hardware can be applied. For example, each of the administrator terminal 10, the unmanned aerial vehicle 20, and the mobile terminal 30 may include a reading unit (for example, an optical disk drive or a memory card slot) that reads a computer-readable information storage medium. In this case, the program or data stored in the information storage medium may be supplied via the reading unit.

[2. Overview of unmanned aerial vehicle control system processing]
Next, the outline of the processing of the unmanned aerial vehicle control system 1 will be described with reference to FIGS. 3 and 4. FIG. 3 is a diagram showing a state in which a player orders a product, and FIG. 4 is a diagram showing a state in which the product ordered by the player is delivered.

As shown in FIG. 3, when the player operates the operation unit 34 to start a dedicated application or connect to a predetermined website from a web browser, the order screen 40A for selecting the hole being played is used. Is displayed on the display unit 35. When the player selects the hole being played from the order screen 40A, the order screen 40B indicating the receiving place of the product is displayed. The pick-up place for goods is set, for example, at a predetermined place in a hole after the hole being played.

When the player selects the order button 41 on the order screen 40B, the order screen 40C showing the list 42 of the products is displayed. When the player selects the icon 43 in the list 42, the product can be added to the shopping cart. An upper limit is set for the total weight of the products that can be delivered by the unmanned aerial vehicle 20, and the relationship 44 between the total weight of the products put in the shopping cart and the upper limit is displayed on the order screen 40C. When the player performs a predetermined operation for ordering the product put in the shopping cart, the order content is transmitted from the mobile terminal 30 to the administrator terminal 10, and a message indicating that the order is completed is displayed on the order screen 40D. ..

When the administrator terminal 10 receives the order contents from the mobile terminal 30, the order acceptance screen 50 shown in FIG. 4 is displayed on the display unit 15. The administrator confirms the order contents from the order acceptance screen 50, puts the product in a special box, stores it inside the frame 25A of the luggage storage unit 25, closes and locks the fixing member 25C. When the administrator operates the operation unit 14 to select the delivery start button 51, the administrator terminal 10 transmits a package delivery instruction to the unmanned aerial vehicle 20. In this embodiment, it is assumed that the delivery instruction includes the shortest flight route from the clubhouse C to the receiving place Q. The flight route does not only indicate the position to be flown, but may indicate the flight plan including the passing time of each position. The unmanned aerial vehicle 20 starts flight based on the flight route included in the delivery instruction.

During the flight of the unmanned aerial vehicle 20, the administrator terminal 10 receives the current position from the unmanned aerial vehicle 20 and the mobile terminal 30 so that the unmanned aerial vehicle 20 does not fly near each player in the round and near the expected trajectory of the shot. , Adjust the flight route. When it is necessary to change the flight route, the administrator terminal 10 transmits the new flight route to the unmanned aerial vehicle 20. The unmanned aerial vehicle 20 changes the flight route based on the new flight route received. In this way, the unmanned aerial vehicle control system 1 avoids the vicinity of the player and the vicinity of the expected trajectory of the shot from the time when the unmanned aerial vehicle 20 departs for delivery of the product until the time when the delivery of the product is completed and the vehicle returns to the clubhouse C. The flight route is adjusted to. Hereinafter, the details of the technique will be described.

[3. Functions realized in unmanned aerial vehicle control system]
FIG. 5 is a functional block diagram showing an example of the functions realized by the unmanned aerial vehicle control system 1. As shown in FIG. 5, in the unmanned aerial vehicle control system 1, the data storage unit 100, the unmanned aerial vehicle position acquisition unit 101, the moving body position acquisition unit 102, the area setting unit 103, the destination acquisition unit 104, and the flight control unit 105 are included. It will be realized. In this embodiment, a case where each of these functions is realized in the administrator terminal 10 will be described.

[3-1. Data storage unit]
The data storage unit 100 is mainly realized by the storage unit 12. The data storage unit 100 stores data for determining the flight route of the unmanned aerial vehicle 20. Here, as the data stored by the data storage unit 100, map data of the area where the unmanned aerial vehicle 20 flies and receiving place data indicating a receiving place which is an example of the destination of the unmanned aerial vehicle 20 will be described.

FIG. 6 is a diagram showing an example of map data. In the present embodiment, since the unmanned aerial vehicle 20 flies over the golf course, the map data may be a course map showing the layout of each course as shown in FIG. The map indicated by the map data may be a two-dimensional map consisting of only planar information or a three-dimensional map including height information. The map data of FIG. 6 shows the layout of each golf course of the first hole H1 to the ninth hole H9. For example, the map data includes latitude and longitude information of each position on the map. In other words, the map data includes the latitude and longitude information of the area shown on the map. The latitude / longitude information is information that specifies a position in the north-south direction and a position in the east-west direction on the earth, and is indicated by, for example, numerical values of degrees, minutes, and seconds.

It is assumed that an arbitrary position in the map indicated by the map data is registered in advance in the data storage unit 100 as the departure / arrival point of the unmanned aerial vehicle 20. In the present embodiment, since the departure / arrival point of the unmanned aerial vehicle 20 is near the clubhouse C, the latitude / longitude information of the position P near the clubhouse C is registered as the departure / arrival point of the unmanned aerial vehicle 20.

FIG. 7 is a diagram showing an example of receiving place data. As shown in FIG. 7, the receiving place data defines the relationship between the hole being played selected by the player from the order screen 40A and the receiving place identification information. For example, the latitude / longitude information of the receiving place may be stored as the identification information of the receiving place. In the present embodiment, it is assumed that the positions Q5 to Q9 near the tee ground of the 5th hole H5 to the 9th hole H9 are designated as the receiving place. Which of these five positions Q5 to Q9 is selected as the receiving place is determined by the hole selected by the player.

The data stored in the data storage unit 100 is not limited to the above example. For example, the data storage unit 100 may store product data related to products and player data related to players. For example, in the product data, an image, a detailed description, inventory, weight, volume, and the like of the product are stored for each product, and are referred to for displaying the order screen 40C. Further, the player data may store a player's account, personal information, product payment information, identification information of the mobile terminal 30, and the like for each player.

[3-2. Unmanned aerial vehicle position acquisition department]
The unmanned aerial vehicle position acquisition unit 101 is mainly realized by the control unit 11. The unmanned aerial vehicle position acquisition unit 101 acquires unmanned aerial vehicle position information regarding the current position of the unmanned aerial vehicle 20. The unmanned aerial vehicle position information may be any information that can specify the position of the unmanned aerial vehicle 20, and here, a case where the latitude / longitude information detected by the GPS sensor 24B is used as the unmanned aerial vehicle position information will be described. The unmanned aerial vehicle position information may be base station information (for example, wireless LAN access point information) that the communication unit 33 of the unmanned aerial vehicle 20 wirelessly communicates with.

For example, the unmanned aerial vehicle position acquisition unit 101 executes timekeeping processing and acquires the latest unmanned aerial vehicle position information every time a certain period of time elapses. In the present embodiment, since the unmanned aerial vehicle position acquisition unit 101 is realized by the administrator terminal 10, the unmanned aerial vehicle position acquisition unit 101 acquires the unmanned aerial vehicle position information for the unmanned aerial vehicle 20 every time a certain period of time elapses. Send the request. Upon receiving the acquisition request, the unmanned aerial vehicle 20 transmits the latitude / longitude information detected by the GPS sensor 24B to the administrator terminal 10 as the unmanned aerial vehicle position information. The unmanned aerial vehicle position acquisition unit 101 receives the transmitted unmanned aerial vehicle position information.

Even if the acquisition request is not transmitted as described above, the unmanned aerial vehicle 20 executes the timekeeping process, and the unmanned aerial vehicle position information is transmitted from the unmanned aerial vehicle 20 to the administrator terminal 10 every time a certain period of time elapses. You may do so. Further, in the present embodiment, the case where the unmanned aerial vehicle position acquisition unit 101 periodically acquires the unmanned aerial vehicle position information has been described, but the unmanned aerial vehicle position acquisition unit 101 irregularly acquires the unmanned aerial vehicle position information due to a randomly determined timing or the like. You may acquire the position information.

