Information processing apparatus, information processing method, program product, and information processing system

Abstract

The information processing apparatus has a control unit. The control unit calculates a relative position of a second mobile body with respect to a first mobile body based on a captured image of the second mobile body captured by the first mobile body and position information related to the first mobile body; and calculates an area in which the second mobile body is movable based on the relative position.

Description

TECHNICAL FIELD

[0001] The present technology relates to an information processing apparatus, an information processing method, a program, and an information processing system. BACKGROUND

[0002] In recent years, a system composed of a plurality of mobile bodies has been proposed, for example, in the case of taking an aerial photograph of a landscape or the like, or in the case of performing remote patrol security or the like. In such a system, a technique for avoiding collision between the mobile bodies is employed (for example, see Patent Literatures 1 and 2).

[0003] LIST OF CITATIONS

[0004] PATENT LITERATURE

[0005] Patent Literature 1: Japanese Patent Application Laid-Open No. 2012-131484

[0006] Patent Literature 2: Japanese Patent Application Laid-Open No. 2007-034714 SUMMARY

[0007] TECHNICAL PROBLEM

[0008] In a system composed of a plurality of mobile bodies, it is not known how one mobile body moves with respect to other mobile bodies, or it is difficult to grasp the moving speed, moving direction, or the like of the other mobile bodies, and thus it can not be possible to obtain sufficient accuracy for avoiding collision between the mobile bodies.

[0009] Therefore, the present technology proposes an information processing apparatus, an information processing method, a program, and an information processing system capable of improving the accuracy of avoiding collision between mobile bodies.

[0010] SOLUTION TO PROBLEM

[0011] To solve the above problem, an information processing apparatus according to an embodiment of the present technology includes a control unit.

[0012] The control unit calculates a relative position of a second mobile body with respect to a first mobile body based on a captured image of the second mobile body captured by the first mobile body and position information of the first mobile body, and calculates a movable region of the second mobile body based on the relative position.

[0013] The control unit can specify recognition information for recognizing the second mobile body by performing image processing on the captured image.

[0014] The control unit can estimate a distance between the second mobile body and the first mobile body, and calculate position information of the second mobile body in accordance with the estimated distance, the position information of the first mobile body, and a relative direction of the second mobile body with respect to the first mobile body.

[0015] The control unit can calculate the movable area of the second mobile body based on the position information of the second mobile body and the body performance of the second mobile body associated with the identification information.

[0016] The control unit can calculate the movable area of the second mobile body based on at least one of a maximum speed, a maximum ascending speed, a maximum descending speed, a maximum acceleration, a maximum ascending acceleration, or a maximum descending acceleration of the second mobile body associated with the identification information and the position information of the second mobile body.

[0017] The control unit can output the calculation result of the movable area to the first mobile body, and

[0018] The first mobile body can generate a movement path of the first mobile body that does not cross the movable area.

[0019] The control unit can recalculate the movable area of the second mobile body based on the position information of the second mobile body after a certain period of time from when the movement path of the first mobile body is generated.

[0020] The control unit can output the calculation result obtained by recalculating the movable area of the second mobile body to the first mobile body, and

[0021] The first mobile body can regenerate a movement path of the first mobile body that does not cross the recalculated movable area.

[0022] At least one of the first mobile body or the second mobile body can be a flying body.

[0023] The information processing device can be a server.

[0024] To solve the above problems, an information processing device according to an embodiment of the present technology calculates a relative position of a mobile body with respect to the information processing device based on a captured image of the mobile body captured by the information processing device and position information of the information processing device, and calculates a movable area of the mobile body based on the relative position.

[0025] The information processing device can be a mobile body or a flying body.

[0026] To solve the above problems, an information processing method performed by an information processing device according to an embodiment of the present technology includes:

[0027] calculating a relative position of a second mobile body with respect to a first mobile body based on a captured image of the second mobile body captured by the first mobile body and position information of the first mobile body; and

[0028] calculating a movable area of the second mobile body based on the relative position.