[3-3. Moving body position acquisition unit]
The mobile body position acquisition unit 102 is mainly realized by the control unit 11. The moving body position acquisition unit 102 acquires moving body position information regarding the current position of the moving body moving on the earth. The moving body position information may be any information that can specify the position of the moving body, and here, a case where the latitude / longitude information detected by the GPS sensor 36 is used as the moving body position information will be described. That is, in the present embodiment, since the mobile terminal 30 is provided with the GPS sensor 36, the mobile body position acquisition unit 102 is the player's current position based on the detection signal of the GPS sensor 36 of the mobile terminal 30. The moving body position information indicating the above will be acquired. The mobile position information may be base station information (for example, wireless LAN access point information) in which the communication unit 33 of the mobile terminal 30 wirelessly communicates.

For example, the moving body position acquisition unit 102 determines whether the unmanned aerial vehicle 20 has approached a predetermined place based on the unmanned aerial vehicle position information acquired by the unmanned aerial vehicle position acquisition unit 101. Then, when the unmanned aerial vehicle 20 determines that the unmanned aerial vehicle 20 has approached a predetermined place, the mobile body position acquisition unit 102 transmits a request for acquisition of the mobile body position information to the mobile body terminal 30. Since the unmanned aerial vehicle 20 must not interfere with all the players in the round, the acquisition request is transmitted not only to the player who placed the order but also to the mobile terminals 30 of all the players in the round. Upon receiving the acquisition request, the mobile terminal 30 of each player transmits the latitude / longitude information detected by the GPS sensor 36 to the administrator terminal 10 as the mobile position information. The moving body position acquisition unit 102 receives the transmitted moving body position information.

For example, the predetermined place may be each hole in the golf course. Therefore, the moving body position acquisition unit 102 determines whether the unmanned aerial vehicle 20 has approached any of the holes based on the unmanned aerial vehicle position information and the map data. When it is determined that the unmanned aerial vehicle 20 has approached any of the holes, the moving body position acquisition unit 102 transmits an acquisition request to each moving body terminal 30.

It should be noted that the moving body position information is not acquired at the timing corresponding to the position of the unmanned aerial vehicle 20 as described above, but the moving body position acquisition unit 102 irregularly acquires the moving body position information due to a randomly determined timing or the like. May be obtained. Further, the moving body position acquisition unit 102 may acquire the moving body position information periodically instead of acquiring the moving body position information irregularly. For example, the moving body position acquisition unit 102 may execute the timekeeping process and acquire the latest moving body position information every time a certain time elapses. In this case, the moving body position acquisition unit 102 may transmit a moving body position information acquisition request to the moving body terminal 30 every time a certain period of time elapses. Even if the acquisition request is not transmitted as described above, the mobile terminal 30 executes the timekeeping process, and every time a certain period of time elapses, the mobile terminal 30 transmits the mobile position information to the administrator terminal 10. It may be done.

Further, the case where the moving body position information is acquired by using the GPS sensor 36 of the moving body terminal 30 has been described, but the moving body position information is acquired by using the camera 24A of the unmanned aerial vehicle 20. May be good. In this case, the moving body position information may be information indicating the relative positional relationship between the unmanned aerial vehicle 20 and the player. Alternatively, for example, when the sensor unit 24 includes a heat detection sensor, the moving body position information may be acquired based on the detection result of the heat detection sensor.

[3-4. Area setting section]
The area setting unit 103 is mainly realized by the control unit 11. The area setting unit 103 sets a flight prohibition area for prohibiting the flight of the unmanned aerial vehicle 20 based on the moving body position information. In the present embodiment, since the case where the golf player is a moving body will be described, the area setting unit 103 will set the flight prohibited area based on the current position of the player.

The flight prohibited area is set in an area where the unmanned aerial vehicle 20 may fly, and may mean, for example, an area where the unmanned aerial vehicle 20 flies and interferes with the player, or the player may fly the unmanned aerial vehicle 20. It may mean an obstructive area. In other words, the flight prohibited area may mean an area where the unmanned aerial vehicle 20 may come into contact with the player or a hit ball when the unmanned aerial vehicle 20 flies, or the unmanned aerial vehicle 20 may be annoying or jarring to the player when the unmanned aerial vehicle 20 flies. It may mean an area where there is a risk.

The area setting unit 103 sets the flight prohibited area at a position determined based on the moving body position information. For example, the area setting unit 103 may set the flight prohibited area so as to include the position indicated by the moving body position information. In this case, the position indicated by the moving body position information may be an arbitrary position in the flight prohibited area, and may be, for example, the center of gravity point of the flight prohibited area, or may be a position different from the center of gravity point. You may do so. Further, for example, the area setting unit 103 may set the flight prohibited area within a predetermined distance from the position so as not to include the position indicated by the moving body position information. In this case, the area setting unit 103 may set the flight prohibited area so as to surround the position indicated by the moving body position information, or between the position indicated by the unmanned aerial vehicle position information and the position indicated by the moving body position information. A flight prohibited area may be set.

The size and shape of the flight prohibited area may be a fixed size and a fixed shape regardless of the moving body position information, but in the present embodiment, the area setting unit 103 is a flight prohibited area based on the moving body position information. The case of determining at least one of the size and the shape of the above will be described. In other words, at least one of the size and shape of the flight prohibited area changes depending on the position information of the moving object. The size means the area of the flight prohibited area, and the shape means the shape of the outline of the flight prohibited area. Here, the case where both the size and the shape of the flight prohibited area are variable will be described, but only one of them may be variable.

The relationship between the moving body position information and the size and shape of the flight prohibited area may be described in the program, or may be stored in the data storage unit 100 as data in a mathematical formula format or a table format. It can be said that the above relationship shows the relationship between the position on the earth and the size and shape of the flight prohibited area. The area setting unit 103 sets a flight prohibited area having a size and shape associated with the mobile body position information acquired by the mobile body position acquisition unit 102. In this embodiment, it is assumed that the above relationship is defined for each hole in the golf course.

8 to 11 are views showing how a flight prohibited area is set. Here, a flight prohibited area set when the player is in the 9th hole H9 will be described as an example. As shown in FIG. 8, the ninth hole H9 is divided into a plurality of small regions H91 to H93. The small areas H91 to H93 are areas at the beginning, middle, and end of the hole, respectively. Since the range in which the unmanned aerial vehicle 20 flies will interfere with the player for each small area, the size and shape of the flight prohibited area are made different according to the small area.

For example, when the position indicated by the moving body position information is included in the small area H91, as shown in FIG. 9, the area setting unit 103 has the moving body position information and the reference direction V91 associated with the small area H91. Based on this, the flight prohibited area A91 is set. The reference direction V91 is a standard pop-out direction when the ball is in the small area H91, for example, the front direction when viewed from the tee ground. That is, the reference direction V91 is a direction in which the player is expected to fly the ball from the small area H91, or a direction in which the player in the small area H91 is expected to see. In other words, the reference direction V91 is the direction in which the flight prohibited area A91 expands when viewed from the position M1 indicated by the moving body position information.

In the example shown in FIG. 9, the area setting unit 103 sets a flight prohibited area A91 including a circular area having a radius L1 including the position M1 and a fan-shaped area determined based on the position M1 and the reference direction V91. The fan-shaped region is a region having a predetermined central angle centered on the position M1 and having a radius of a line segment having a length L2 extending from the position M1 in the reference direction V91. The circular area is for preventing the unmanned aerial vehicle 20 from flying around the player. That is, the circular region is for preventing the unmanned aerial vehicle 20 from touching the player and preventing the flight sound of the unmanned aerial vehicle 20 from disturbing the player's ears. On the other hand, the fan-shaped area is for preventing the unmanned aerial vehicle 20 from flying around the trajectory, so that the unmanned aerial vehicle 20 is out of the player's view and the unmanned aerial vehicle 20 is not in contact with the ball. It is also for doing things.

Further, for example, when the position indicated by the moving body position information is included in the small area H92, as shown in FIG. 10, the area setting unit 103 includes the moving body position information, the reference direction V92 associated with the small area H92, and the reference direction V92. Based on, the flight prohibited area A92 is set. For example, the area setting unit 103 sets a flight prohibited area A92 including a circular area having a radius L3 including the position M2 indicated by the moving body position information and a fan-shaped area determined based on the position M2 and the reference direction V92. The reference direction V92 is a direction different from the reference direction V91, for example, a direction from an arbitrary point in the small area H92 toward the pin in the green. Further, the radii L3 and L4 are different from the radii L1 and L2, respectively. Therefore, the size and shape of the flight prohibited area A92 are different from the size and shape of the flight prohibited area A91.