[0029] To address the above problems, the procedure according to this technical embodiment causes the information processing device to perform the following steps:

[0030] The relative position of the second moving body with respect to the first moving body is calculated based on the captured image of the second moving body captured by the first moving body and the position information of the first moving body; and

[0031] The movable area of ​​the second moving body is calculated based on its relative position.

[0032] To address the above problems, the information processing system according to this technical embodiment includes an information processing device and a first moving body.

[0033] The information processing device calculates the relative position of the second mobile body with respect to the first mobile body based on the captured image of the second mobile body captured by the first mobile body and the position information of the first mobile body, calculates the movable area of ​​the second mobile body based on the relative position, and outputs the calculation result of the movable area to the first mobile body.

[0034] The first moving body generates a movement path that does not intersect with the movable area. Attached Figure Description

[0035] Figure 1 It is a diagram showing the drone body together with other aircraft.

[0036] Figure 2 This is a schematic diagram illustrating a configuration example of an information processing system according to a first embodiment of the present technology.

[0037] Figure 3 This is a block diagram illustrating a configuration example of an information processing system.

[0038] Figure 4 This is an example of a data table that correlates the model and performance of a drone.

[0039] Figure 5 This is a block diagram illustrating an example of the hardware configuration of a drone's airframe and information processing device.

[0040] Figure 6 This is a flowchart illustrating a typical operation process of an information processing system.

[0041] Figure 7 This is a schematic diagram illustrating the optical system of the camera and image capturing elements.

[0042] Figure 8 It is a diagram showing the drone body together with other aircraft.

[0043] Figure 9 Each is a conceptual diagram showing the maximum range of movement of other organisms in the horizontal direction and in the vertical plane direction.

[0044] Figure 10 is a diagram showing a case where a drone body flies so as not to cross the maximum movable region of other bodies.

[0045] Figure 11 is a diagram showing a schematic view of a drone body together with other bodies.

[0046] Figure 12 is a diagram showing a schematic view of a drone body together with other bodies.

[0047] Figure 13 is a block diagram showing a configuration example of a drone body according to a second embodiment of the present technology.

[0048] Figure 14 is a flowchart showing a typical operation of a drone body. DETAILED DESCRIPTION

[0049] Hereinafter, an embodiment of the present technology will be described with reference to the drawings.

[0050] [First Embodiment]

[0051] Figure 1 is a diagram showing a drone body 10 together with other bodies 20 that are different drone bodies from the drone body 10. The other bodies 20 are examples of the "second moving body" in the claims.

[0052] In the following embodiment, when avoiding collision between the drone body 10 and the other bodies 20, an embodiment in which the drone body 10 avoids collision with the other bodies 20 will be described. Incidentally, Figure 1 The X, Y, and Z axial directions shown in FIG. 1 are three axial directions that are perpendicular to each other, and are also common in the following drawings.

[0053] [Configuration of Information Processing System]

[0054] Figure 2 is a diagram showing a configuration example of an information processing system 1 according to the first embodiment, and Figure 3 is a block diagram showing a configuration example of the information processing system 1. As Figure 2 As shown in FIG. 1, the information processing system 1 includes the drone body 10, an information processing device 30, and a controller 40.

[0055] The drone body 10 and the information processing device 30 are connected to each other via a network N so as to be able to communicate with each other. The network N can be the Internet, a mobile communication network, a local area network, or the like, and can be a network composed of a combination of multiple types of networks.

[0056] The drone body 10 and the controller 40 are connected wirelessly. The communication standard used to connect the drone body 10 and the controller 40 is usually LTE (Long Term Evolution) communication, but it is not limited to this, and the type of communication standard is not limited to Wi-Fi, etc.

[0057] (Drone body)

[0058] like Figure 3 As shown, the drone body 10 includes a camera 101, a GPS sensor 102, a barometric pressure sensor 103, an accelerometer 104, a camera control unit 105, a control unit 106, a communication unit 107, and a storage unit 108. The drone body 10 is an example of the "first mobile body" in the claims.

[0059] Camera 101 is an apparatus for generating captured images by capturing real space using, for example, an image capturing element (such as CMOS (Complementary Metal-Oxide-Semiconductor) or CCD (Charge-Coupled Device)) and various components (such as lenses) for controlling the imaging of the subject image to the image capturing element. Camera 101 can capture still images or moving images.

[0060] GPS sensor 102 receives signals from GPS satellites and measures the current latitude and longitude of the UAV body 10. GPS sensor 102 outputs sensor data related to the latitude and longitude of the UAV body 10, calculated based on the signals obtained from GPS satellites, to relative position calculation unit 3021.

[0061] The barometric pressure sensor 103 is a pressure sensor that measures air pressure and converts it into altitude to measure the flight altitude (barometric altitude) of the drone body 10. The barometric pressure sensor 103 detects the total pressure, including the influence of wind received by the drone body 10, and the air pressure received by the drone body 10, and measures the flight speed (airspeed) of the drone body 10 based on the difference between them.

[0062] The barometric pressure sensor 103 outputs sensor data obtained by measuring the flight altitude and flight speed of the UAV body 10 to the relative position calculation unit 3021. The barometric pressure sensor 103 can be, for example, a piezoresistive pressure sensor, and its type is not limited.

[0063] Accelerometer 104 detects the acceleration of the drone body 10. Accelerometer 104 detects various movements of the drone body 10, such as tilting and vibration. Accelerometer 104 outputs the sensor data obtained by detecting the acceleration of the drone body 10 to the relative position calculation unit 3021.

[0064] The accelerometer 104 can be, for example, a piezoelectric accelerometer, a servo accelerometer, a strain accelerometer, a semiconductor accelerometer, etc., and its type is not limited.

[0065] The camera control unit 105 generates control signals for changing the shooting direction, posture and shooting magnification of the camera 101 based on the control of the control unit 106, and outputs the signals to the camera 101 and the control unit 302.

[0066] The camera control unit 105 controls the movement of the camera 101 in the pan and tilt directions via a gimbal (not shown) in which, for example, a motor such as a 3-axis gimbal is built-in, and outputs control signals and shooting magnification related to the current posture of the camera 101 (e.g., pan and tilt angles) to the relative position calculation unit 3021.

[0067] The control unit 106 controls the overall operation of the drone body 10 or a part thereof according to the program stored in the storage unit 108. The control unit 106 functionally includes a movement path generation unit 1061.

[0068] The movement path generation unit 1061 sets a waypoint P as the intermediate target point of the UAV body 10 based on the maximum movable area E of the other bodies 20, and generates the movement path R of the UAV body 10 through the set waypoint P (see...). Figure 10 The maximum movable area E is an example of the "movable area" in the claim.

[0069] The communication unit 107 communicates with the information processing device 30 via network N. The communication unit 107 serves as the communication interface for the UAV body 10.

[0070] The storage unit 108 stores sensor data output from the GPS sensor 102, the barometric pressure sensor 103, and the accelerometer 104, as well as control signals output from the camera control unit 105.

[0071] (Information processing device)

[0072] like Figure 3 As shown, the information processing device 30 includes a communication unit 301, a control unit 302, and a storage unit 303. The information processing device 30 is typically a cloud server, but is not limited to it, and can be any other computer, such as a PC.

[0073] Alternatively, the information processing device 30 may be a traffic control device that issues commands to the unmanned aerial vehicle body 10 and performs guided flight control.

[0074] The communication unit 301 communicates with the drone body 10 via the network N. The communication unit 301 functions as a communication interface of the information processing apparatus 30.