Further, for example, when the position indicated by the moving body position information is included in the small area H93, as shown in FIG. 11, the area setting unit 103 prohibits flight in a circular area having a radius L5 including the position M3 indicated by the moving body position information. Set as area A93. In this way, the flight prohibited area A93 may be set without using the reference direction. Further, since the small area H93 has a green, the radius L5 may be set longer than the radii L3 and L4 so that the player can easily concentrate on the putt. Since the flight prohibited area A93 does not include the fan-shaped area, it differs from the size and shape of the flight prohibited areas A91 and A92.

The flight prohibited area may have any shape, and is not limited to the circular shape, the fan shape, or a combination thereof described above. The flight prohibited area may be a polygon such as a triangle or a quadrangle, or may be an ellipse.

[3-5. Destination acquisition department]
The destination acquisition unit 104 is mainly realized by the control unit 11. The destination acquisition unit 104 acquires destination information regarding the destination of the unmanned aerial vehicle 20. The destination is the destination of the unmanned aerial vehicle 20, and in the present embodiment, it is a receiving place for goods ordered by the player or a departure / arrival place where the unmanned aerial vehicle 20 that has finished delivery returns. Therefore, in the present embodiment, the destination acquisition unit 104 acquires the latitude / longitude information of any of the receiving points shown in the receiving place data or the latitude / longitude information registered as the departure / arrival place as the destination information. It will be.

If the destination of the unmanned aerial vehicle 20 can be freely set, the destination may be input from the operation units 14 and 34. That is, the destination acquisition unit 104 may acquire the destination information from the data storage unit 100, or may acquire the destination information input from the operation units 14 and 34. Further, in the present embodiment, the case where the destination is set will be described, but the destination may not be set in particular, such as when the unmanned aerial vehicle 20 patrols the sky above the golf course. ..

[3-6. Flight control unit]
The flight control unit 105 is mainly realized by the control unit 11. The flight control unit 105 controls the flight of the unmanned aerial vehicle 20 so as to avoid the flight prohibited area set based on the moving object position information. In the present embodiment, the case where the flight control unit 105 is realized in the administrator terminal 10 will be described. Therefore, transmitting the flight route to the unmanned aerial vehicle 20 corresponds to controlling the flight of the unmanned aerial vehicle 20. ..

For example, the flight control unit 105 determines a flight route to avoid the flight prohibited area based on the route search algorithm. A flight route that avoids a flight prohibited area means that the flight route does not enter the flight prohibited area at all, or that the distance, ratio, or flight time of the flight route that is within the flight prohibited area is less than the threshold. Means. As the route search algorithm itself, various known algorithms can be applied, and for example, the shortest path search algorithm such as the Dijkstra method or the Aster method may be used. For example, in these known route search algorithms, the flight control unit 105 sets a flight prohibited area as an obstacle and executes a route search to avoid the obstacle to determine a flight route to avoid the flight prohibited area.

For example, the flight control unit 105 may compare the current flight route with the flight prohibited area and determine whether the current flight route avoids the flight prohibited area. If the flight control unit 105 determines that the current flight route avoids the flight prohibited area, the flight control unit 105 does not change the flight route. On the other hand, when the flight control unit 105 determines that the current flight route does not avoid the flight prohibited area, the flight control unit 105 newly acquires a flight route that avoids the flight prohibited area.

FIG. 12 is a diagram showing a flight route avoiding a flight prohibited area. As shown in FIG. 12, since the current flight route R0 crosses the flight prohibited area A92, the flight control unit 105 determines that the current flight route R0 does not avoid the flight prohibited area A92. Then, the flight control unit 105 acquires a new flight route R1 that avoids the flight prohibited area A92 based on the route search algorithm. In the example of FIG. 12, the new flight route R1 is a flight route in which the unmanned aerial vehicle 20 flies to the destination without passing through the flight prohibited area.

For example, on the outbound route, the flight control unit 105 sets the current position of the unmanned aerial vehicle 20 or the position of the departure / arrival point as the departure point, sets the position of the receiving point as the arrival point, and sets the flight prohibited area as an obstacle. Then, execute the route search algorithm to acquire a new flight route. On the other hand, on the return route, the flight control unit 105 sets the current position of the unmanned aerial vehicle 20 or the position of the receiving point as the departure point, sets the position of the departure / arrival point of the unmanned aerial vehicle 20 as the arrival point, and sets the flight prohibited area. After setting it as an obstacle, execute the route search algorithm to acquire a new flight route.

As described above, since the destination of the unmanned aerial vehicle 20 is determined in the present embodiment, the flight control unit 105 starts from the current position of the unmanned aerial vehicle 20 based on the unmanned aerial vehicle position information and the destination information. , The flight of the unmanned aerial vehicle 20 will be controlled so as to avoid the flight prohibited area and reach the destination. Further, in the present embodiment, since the case where the golf player is a moving body will be described, the flight control unit 105 determines in the golf course so as to avoid the flight prohibited area set based on the player's current position. It will control the flight of the unmanned aerial vehicle 20 carrying the luggage to be carried to the point.

The method of acquiring a flight route that avoids the flight prohibited area is not limited to the above example. For example, the flight control unit 105 moves a part of the current flight route included in the flight prohibited area to the outside of the flight prohibited area without recalculating a new flight route by the route search algorithm. May acquire a new flight route. That is, the flight control unit 105 may acquire a flight route that bypasses the flight prohibited area by any method.

[4. Processing performed in the unmanned aerial vehicle control system]
FIG. 13 is a flow chart showing an example of processing executed in the unmanned aerial vehicle control system 1. The process shown in FIG. 13 is executed by the control units 11, 21, and 31 operating according to the programs stored in the storage units 12, 22, and 32, respectively. In the present embodiment, the functional block shown in FIG. 5 is realized by executing the process described below.

As shown in FIG. 13, first, in the mobile terminal 30, the control unit 31 causes the display unit 35 to display the order screen 40 and accepts the product order by the player (S1). In S1, the ordering operation is performed according to the flow described with reference to FIG. For example, the hole selected by the player from the order screen 40A is transmitted from the mobile terminal 30 to the administrator terminal 10, and the information of the receiving place associated with the selected hole in the receiving place data is moved from the administrator terminal 10. It is transmitted to the terminal 30. When the player selects the order button 41 on the order screen 40B, a predetermined notification is transmitted from the mobile terminal 30 to the administrator terminal 10, and the product information indicated by the product data is transmitted from the administrator terminal 10 to the mobile terminal 30. To. When the player selects a product from the order screen 40C and performs a predetermined operation, the order is confirmed.

When a predetermined operation is performed from the order screen 40C, the control unit 31 transmits the order contents to the administrator terminal 10 (S2). The order content transmitted in S2 includes the identification information of the mobile terminal 30 and the information about the product ordered by the player. Upon receiving the order details on the administrator terminal 10, the control unit 11 causes the display unit 15 to display an order acceptance screen 50 for notifying the administrator of the ordered product (S3). After that, the manager puts the product ordered by the player into a box and stores and fixes it in the luggage storage unit 25.

When the administrator selects the delivery instruction button 51, the control unit 11 determines the shortest route to the receiving point as the initial flight route of the outbound route based on the map data and the receiving point data, and starts delivering to the unmanned aerial vehicle 20. The instruction is transmitted (S4). In S4, the control unit 11 acquires the latitude / longitude information of the departure / arrival point registered in the storage unit 12 and the latitude / longitude information of the receiving place stored in the receiving place data. Then, the control unit 11 acquires latitude / longitude information on the shortest route from the departure / arrival point to the receiving point with reference to the map data, and determines it as the initial flight route of the outbound route. The delivery start instruction includes the initial flight route on the outbound route.

In the unmanned aerial vehicle 20, when the delivery start instruction is received, the control unit 21 starts the flight based on the initial flight route of the outbound route (S5). It should be noted that various known autonomous flight controls can be applied to the method itself of flying based on the designated flight route. For example, the unmanned aerial vehicle 20 uses the unmanned aerial vehicle position information detected by the GPS sensor 24B as the current position of the aircraft, and controls the rotation of each propeller so as to move on the latitude and longitude indicated by the flight route. For example, the unmanned aircraft 20 does not move horizontally when the rotation speeds of the propellers are the same or substantially the same, and proceeds in the direction of the propellers having a relatively low rotation speed when the rotation speeds of the propellers are different. Therefore, the parameter indicating the rotation speed of each propeller may be determined so as to relatively lower the rotation speed of the propeller on the flight direction side indicated by the flight route. The unmanned aerial vehicle 20 may specify the attitude and orientation of its own aircraft by using a gyro sensor or a geomagnetic sensor.