[0075] The control unit 302 controls the overall operation of the information processing apparatus 30 or a part thereof in accordance with a program stored in the storage unit 303. The control unit 302 corresponds to the "control unit" in the claims.

[0076] The control unit 302 functionally includes a relative position calculation unit 3021 and a movable region calculation unit 3022.

[0077] The relative position calculation unit 3021 calculates the current position (position information) of the drone body 10 from sensor data acquired from the GPS sensor 102 and the barometric pressure sensor 103. The relative position calculation unit 3021 calculates the relative position of the other body 20 with respect to the drone body 10 on the basis of a captured image acquired from the camera 101, a control signal relating to the current posture of the camera 101 acquired from the camera control unit 105, and the current position of the drone body 10.

[0078] The movable region calculation unit 3022 calculates the maximum movable region E of the other body 20 on the basis of the relative position of the other body 20 and the body performance.

[0079] The storage unit 303 stores data associating the model name, the type, and the body performance of each of the plurality of drone bodies with each other. The model name or the type is an example of the "identification information" in the claims.

[0080] The storage unit 303 stores a set interval (hereinafter referred to as a certain period of time t1) of the waypoints P and the local feature amount of each of the plurality of drone bodies. Figure 4 is an example of a data table associating the type of the drone body and the body performance with each other. It should be understood that Figure 4 The specific numerical values shown in Table 1 are merely examples, and are not limited to these values.

[0081] (Controller)

[0082] The controller 40 is a manipulation device for manipulating the drone body 10, and has a display unit 41. The display unit 41 is, for example, a display device such as an LCD or an organic EL display.

[0083] The display unit 41 displays a picture taken by the camera 101. As a result, the user can manipulate the drone body 10 while viewing the picture displayed on the display unit 41.

[0084] (Hardware Configuration)

[0085] Figure 5is a block diagram showing a hardware configuration example of the unmanned aerial vehicle body 10 and the information processing apparatus 30. The unmanned aerial vehicle body 10 and the information processing apparatus 30 can be Figure 5 the information processing apparatus 100 shown in FIG. 1.

[0086] The information processing apparatus 100 includes a CPU (Central Processing Unit) 109, a ROM (Read Only Memory) 110, and a RAM (Random Access Memory) 111. The control units 106 and 302 can be the CPU 109.

[0087] The information processing apparatus 100 can include a host bus 112, a bridge 113, an external bus 114, an interface 115, an input device 116, an output device 117, a storage device 118, a drive 119, a connection port 120, and a communication device 121.

[0088] In addition, the information processing apparatus 100 can include an image capturing device 122 and a sensor 123 as needed. In addition, the information processing apparatus 100 can include a processing circuit such as a DSP (Digital Signal Processor), an ASIC (Application-Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a GPU (Graphics Processing Unit) instead of or in addition to the CPU 109.

[0089] The CPU 109 functions as an arithmetic processing unit and a control unit, and controls the overall operation of the information processing apparatus 100 or a part thereof in accordance with various programs recorded on the ROM 110, the RAM 111, the storage device 118, or the removable recording medium 50. Each of the storage units 108 and 303 can be the ROM 110, the RAM 111, the storage device 118, or the removable recording medium 50.

[0090] The ROM 110 stores programs and arithmetic parameters used by the CPU 109. The RAM 111 mainly stores programs used when the CPU 109 is executed, parameters that change accordingly when the programs are executed, and the like.

[0091] The CPU 109, the ROM 110, and the RAM 111 are connected to each other by the host bus 112, which includes an internal bus such as a CPU bus. In addition, the host bus 112 is connected to the external bus 114 such as a PCI (Peripheral Component Interconnect / Interface) bus via the bridge 113.

[0092] The input device 116 is a device operated by a user, such as a mouse, a keyboard, a touch panel, a button, a switch, and a lever. The input device 116 can be, for example, a remote control device using infrared rays or other radio waves, or can be an external connection equipment 60 such as a mobile phone corresponding to the operation of the information processing apparatus 100.