When the unmanned aerial vehicle 20 starts flying, a flight prohibited area avoidance process for the unmanned aerial vehicle 20 to avoid the flight prohibited area is executed between the administrator terminal 10 and the unmanned aerial vehicle 20 (S6).

FIG. 14 is a diagram showing details of flight prohibited area avoidance processing. As shown in FIG. 14, in the unmanned aerial vehicle 20, the control unit 21 periodically transmits the unmanned aerial vehicle position information detected by the GPS sensor 24B to the administrator terminal 10 (S100). In S100, the control unit 21 executes the timekeeping process and transmits the latest unmanned aerial vehicle position information to the administrator terminal 10 every time a certain period of time elapses.

When the manager terminal 10 receives the unmanned aerial vehicle position information, the control unit 11 determines whether the unmanned aerial vehicle 20 has approached any of the halls based on the unmanned aerial vehicle position information and the map data (S101). Since the map data shows the latitude / longitude information of each hole, in S101, the control unit 11 determines whether the distance between the position indicated by the unmanned aerial vehicle position information and each hole is less than the threshold value. become.

If it is not determined that the player has approached any of the holes (S101; N), the flight prohibited area avoidance process ends. In this case, since the unmanned aerial vehicle 20 is not flying near the course and there is a high possibility that there is no player nearby, it is not necessary to change the flight route, and the flight is continued with the current flight route.

On the other hand, when it is determined that the user has approached any of the holes (S101; Y), the control unit 11 transmits a mobile body position information acquisition request to each mobile terminal 30 to acquire the mobile body position information. (S102). In S102, the control unit 11 transmits an acquisition request not only to the player who placed the order but also to the mobile terminals 30 of all the players in the round to acquire the mobile position information.

It is assumed that the administrator terminal 10 and the mobile terminal 30 of each player are connected in advance so that data can be transmitted and received. Further, the identification information (for example, IP address and individual identification information) for identifying the mobile terminal 30 of each player is stored in the storage unit 12 in advance, and the control unit 11 is based on the identification information and is a mobile body. Send a request to acquire location information. It is assumed that the mobile terminal 30 of each player is set in advance to automatically provide the mobile position information when the acquisition request is received.

The control unit 11 determines whether or not there is a player in the hall approached by the unmanned aerial vehicle 20 based on the map data and the moving object position information (S103). In S103, the control unit 11 determines whether the moving body position information within the hall approached by the unmanned aerial vehicle 20 or within a predetermined distance from the hall is detected.

When it is determined that there is no player (S103; N), the flight prohibited area avoidance process ends. In this case, since there is no player in the hole where the unmanned aerial vehicle 20 is approaching and it is okay to cross the hole as it is, the flight is continued with the current flight route.

On the other hand, when it is determined that the player is present (S103; Y), the control unit 11 sets a flight prohibited area in the hole approached by the unmanned aerial vehicle 20 based on the moving body position information (S104). In S104, the control unit 11 determines the size and shape of the flight prohibited area based on the position information of the moving object in the hall approached by the unmanned aerial vehicle 20 or within a predetermined distance from the hall. The control unit 11 sets the flight prohibited area of the determined size and shape on the map indicated by the map data.

The control unit 11 determines whether the current flight route crosses the flight prohibited area set in S104 (S105). In S105, the control unit 11 determines whether the latitude / longitude information on the flight route is included in the flight prohibited area.

If it is not determined to cross the flight prohibited area (S105; N), the flight prohibited area avoidance process ends. In this case, although the player is in the hole where the unmanned aerial vehicle 20 is approaching, the player may not fly in the vicinity of the hole and may cross the hole as it is, so that the flight is continued with the current flight route.

On the other hand, when it is determined to cross the flight prohibited area (S105; Y), the control unit 11 determines a new flight route and transmits it to the unmanned aerial vehicle 20 so as to avoid the flight prohibited area set in S104. (S106). In S106, the control unit 11 sets the flight prohibited area from the latest unmanned aerial vehicle position information to the destination (the receiving point on the outbound route and the departure / arrival point on the returning route) based on the route search algorithm. Calculate the flight route to detour.

When the unmanned aerial vehicle 20 receives a new flight route, the control unit 21 changes to the new flight route (S107), and the flight prohibited area avoidance process ends. In S107, the control unit 21 switches the flight route referred to in the autonomous flight control to a new flight route.

Returning to FIG. 13, when the flight prohibited area avoidance process of S6 is executed, in the unmanned aerial vehicle 20, the control unit 21 determines whether or not the vehicle has arrived at the receiving point based on the unmanned aerial vehicle position information detected by the GPS sensor 24B. Judgment (S7). In S7, the control unit 21 determines whether the unmanned aerial vehicle position information and the latitude / longitude information of the end point of the outbound flight route match.

If it is not determined that the flight has arrived at the receiving point (S7; N), the flight prohibited area avoidance process of S6 is executed again, and the flight route is adjusted so as to avoid the flight prohibited area until the flight is reached at the receiving point.

On the other hand, when it is determined that the product has arrived at the receiving place (S7; Y), the control unit 21 arranges the product at the receiving place and transmits a predetermined delivery completion notification to the administrator terminal 10 (S8). In S8, the control unit 21 lowers the rotation speed of each propeller to lower the altitude of the unmanned aerial vehicle 20 and lands on the ground. A predetermined mark for guiding the landing place may be arranged at the receiving place, and the control unit 21 may improve the accuracy of the landing position by detecting the mark with the camera 24A. When the unmanned aerial vehicle 20 lands, the control unit 21 controls the motor so that the arm 25B of the luggage storage unit 25 opens, and drops the luggage about several cm downward. The control unit 21 may determine that the unmanned aerial vehicle 20 has landed when the rotation speed of the propeller is set to 0, or may arrange a pressure sensor on the surface of the unmanned aerial vehicle 20 in contact with the ground to feel the feeling. Landing may be detected based on the detection signal of the pressure sensor. Further, the delivery completion notification may be sent in a predetermined data format.

Upon receiving the delivery completion notification on the administrator terminal 10, the control unit 11 determines the initial flight route for the return route and transmits a return start instruction (S9). In S9, the control unit 11 acquires the latitude / longitude information of the departure / arrival station registered in the storage unit 12, and the latest unmanned aerial vehicle position information or the latitude / longitude information of the receiving point. Then, the control unit 11 acquires the latitude / longitude information on the shortest route from the current position of the unmanned aerial vehicle 20 or the receiving point to the departure / arrival point with reference to the map data, and determines it as the initial flight route of the return route. The return start instruction includes the initial flight route on the outbound route.

In the unmanned aerial vehicle 20, upon receiving the return start instruction, the control unit 21 starts returning to the departure / arrival station based on the initial flight route of the return route included in the return start instruction (S10). Between the administrator terminal 10 and the unmanned aerial vehicle 20, a flight prohibited area avoidance process is executed so that the unmanned aerial vehicle 20 avoids the flight prohibited area on the outbound route (S11). In S11, the processes of S100 to S107 are executed again, and when the unmanned aerial vehicle 20 approaches any hole on the return route, the flight route is adjusted so as not to fly near the player in that hole. It will be.

In the unmanned aerial vehicle 20, the control unit 21 determines whether or not the aircraft has returned to the departure / arrival station based on the unmanned aerial vehicle position information detected by the GPS sensor 26B (S12). In S12, the control unit 21 determines whether or not the unmanned aerial vehicle position information and the latitude / longitude information of the end point of the return flight route match.

If it is not determined that the aircraft has returned to the departure / arrival station (S12; N), the flight prohibited area avoidance process of S11 is executed again, and the flight route is adjusted so as not to cross the flight prohibited area until the flight arrives at the departure / arrival point. On the other hand, when it is determined that the user has returned to the departure / arrival station (S12; Y), this process ends. In this case, the unmanned aerial vehicle 20 will reduce the rotation speed of the propeller so as to land at the landing site.