[0093] The input device 116 includes input control circuitry that generates an input signal based on information input by a user, and outputs the generated signal to the CPU 109. By operating the input device 116, the user inputs various data to the information processing apparatus 100, or instructs a processing operation.

[0094] The output device 117 includes a device capable of notifying a user of acquired information using senses such as vision, hearing, and touch. The output device 117 can be, for example, a display device such as an LCD (Liquid Crystal Display) or an organic EL (Electro Luminescence) display, an audio output device such as a speaker or a headphone, or a vibrator.

[0095] The output device 117 outputs a result acquired through processing by the information processing apparatus 100 as a picture such as text and an image, a sound such as voice and audio, vibration, or the like.

[0096] The storage device 118 is a data storage device that is an example of a storage unit of the information processing apparatus 100. The storage device 118 includes, for example, a magnetic storage device such as a hard disk drive, a semiconductor storage device, an optical storage device, a magneto-optical storage device, or the like. The storage device 118 stores, for example, a program executed by the CPU 109, various data, and various data acquired from the outside.

[0097] The drive 119 is a reader / writer for a removable recording medium 50 such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, and is built-in or attached externally to the information processing apparatus 100. The drive 119 reads out information recorded in the mounted removable recording medium 50 and outputs the information to the RAM 111. Further, the drive 119 writes a record in the mounted removable recording medium 50.

[0098] The connection port 120 is a port for connecting a device to the information processing apparatus 100. The connection port 120 can be, for example, a USB (Universal Serial Bus) port, an IEEE 1394 port, a SCSI (Small Computer System Interface) port, or the like.

[0099] Further, the connection port 120 can be an RS-232C port, an optical audio terminal, an HDMI (registered trademark) (High-Definition Multimedia Interface) port, or the like. By connecting the external connection device 60 to the connection port 120, various data can be exchanged between the information processing apparatus 100 and the external connection device 60.

[0100] The communication device 121 is, for example, a communication interface including a communication device for connecting to the network N. The communication device 121 can be, for example, a communication card for LAN (Local Area Network), Bluetooth (registered trademark), Wi-Fi, WUSB (Wireless USB), or LTE (Long Term Evolution). In addition, the communication device 121 can be a router for optical communication, a router for ADSL (Asymmetric Digital Subscriber Line), or a modem for various types of communication.

[0101] The communication device 121 transmits and receives signals and the like to and from the Internet or other communication devices using a predetermined protocol such as TCP / IP. The network N connected to the communication device 121 is a network connected by radio, and can include, for example, the Internet, infrared communication, radio wave communication, short distance radio communication, satellite communication, and the like. Each of the communication units 107 and 301 can be the communication device 121.

[0102] The imaging capturing device 122 captures a real space and generates a captured image. The camera 101 corresponds to the image capturing device 122.

[0103] The sensor 123 can be, for example, various sensors such as an acceleration sensor, an angular velocity sensor, a geomagnetic sensor, an illuminance sensor, a temperature sensor, an air pressure sensor, and a sound sensor (microphone).

[0104] The sensor 123 acquires information on the state of the information processing device 100 itself (for example, the posture of the housing of the information processing device 100) and information on the surrounding environment of the information processing device 100 (for example, the brightness and noise around the information processing device 100). In addition, the sensor 123 can also include a GPS receiver that receives a global positioning system (GPS) signal to measure the latitude, longitude, and altitude of the device. The GPS sensor 102, the air pressure sensor 103, and the acceleration sensor 104 correspond to the sensor 123.

[0105] The above describes an example of the configuration of the information processing system 1. Each of the above-described components can be configured by using general-purpose members, or can be configured by members and materials dedicated to the functions of each component. Such a configuration can be appropriately changed in a manner according to the technical level at the time of implementation.

[0106] [Operation of Information Processing System]

[0107] Figure 6 is a flowchart showing a typical operation flow of the information processing system 1. In the following, appropriate reference will be made to Figure 6 The operation of the information processing system 1 will be described.

[0108] First, the camera 101 installed on the drone body 10 captures a real space (hereinafter referred to as a three-dimensional space) in which the other body 20 is present. At this time, when the other body 20 is within the photographing range of the camera 101 (Yes in step S101), the camera 101 enlarges the magnification until the other body 20 fills the frame.

[0109] Therefore, the photographing range (field of view size) of the camera 101 is substantially equal to the size of the other body 20. The camera 101 photographs the other body 20 in a state in which the photographing range and the size of the other body 20 are substantially equal (step S102), and outputs the photographed image to the relative position calculation unit 3021.

[0110] The camera control unit 105 generates a control signal for changing the photographing direction, posture, and photographing magnification of the camera 101 based on the control of the control unit 106, and outputs the signal to the camera 101 and the control unit 302 (the relative position calculation unit 3021) (step S103).

[0111] For example, the camera control unit 105 controls the movement of the camera 101 in the pan and tilt directions through a gimbal (not shown) in which a motor such as a 3-axis gimbal is built, and outputs a control signal related to the current posture (for example, a pan angle and a tilt angle) and photographing magnification of the camera 101 to the relative position calculation unit 3021 (step S103).

[0112] The GPS sensor 102 outputs sensor data related to the latitude and longitude of the drone body 10 calculated based on a signal acquired from a GPS satellite to the relative position calculation unit 3021 (step S103).

[0113] The acceleration sensor 104 outputs sensor data obtained by detecting the acceleration of the drone body 10 to the relative position calculation unit 3021. The barometric sensor 103 outputs sensor data obtained by measuring the flight height and flight speed of the drone body 10 to the relative position calculation unit 3021 (step S103).

[0114] Next, the relative position calculation unit 3021 performs predetermined image processing on the captured image acquired from the camera 101 to specify the model name or type of the other body 20 (Yes in step S104). Specifically, the relative position calculation unit 3021 extracts partial feature amounts of the 3D shape of the other body 20 from the captured image in which the other body 20 is captured.

[0115] The local feature amount is a feature amount calculated by, for example, SIFT (Scale-Invariant Feature Transform), SURF (Speeded-Up Robust Features), RIFF (Rotation Invariant Fast Feature), BREIF (Binary Robust Independent Elementary Feature), BRISK (Binary Robust Invariant Scalable Keypoints), ORB (Oriented FAST and Rotated BRIEF), CARD (Compact And Real-time Descriptor), or the like.

[0116] The relative position calculating unit 3021 detects the other body 20 by feature amount matching that compares the local feature amount of the 3D shape of the other body 20 with the local feature amount of each of the plurality of drone bodies pre-stored in the storage unit 303, and specifies the model name or the model number of the other body 20.

[0117] On the other hand, when the model name or the model number of the other body 20 cannot be specified from the 3D shape of the other body 20 (NO in step S104), the relative position calculating unit 3021 refers to the body performance (maximum speed, maximum ascending speed, maximum descending speed, maximum acceleration, maximum ascending acceleration, and maximum descending acceleration) of the default model pre-set in step S108 described later (step S105).

[0118] Figure 7 is a schematic view schematically showing an optical system and an image capturing element of the camera 101. The relative position calculating unit 3021 calculates the estimated distance L between the other body 20 and the drone body 10 by, for example, the following equation (1) when the field of view size (shooting range) of the camera 101 when the other body 20 is enlarged to the full screen of the camera 101 is denoted as FV, the focal length of the lens of the camera 101 is denoted as F, and the size of the image capturing element of the camera 101 is denoted as D (step S106).

[0119] L = (F·F V ) / D... (1)

[0120] As shown in Figure 7 , the estimated distance L corresponds to the working distance (working distance), which is the distance from the tip of the lens to the other body 20 when the lens is focused on the other body 20.