According to the unmanned aerial vehicle control system 1 described above, the unmanned aerial vehicle 20 flies so as to avoid the flight prohibited area set based on the moving object position information, so that the flight prohibited area that changes according to the movement of the moving object is avoided. The unmanned aerial vehicle 20 can be flown. That is, even if the flight prohibited area changes according to the movement of the moving object, the unmanned aerial vehicle can be flown so as to avoid the flight prohibited area. Therefore, it is possible to surely prevent the unmanned aerial vehicle 20 from getting in the way of the moving object on the ground and the moving object on the ground from getting in the way of the unmanned aerial vehicle 20.

Further, since the flight control unit 105 determines the flight route to the destination such as the receiving point or the departure / arrival point while avoiding the flight prohibited area, the flight control unit 105 reaches the destination while avoiding the flight prohibited area from the current position of the unmanned aerial vehicle 20. The unmanned aerial vehicle 20 can be flown as such. Therefore, the unmanned aerial vehicle 20 can reach the destination more reliably. Further, it is possible to prevent the unmanned aerial vehicle 20 from getting in the way of the moving object between the destination and the moving object between the destination and the unmanned aerial vehicle 20 from getting in the way of the unmanned aerial vehicle 20.

Further, the unmanned aerial vehicle 20 can be flown so as to avoid the flight prohibited area whose size and shape are determined by the area setting unit 103 based on the moving body position information. That is, since the size and shape of the flight prohibited area can be optimized according to the position information of the moving object, the unmanned aerial vehicle 20 may interfere with the moving object, or the moving object may interfere with the unmanned aerial vehicle 20. Can be reliably prevented from doing so.

Further, as described in the embodiment, when the moving body position information indicates the position of the player playing on the golf course, the unmanned aerial vehicle 20 avoids the flight prohibited area that changes according to the movement of the player on the golf course. Can be flown. Therefore, when the unmanned aerial vehicle 20 delivers luggage at the golf course, the unmanned aerial vehicle 20 interferes with the player during the round (for example, it interferes visually or audibly and reduces concentration, or the ball is hit by the unmanned aerial vehicle 20. It is possible to surely prevent the player from getting in the way of delivery of the unmanned aerial vehicle 20 (for example, the hit ball hits the unmanned aerial vehicle 20). As a result, the unmanned aerial vehicle 20 can reliably complete the delivery of the cargo and the return to the clubhouse.

[5. Modification example]
The present invention is not limited to the embodiments described above. It can be changed as appropriate without departing from the spirit of the present invention.

FIG. 15 is a functional block diagram of a modified example. As shown in FIG. 15, in the modification described below, in addition to the functions of the embodiment, the status acquisition unit 106, the property acquisition unit 107, the movement prediction unit 108, the information acquisition unit 109, and the designated reception unit 110 are realized. Will be done. Here, a case where each of these functions is realized by the administrator terminal 10 will be described.

(1) For example, even if the players are in the same position, the flight prohibited area may differ depending on the situation at that time. For example, when the player is moving, the shot is not immediately taken, and there is a high possibility that the unmanned aerial vehicle 20 will not get in the way even if it enters the player's field of view or the direction of hitting the ball, so the flight prohibited area is set narrow. May be good. On the other hand, when the player is not moving, he / she is entering the address or checking the shot direction, and there is a high possibility that the unmanned aerial vehicle 20 will get in the way when the player enters the player's field of view or the hitting direction. May be set widely. Therefore, in this modification, a case where the flight prohibited area is set according to the current situation of the player will be described.

The unmanned aerial vehicle control system 1 of the modification (1) includes a status acquisition unit 106. The status acquisition unit 106 is mainly realized by the control unit 11. The status acquisition unit 106 acquires mobile status information regarding the current status of the mobile. In the following modification, the player will be described as an example of the moving body as in the embodiment, so that the moving body status information indicates the current situation of the player.

For example, the moving body status information may indicate the movement status of the player, the movement of the player, the orientation of the player, and the like. Here, a case where the moving body status information is related to the current moving status of the player will be described. The movement status may indicate whether or not the vehicle is moving, and may indicate the movement direction or the movement speed. Here, a case of indicating whether or not the movement status is moving will be described. Note that moving means that the amount of movement per unit time (the amount of change in the position information of the moving body) is equal to or greater than the threshold value.

For example, the status acquisition unit 106 acquires the mobile status information based on the time-series change of the mobile position information. If the amount of change in the moving body position information per unit time is less than the threshold value, the status acquisition unit 106 determines that the moving body position information is not moving, and acquires the moving body situation information indicating that the moving body position information is not moving. On the other hand, if the amount of change in the moving body position information per unit time is equal to or greater than the threshold value, the status acquisition unit 106 determines that the moving body is moving and acquires the moving body status information indicating that the moving body is moving.

The area setting unit 103 sets a flight prohibited area based on the moving object status information. The relationship between the moving object status information and the flight prohibited area may be described in a program, or may be stored in the data storage unit 100 as data in a mathematical formula format or a table format. In this relationship, the moving object status information and at least one of the position, size, and shape of the flight prohibited area may be defined. The area setting unit 103 sets a flight prohibited area associated with the moving object status information acquired by the status acquisition unit 106.

Here, since the case where the moving body status information indicates the moving status will be described, the area setting unit 103 will set the flight prohibited area based on the current moving status indicated by the moving body status information. For example, the area setting unit 103 makes at least one of the position, size, and shape of the flight prohibited area different depending on whether the player is moving or not.

FIG. 16 is a diagram showing a flight prohibited area set while the player is moving, and FIG. 17 is a diagram showing a flight prohibited area set while the player is stopped. As shown in FIG. 16, when the moving body status information indicates that the moving body status information is moving, the area setting unit 103 uses a circle having a radius L6 centered on the player position M4 indicated by the moving body position information as the flight prohibited area A94. Set. That is, if the player is moving, the shot is not immediately taken, so a relatively small flight prohibited area A94 may be set without considering the hitting direction.

Further, for example, as shown in FIG. 17, when the moving body status information indicates that the moving body status information is not moving, the area setting unit 103 moves the player's position M5 indicated by the moving body position information by a predetermined distance in a predetermined direction. The ellipse of the minor axis L7 and the major axis L8 centered on the moved position M6 is set as the flight prohibited area A95. That is, since there is a possibility of a shot immediately if the player is not moving, a relatively large flight prohibited area A95 may be set in consideration of the hitting direction.

As shown in FIGS. 16 and 17, for example, the area setting unit 103 flies so that the flight prohibited area when the player is not moving is wider than the flight prohibited area when the player is moving. The prohibited area may be determined. The flight control unit 105 determines a flight route that avoids the flight prohibited area set by the area setting unit 103 according to the moving object status information. The method itself for determining the flight route to avoid the flight prohibited area may be the same as the method described in the embodiment. This point is the same in the modified example described later.

According to the modification (1), the unmanned aerial vehicle 20 can be flown so as to avoid the flight prohibited area according to the moving object status information. By setting the flight prohibited area according to the situation of the player at that time, it is possible to more reliably prevent the unmanned aerial vehicle 20 from getting in the way of the player or the player from getting in the way of the unmanned aerial vehicle 20. can. Further, for example, it is possible to prevent an unnecessarily large flight prohibition area from being set in the situation of the player at that time, so that it is possible to prevent the unmanned aerial vehicle 20 from making a large detour unnecessarily. As a result, the power consumption of the unmanned aerial vehicle 20 can be reduced and the arrival time at the destination can be shortened.

Further, when the moving object status information indicates the moving status of the player, the unmanned aerial vehicle 20 can be flown so as to avoid the flight prohibited area according to the moving status of the player. That is, it is possible to set an optimum flight prohibited area according to the movement situation of the player.

It should be noted that what kind of flight prohibited area is set according to the moving object status information may be determined according to the scene in which the unmanned aerial vehicle control system 1 is used, the type of moving object, and the like. For example, when the moving body is a train or the like, in order to secure a spatial margin for avoiding contact with the unmanned aerial vehicle 20, the area setting unit 103 moves, contrary to the modification described above. Even if the flight prohibited area is set so that the flight prohibited area when the physical condition information indicates that it is moving is wider than the flight prohibited area when it indicates that the moving body condition information is not moving. good.

Further, for example, as described above, the movement situation may indicate the movement direction. In this case, the situation acquisition unit 106 may acquire the movement direction based on the time-series change of the moving body position information. For example, the area setting unit 103 may set a wide flight prohibited area on the movement direction side indicated by the moving object status information.