[0121] Subsequently, the relative position calculating unit 3021 calculates the three-dimensional coordinate position (x1, y1, z1) of the drone body 10 with respect to the world coordinate system based on the sensor data acquired from the GPS sensor 102 and the barometric sensor 103. The three-dimensional coordinate position refers to the coordinate position indicating the current position (position information) of the drone body 10.

[0122] Next, the camera control unit 105 outputs to the relative position calculation unit 3021 a control signal indicating how many degrees the pan angle θ P (rotation angle in the pan direction) and the tilt angle θ t (rotation angle in the tilt direction) of the camera 101 (gimbal) are controlled when the other body 20 falls within the photographing range of the camera 101. The relative position calculation unit 3021 calculates the relative direction of the other body 20 with respect to the drone body 10 based on the control signal acquired from the camera control unit 105.

[0123] Subsequently, the relative position calculation unit 3021 calculates the three-dimensional coordinate position (x2, y2, z2) of the other body 20 based on the current three-dimensional coordinate position (x1, y1, z1) of the drone body 10, the estimated distance L between the drone body 10 and the other body 20, and the relative direction (pan angle θ P and tilt angle θ t ) of the other body 20 with respect to the drone body 10 based on the world coordinate system (step S107).

[0124] Specifically, when the pan angle, the tilt angle, and the estimated distance between the drone body 10 and the other body 20 are θ P , θ t , and L, respectively, in a coordinate system in which the current position of the drone body 10 is the origin position, the relative position calculation unit 3021 calculates the three-dimensional coordinate position (x2', y2', z2') of the other body 20 in the coordinate system, for example, by the following equations (2), (3), and (4).

[0125] x2' = L*cos(θ P )*cos(θ t )... (2)

[0126] y2' = L*sin(θ P )*cos(θ t )... (3)

[0127] z2' = L*sin(θ t )... (4)

[0128] The relative position calculation unit 3021 calculates the three-dimensional coordinate position (x2, y2, z2) by coordinate-converting the three-dimensional coordinate position (x2', y2', z2') to the world coordinate system using the current position (x1, y1, z1) of the drone body 10. The three-dimensional coordinate position is a coordinate position indicating the current position (position information) of the other body 20. Figure 8Fig. 1 is a schematic view showing a UAV body 10 and other bodies 20 together, in a coordinate system in which the current position of the UAV body 10 is set as the origin position.

[0129] Next, the relative position calculating unit 3021 reads the body performance (maximum speed, maximum ascending speed, maximum descending speed, maximum acceleration, maximum ascending acceleration, and maximum descending acceleration) and a certain time period tl of the other body 20 associated with the model name or the model number specified in the previous step S104 from the storage unit 303 by referring to the data table stored in the storage unit 303. Figure 4

[0130] Next, the relative position calculating unit 3021 calculates the maximum moving range El in the horizontal direction (XY plane direction) when accelerating with the three-dimensional coordinate position (x2, y2, z2) of the other body 20 calculated in the previous step S107 as the center and from the center with the maximum acceleration as the upper limit.

[0131] Figure 9 (a) in Fig. 1 is a conceptual view showing the maximum moving range El of the other body 20 in the horizontal direction. When the maximum speed, the maximum acceleration, and the maximum moving distance are V h , a h , and L h , respectively, the maximum moving range El is calculated, for example, by the following equations (5) and (6).

[0132] L h = V h t1 + (a h t1 2 ) / 2... (5)

[0133] E1 = (L h ) 2 π... (6)

[0134] Next, the relative position calculating unit 3021 calculates the maximum ascending range E2 in the vertical plane direction (XY plane direction) when ascending with the three-dimensional coordinate position (x2, y2, z2) of the other body 20 calculated in the previous step S107 as the center and from the center with the maximum ascending acceleration as the upper limit.