Further, for example, the movement status may indicate the movement speed, and in this case, the status acquisition unit 106 may acquire the movement speed based on the time-series change of the moving body position information. For example, in order to secure a spatial margin for avoiding contact with the unmanned aerial vehicle 20, the area setting unit 103 increases the flight prohibited area as the moving speed indicated by the moving object status information increases, and the moving speed increases. The slower the flight, the smaller the prohibited area. Further, for example, contrary to the above, the area setting unit 103 estimates whether the player is in the address according to the moving speed as described in the modified example, and the faster the moving speed indicated by the moving body status information, the more the flight. The prohibited area may be made smaller, and the flight prohibited area may be made larger as the moving speed is slower.

Further, for example, as described above, the moving body status information may indicate a situation other than the moving status. For example, when the moving body status information indicates the type of operation, the status acquisition unit 106 may indicate the moving body position information. The type of motion may be acquired based on the change in the motion, or the type of motion may be acquired based on the image taken by the camera 24A of the unmanned aerial vehicle 20. In this case, the area setting unit 103 sets the flight prohibited area according to the operation. For example, the area setting unit 103 may make the flight prohibited area larger when the player is performing the address operation than when the player is performing the walking operation.

Further, for example, when the moving body status information indicates an orientation (for example, the orientation of the player's face or the orientation of the body), the status acquisition unit 106 may acquire the orientation based on the change in the moving object position information. Alternatively, the orientation may be acquired based on the image taken by the camera 24A of the unmanned aerial vehicle 20. In this case, the area setting unit 103 sets the flight prohibited area according to the direction. For example, the area setting unit 103 may set a flight prohibited area that is widened in the direction of the player's face or the direction of the body.

(2) Further, for example, the case where the moving body is a person has been described in the embodiment, but as described above, the moving body may be a car, a motorcycle, a train, or the like. Since people, automobiles, motorcycles, and trains move differently from each other, the flight prohibited area may be different depending on what the moving object is.

The unmanned aerial vehicle control system 1 of the modification (2) includes a property acquisition unit 107. The property acquisition unit 107 is mainly realized by the control unit 11. The property acquisition unit 107 acquires mobile property information regarding the property of the moving body. Properties are information that indicates what a mobile is. In other words, the property may be a taxonomically defined classification, the type or purpose of use of the moving body, the ability or performance of the moving body, and the like. Here, the case where the moving body property information indicates whether the vehicle is a person, a car, a motorcycle, or a train will be described.

For example, the property acquisition unit 107 may acquire the mobile property information based on the communication content with the mobile terminal 30. The property acquisition unit 107 acquires the identification information of the mobile terminal 30 from the mobile terminal 30, and acquires the mobile property information based on the identification information. In this case, it is assumed that the data indicating the relationship between the identification information of the mobile terminal 30 and the mobile property information is stored in the data storage unit 100 in advance. In this relationship, for example, one mobile terminal 30 moves with a person, and another mobile terminal 30 moves with an automobile. The property acquisition unit 107 acquires the mobile property information associated with the identification information acquired from the mobile terminal 30. Thereby, the unmanned aerial vehicle control system 1 can identify what the moving body is.

The moving body property information may be input from the operation units 14 and 34. In this case, the property acquisition unit 107 acquires the moving body property information input from the operation units 14 and 34. Alternatively, for example, the moving object property information may be acquired based on the image taken by the camera 24A of the unmanned aerial vehicle 20. In this case, the property acquisition unit 107 may acquire the moving object property information by performing image analysis on the captured image taken by the camera 24A on the ground. In this image analysis, template matching may be performed using a template image showing a typical shape of a person, an automobile, or the like.

The area setting unit 103 sets a flight prohibited area based on the moving object property information. The relationship between the moving object property information and the flight prohibited area may be described in a program, or may be stored in the data storage unit 100 as data in a mathematical formula format or a table format. In this relationship, the moving object property information and at least one of the position, size, and shape of the flight prohibited area may be defined. The area setting unit 103 sets the flight prohibited area associated with the moving object property information acquired by the property acquisition unit 107.

For example, the area setting unit 103 may set the flight prohibited area of the size and shape associated with the moving object property information at the position associated with the moving object property information. In other words, the area setting unit 103 makes the flight prohibited area to be set different according to the property indicated by the moving object property information.

For example, when the moving object property information indicates a car or a train, the area setting unit 103 may set a flight prohibited area larger than when the moving body property information indicates a person. Further, for example, since the movable direction of a car or a train is limited and a sudden change of direction cannot be made, the area setting unit 103 indicates that when the moving body property information indicates a car or a train, the moving body property information indicates a person. A wider flight prohibited area may be set on the moving direction side as compared with the case.

According to the modification (2), the unmanned aerial vehicle 20 can be flown so as to avoid the flight prohibited area according to the moving object property information. That is, since the flight prohibited area changes depending on what the moving object is, it is possible to more reliably prevent the unmanned aerial vehicle 20 from getting in the way of the moving object or the moving object from getting in the way of the unmanned aerial vehicle 20. can. Further, for example, it is possible to prevent an unnecessarily large flight prohibition area from being set depending on the nature of the moving body, so that it is possible to prevent the unmanned aerial vehicle 20 from making unnecessary detours. As a result, the power consumption of the unmanned aerial vehicle 20 can be reduced and the arrival time at the destination can be shortened.

Even if the objects have the same taxonomic name, it may be better to have different flight prohibited areas depending on the type of object. For example, even if the train is the same, the moving speed differs between the Shinkansen and the conventional line, so the flight prohibited area may be different depending on the type of train. In this case, the moving body property information indicates the type of train, and the area setting unit 103 prohibits flight when the moving body property information indicates the Shinkansen, which is larger than when the moving body property information indicates the conventional line. You may try to set the area.

Further, for example, even if the same automobile is used, the moving speed differs between the expressway and the general road, so that the flight prohibited area may be different depending on where the automobile is running. In this case, the moving body property information indicates where the vehicle is traveling, and when the moving body property information indicates a vehicle on the expressway, the area setting unit 103 indicates that the moving body property information is a general road. It may be possible to set a larger flight prohibited area than when indicating a car.

Also, for example, even if the buses are the same, it may be better to have different flight prohibited areas between the shared bus and the sightseeing bus. For example, a shared bus often stops immediately after stopping at a bus stop and picking up passengers, but a sightseeing bus often stops for a while and then departs after sightseeing is completed. The moving body property information may indicate the purpose of use of the moving body, and the area setting unit 103 may set a flight prohibited area based on the purpose of use indicated by the moving body property information. For example, in the case of a shared bus, the area setting unit 103 may set a flight prohibited area larger than that of a sightseeing bus.

Further, for example, depending on the player, there are some players who can obtain a flight distance and some players who cannot, so that the flight prohibited area may be different depending on the flight distance of the player. In this case, the moving body property information will indicate the flight distance of the player (that is, the ability of the player), and the area setting unit 103 will fly as the area setting unit 103 has a longer flight distance indicated by the moving body property information. The prohibited area may be widened, and the shorter the flight distance indicated by the moving object property information, the narrower the prohibited area may be.

(3) Further, for example, the unmanned aerial vehicle control system 1 of the embodiment has described a case where when the unmanned aerial vehicle 20 in flight approaches the course, the flight route is flexibly adjusted according to the position of the player at that time. However, the movement of the player may be predicted in advance to determine the flight route. In this modification, the unmanned aerial vehicle control system 1 predicts the movement of each player from the current position before the unmanned aerial vehicle 20 departs, and acquires a flight route that avoids a flight prohibited area based on the prediction result. Will be described as an example.

The unmanned aerial vehicle control system 1 of the modification (3) includes a movement prediction unit 108. The movement prediction unit 108 is mainly realized by the control unit 11. The movement prediction unit 108 predicts the movement of the player from the current position based on the moving body position information. The movement prediction unit 108 may predict the position of the player at one time point in the future, or may predict the position of the player at a plurality of time points in the future in chronological order. Here, a case where the movement prediction unit 108 predicts the movement of the player in time series will be described.

The relationship between the moving body position information and the position of the player at each time point in the future may be described in the program, or may be stored in advance in the data storage unit 100 in a mathematical formula format or a table format. This relationship can be said to be defined by the relationship between the player's current position and future position. For example, this relationship may define the relationship between the player's current position and the current position n minutes later (n is an arbitrary numerical value). The future position may be defined according to the standard play progress on the golf course.

The area setting unit 103 sets a flight prohibited area based on the prediction result of the movement prediction unit 108. The area setting unit 103 sets the flight prohibited area based on the position of the player at each time point in the future predicted by the movement prediction unit 108. The method of setting the flight prohibited area at each time point may be the same as the method described in the embodiment or the above-described modification. That is, the area setting unit 103 may set the flight prohibited area at each time point after the present in the same manner as in the method described in the embodiment.

FIG. 18 is a diagram showing a method of setting a flight prohibited area in the modified example (3). The t-axis shown in FIG. 18 is a time axis. Here, as shown in FIG. 18, there are three sets of players in the round, and the positions indicated by the moving body position information of each set are described by reference numerals M7 to M9. At a certain point in time t1, the position M7 indicates the position of the player playing in the third hole H3, the position M8 indicates the position of the player playing in the fourth hole, and the position M9 indicates the position of the player playing in the fifth hole. It shows the position of the player.

For example, the player shoots the ball closer to the pin and plays each hole in turn, so that the player's future position is closer to the pin than the current position or, in turn, a position in the later hole. It shall be stipulated in. Therefore, the positions M7 to M9 at the time point t2 after the time point t1 move toward the pin or move to the next hole from the positions M7 to M9 at the time point t1. Similarly, the positions M7 to M9 at the time point t3 after the time point t2 move toward the pin or move to the next hole from the positions M7 to M9 at the time point t2.

In this modification, since the time-series movement as shown in FIG. 18 is predicted, the area setting unit 103 sets the flight prohibited area at each time point predicted by the movement prediction unit 108. That is, the area setting unit 103 predicts a time-series change in the flight prohibited area based on the time-series change in the position of the player, and the flight control unit 105 makes a time-series change in the flight prohibited area. Based on this, flight control of unmanned aerial vehicles will be performed.

For example, in the movement prediction example as shown in FIG. 18, when the unmanned aerial vehicle 20 flies from the position P to the receiving point Q6, if it tries to fly near the third hole H3 to the fifth hole H5 at the time point t1, the flight prohibited area A7 Since A9 is densely packed, the unmanned aerial vehicle 20 must make a large detour. Therefore, the flight control unit 105 acquires a flight route that waits for departure or waits in the middle of the flight so that the unmanned aerial vehicle 20 flies through the third hole H3 to the fifth hole H5 at the time point t2 or t3. You may.

According to the modification (3), the unmanned aerial vehicle 20 can be more reliably flown because the movement of the player from the current position can be predicted and the unmanned aerial vehicle 20 can be flown so as to avoid the flight prohibited area based on the prediction result. Can be flown to avoid flight prohibited areas. By predicting the position of the player, the frequency of acquiring the moving body position information can be reduced, so that the amount of communication can be reduced.

Further, when the flight prohibited area is set in time series based on the movement prediction of the player, the optimum flight prohibited area can be set based on the detailed movement prediction according to each time point.

(4) Further, for example, the unmanned aerial vehicle control system 1 may determine the flight route in consideration of the arrival time and the travel distance. At that time, the player, the manager, or the like may be able to specify whether to fly the unmanned aerial vehicle 20 with priority on the arrival time or the movement distance.

The unmanned aerial vehicle control system 1 of this modification includes an information acquisition unit 109 and a designated reception unit 110. These are mainly realized by the control unit 11. The information acquisition unit 109 acquires time information regarding the arrival time and distance information regarding the travel distance when the unmanned aerial vehicle flies to the destination while avoiding the flight prohibited area. The flight control unit 105 may acquire a plurality of flight route candidates, and in this case, the information acquisition unit 109 may acquire time information and distance information for each flight route candidate. As the flight route candidate, the shortest route between the departure / arrival point and the receiving point and the route whose distance difference from the shortest route is less than the threshold value may be acquired based on the route search algorithm.

The information acquisition unit 109 acquires time information and distance information based on the flight route acquired by the flight control unit 105. For example, the information acquisition unit 109 acquires distance information by calculating the total flight distance based on the latitude / longitude information on the flight route. Further, for example, the information acquisition unit 109 acquires time information by dividing the total flight distance of the flight route by a predetermined flight speed. The flight speed is the standard speed of the unmanned aerial vehicle 20, and may be a predetermined value.

The designated reception unit 110 receives a designation regarding whether to prioritize the arrival time or the travel distance. For example, the designated reception unit 110 receives the designation based on the input from the operation unit 14 or the operation unit 34.

The flight control unit 105 controls the flight of the unmanned aerial vehicle 20 based on the time information and the distance information. For example, the flight control unit 105 controls the flight of the unmanned aerial vehicle 20 based on the designated result received by the designated reception unit 110. When the designation that the arrival time is prioritized is received, the flight control unit 105 controls the flight of the unmanned aerial vehicle 20 based on the flight route having the shortest arrival time. On the other hand, when the designation that the movement distance is prioritized is accepted, the flight control unit 105 controls the flight of the unmanned aerial vehicle 20 based on the flight route having the shortest movement distance.

According to the modification (4), the unmanned aerial vehicle 20 can be flown based on the flight route considering the arrival time and the travel distance. Therefore, the unmanned aerial vehicle 20 can be made to fly without waste.

Further, the unmanned aerial vehicle 20 can be flown with priority given to the arrival time, or the unmanned aerial vehicle 20 can be flown with priority given to the travel distance. Therefore, for example, the unmanned aerial vehicle 20 can be flown by a flight route according to the player or the manager.

The method in which the flight control unit 105 performs flight control based on the time information and the distance information is not limited to the above example, and it is not necessary to specify the priority of the arrival time and the travel time. For example, the flight control unit 105 may acquire a predetermined evaluation value based on the time information and the distance information, and determine the flight route based on the evaluation value. The evaluation value may indicate the cost in terms of time, distance, and energy consumption. For example, a mathematical formula for calculating the evaluation value may be defined. In this formula, time information and distance information are variables, and each of the time information and the distance information may be weighted differently from each other. The flight control unit 105 may acquire a flight route that minimizes the cost indicated by the evaluation value.

(5) Further, for example, even if the current flight route crosses the flight prohibited area, if the player moves, that portion may not be included in the flight prohibited area. Therefore, the flight control unit 105 may control the flight of the unmanned aerial vehicle 20 so as to avoid the flight prohibited area by making the unmanned aerial vehicle 20 stand by.

Here, as described in the embodiment, the case of avoiding the flight prohibited area of the course approached by the unmanned aerial vehicle 20 will be described. For example, the flight control unit 105 determines whether the current flight route avoids the flight prohibited area, and if it determines that the current flight route does not avoid the flight prohibited area, causes the unmanned aerial vehicle 20 to stand by immediately before the flight prohibited area. Immediately before is a place within a predetermined distance from the flight prohibited area.

When the flight control unit 105 is realized by the manager terminal 10, the flight control unit 105 will transmit a predetermined standby command to the unmanned aerial vehicle 20. The standby instruction may be transmitted in a predetermined data format. It should be noted that the unmanned aerial vehicle 20 hovering on the spot, landing on the ground, or circling within a certain range (for example, an area within a radius of 5 m) and staying is equivalent to waiting.

The mobile body position acquisition unit 102 repeatedly acquires the mobile body position information while the unmanned aerial vehicle 20 is on standby. The area setting unit 103 sets a flight prohibited area every time the moving body position information is acquired. The flight control unit 105 compares the latest flight prohibited area with the flight route, and determines whether the flight route avoids the latest flight prohibited area. When the flight control unit 105 determines that the flight route does not avoid the latest flight prohibited area, the flight control unit 105 continues the standby of the unmanned aerial vehicle 20 and determines that the flight route avoids the latest flight prohibited area. If so, a predetermined flight resumption instruction is transmitted to the unmanned aerial vehicle 20. The flight resumption instruction may be transmitted in a predetermined data format. Upon receiving the flight resumption instruction, the unmanned aerial vehicle 20 ends the standby and starts flying on the flight route.

According to the modification (5), it is possible to prevent the unmanned aerial vehicle 20 from being detoured unnecessarily. As a result, the unmanned aerial vehicle 20 can arrive at the destination earlier and the power consumption of the unmanned aerial vehicle 20 can be reduced.

The place where the unmanned aerial vehicle 20 is put on standby does not have to be immediately before the flight prohibited area. For example, as in the modification (3), when the flight prohibited area is predicted in advance, the unmanned aerial vehicle 20 may be made to stand by at the departure / arrival point to delay the departure. Further, for example, during the flight of the unmanned aerial vehicle 20, the movement prediction unit 108 is made to predict the change of the flight prohibited area by the same method as the modification (3), and the flight control unit 105 is a new one as described in the embodiment. It may be determined whether to make the unmanned aerial vehicle 20 stand by based on the arrival time or travel distance when flying on the flight route and the arrival time or travel distance when waiting and flying on the current flight route. .. In this case, the arrival time and the travel distance may be acquired by the same method as in the modification (4). The flight control unit 105 may put the unmanned aerial vehicle 20 on standby or wait on the current flight route when the arrival time is earlier than the new flight route when the flight control unit 105 waits and flies on the current flight route. If the flight distance is shorter than the new flight route, the unmanned aerial vehicle 20 may be put on standby. The flight control unit 105 may determine whether to put the unmanned aerial vehicle 20 on standby depending on whether the arrival time or the travel distance is prioritized.

(6) Further, for example, any two or more of the above modified examples (1) to (5) may be combined.

Further, for example, the mobile terminal 30 may be a golf cart terminal arranged in the golf cart. In this case, the moving body is a golf cart. The golf cart terminal may be, for example, a terminal for guiding the player in detail of the course. The moving body position acquisition unit 102 may acquire moving body position information indicating the current position of the golf cart based on the detection signal of the GPS sensor 36 of the moving body terminal 30 which is a golf cart terminal. The area setting unit 103 sets the flight prohibited area based on the current position of the golf cart, and the flight control unit 105 flies so as to avoid the flight prohibited area set based on the current position of the golf cart. become.

Further, for example, the case where the unmanned aerial vehicle 20 carries a load has been described as an example, but the unmanned aerial vehicle control system 1 may be applied to a scene where the unmanned aerial vehicle 20 flies over the moving body. For example, the unmanned aerial vehicle control system 1 may be applied even when the unmanned aerial vehicle 20 captures the situation of a predetermined place with the camera 24A and provides information.

Further, for example, the case where the administrator terminal 10, the unmanned aerial vehicle 20, and the mobile terminal 30 are included in the unmanned aerial vehicle control system 1 has been described, but if the unmanned aerial vehicle control system 1 includes one or more computers. Often, other computers may be included. For example, when the unmanned aerial vehicle 20 detects the moving body position information, the moving body terminal 30 may not be included in the unmanned aerial vehicle control system 1. Further, when the unmanned aerial vehicle 20 has the function of the manager terminal 10, the manager terminal 10 does not have to be included in the unmanned aerial vehicle control system 1.

Further, for example, each function described above may be realized by any computer of the unmanned aerial vehicle control system 1, and the function described as being realized by the administrator terminal 10 is the unmanned aerial vehicle 20, mobile. It may be realized by the body terminal 30 or another computer. For example, the data storage unit 100 may be realized by the unmanned aerial vehicle 20. Further, for example, when the moving body position acquisition unit 102 is realized by the unmanned aerial vehicle 20, the unmanned aerial vehicle 20 may acquire the moving body position information directly from the moving body terminal 30, or may acquire the moving body position information directly from its own sensor unit. The moving body position information may be acquired based on the detection contents of 24. Further, for example, when the area setting unit 103 is realized by the unmanned aerial vehicle 20, the unmanned aerial vehicle 20 may set the flight prohibited area based on the map data. Further, when the flight control unit 105 is realized by the unmanned aerial vehicle 20, the unmanned aerial vehicle 20 may control the flight by determining the flight route by itself and controlling the rotation of the propeller. Further, among the functions described above, functions other than the moving body position acquisition unit 102, the area setting unit 103, and the flight control unit 105 may be omitted.

Claims (8)

A moving body position acquisition means for acquiring moving body position information regarding the current position of a moving body that is a vehicle moving on the earth, and
A property acquisition means for acquiring mobile property information indicating the purpose of use of the mobile body, and
In the case of the purpose of use, the time from when the moving body stops to when the moving body departs is relatively short based on the moving body position information and the purpose of use indicated by the moving body property information. An area setting means for setting the flight prohibited area so that the flight prohibited area for prohibiting the flight of the unmanned aerial vehicle becomes larger than in the case of the purpose of use in which the time is relatively long .
A flight control means for controlling the flight of the unmanned aerial vehicle so as to avoid the flight prohibited area.
An unmanned aerial vehicle control system characterized by including . A moving body position acquisition means for acquiring moving body position information regarding the current position of a moving body that is a player moving on a golf course , and
The property acquisition means for acquiring the property information of the moving body indicating the flight distance of the hit ball by the moving body, and the property acquisition means.
An area setting means for setting a flight prohibited area for prohibiting the flight of an unmanned aerial vehicle based on the moving body position information and the flying distance indicated by the moving body property information.
A flight control means for controlling the flight of the unmanned aerial vehicle so as to avoid the flight prohibited area.
An unmanned aerial vehicle control system characterized by including . The unmanned aerial vehicle control system further includes a movement predicting means for predicting the movement of the moving object in time series at a plurality of points in the future based on the moving object position information.
The area setting means sets the flight prohibited area at each time point predicted by the movement predicting means, based on the prediction result of the movement predicting means.
The flight control means controls the flight of the unmanned aerial vehicle by acquiring a flight route so that the unmanned aerial vehicle at each of the plurality of time points avoids the flight prohibited area at the time point.
The unmanned aerial vehicle control system according to claim 1 or 2 . The unmanned aerial vehicle flies on a flight route to a predetermined destination and
When the flight route is included in the flight prohibited area, the flight control means makes the unmanned aerial vehicle stand by in front of the flight prohibited area so as to avoid the flight prohibited area. To control,
The unmanned aerial vehicle control system according to any one of claims 1 to 3 . A moving body position acquisition step for acquiring moving body position information regarding the current position of a moving body that is a vehicle moving on the earth, and a moving body position acquisition step.
A property acquisition step for acquiring mobile property information indicating the purpose of use of the mobile body, and
In the case of the purpose of use, the time from when the moving body stops to when the moving body departs is relatively short based on the moving body position information and the purpose of use indicated by the moving body property information. The area setting step for setting the flight prohibited area and the area setting step for setting the flight prohibited area so that the flight prohibited area for prohibiting the flight of the unmanned aerial vehicle becomes larger than in the case of the purpose of use in which the time is relatively long .
A flight control step that controls the flight of the unmanned aerial vehicle so as to avoid the flight prohibited area.
An unmanned aerial vehicle control method characterized by including . A moving body position acquisition step for acquiring moving body position information regarding the current position of a moving body that is a player moving on a golf course , and a moving body position acquisition step.
The property acquisition step of acquiring the moving body property information indicating the flight distance of the hit ball by the moving body, and the property acquisition step.
An area setting step for setting a flight prohibited area for prohibiting the flight of an unmanned aerial vehicle based on the moving body position information and the flying distance indicated by the moving body property information.
A flight control step that controls the flight of the unmanned aerial vehicle so as to avoid the flight prohibited area.
An unmanned aerial vehicle control method characterized by including . A moving body position acquisition means for acquiring moving body position information regarding the current position of a moving body that is a vehicle moving on the earth.
A property acquisition means for acquiring mobile property information indicating the purpose of use of the mobile body,
In the case of the purpose of use, the time from when the moving body stops to when the moving body departs is relatively short based on the moving body position information and the purpose of use indicated by the moving body property information. An area setting means for setting the flight prohibited area so that the flight prohibited area for prohibiting the flight of an unmanned aerial vehicle becomes larger than in the case of the purpose of use in which the time is relatively long .
A flight control means that controls the flight of the unmanned aerial vehicle so as to avoid the flight prohibited area.
A program to make your computer work as. A moving body position acquisition means for acquiring moving body position information regarding the current position of a moving body that is a player moving on a golf course .
A property acquisition means for acquiring mobile property property information indicating the flight distance of a hit ball by the moving body,
An area setting means for setting a flight prohibited area for prohibiting the flight of an unmanned aerial vehicle based on the moving body position information and the flying distance indicated by the moving body property information.
A flight control means that controls the flight of the unmanned aerial vehicle so as to avoid the flight prohibited area.
A program to make your computer work as.

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