[0135] Figure 9 (b) in Fig. 1 is a conceptual view showing the maximum moving range of the other body 20 in the vertical plane direction. When the maximum ascending speed, the maximum ascending acceleration, and the maximum ascending distance are V up , a up , L up , respectively, the maximum ascending range E2 is calculated, for example, by the following equations (7) and (8).​

[0136] L up = V up t1 + (a up t1 2 ) / 2... (7)

[0137] E2 = {(L up ) 2 π} / 2... (8)

[0138] Similarly, the relative position calculating unit 3021 calculates a maximum lowering range E3 in the vertical plane direction when lowering with the three-dimensional coordinate position (x2, y2, z2) of the other body 20 as the center and from the center with the maximum lowering acceleration as the upper limit.

[0139] When the maximum lowering speed, the maximum lowering acceleration, and the maximum lowering distance are V down , a down , L down , respectively, the maximum lowering range E3 is calculated, for example, by the following equations (9) and (10). The relative position calculating unit 3021 outputs the calculation results of the maximum movable range E1, the maximum raising range E2, and the maximum lowering range E3 to the movable area calculating unit 3022.

[0140] L down = V down t1 + (a down t1 2 ) / 2... (9)

[0141] E3 = {(L down ) 2 π} / 2... (10)

[0142] The movable area calculating unit 3022 combines the maximum movable range E1, the maximum raising range E2, and the maximum lowering range E3, calculates a maximum movable area E defined thereby, and calculates the maximum movable area E of the other body 20 in the three-dimensional space (step S108).

[0143] The movable area calculating unit 3022 outputs the calculation result of the maximum movable area E to the movement path generating unit 1061 and the controller 40 (step S109).

[0144] The display unit 41 of the controller 40 displays the maximum movable area E of the other body 20. At this time, the display unit 41 generates an overlay image that virtually superimposes the maximum movable area E on a picture taken by the camera 101, and displays the image. As a result, the user can confirm the maximum movable area E of the other body 20 as visualized information.

[0145] For example, when the maximum moving distance, maximum ascending distance, and maximum descending distance are respectively L h L up L down When the maximum movable area E is defined as a cylinder calculated by the following equation (11), the maximum movable area E can be defined as a cylinder.

[0146] E = {L up + L down}·(L h ) 2 ·π ... (11)

[0147] Alternative locations, such as Figure 1 As shown, for example, the maximum movable region E can be defined as an ellipsoid calculated by the following equation (12).

[0148] E = 4 / 3·π·[(L h ) 2 ·{(L up + L down ) / 2} ... (12)

[0149] Figure 10 This diagram illustrates the scenario where the UAV body 10 flies without intersecting the maximum movable area E of other bodies 20. The movement path generation unit 1061 uses the maximum movable area E of other bodies 20 as virtual obstacles, sets a waypoint P (intermediate target point) not included in the virtual obstacles, and generates a movement path R via waypoint P (step S110). At this time, the movement path generation unit 1061 generates the movement path R, for example, based on a search algorithm such as A* (A-star) or D* (D-star).

[0150] Specifically, for example, the movement path generation unit 1061 calculates the three-dimensional coordinate position (x, y, x) of waypoint P based on the three-dimensional coordinate position of each point in the point cloud data constituting the maximum movable area E and the body width L2 of the UAV body 10. p y p , z p ), and generate a movement path R based on the coordinate position.

[0151] At this time, the movement path generation unit 1061 sets the coordinate position (x p y p , z p This allows any point P in the point cloud data that forms the outermost edge of the maximum movable region E, for example, when the movement path R passes through the center of the UAV body 10 in the width direction. a coordinates (x) a ya , y a , z p ) and the coordinate position (x p , y p , z p ) becomes greater than the body width L2. Incidentally, the body width L2 is, for example, a dimension from the center in the width direction of the drone body 10 to the end in the width direction.

[0152] Figure 11 is a view showing the drone body 10 and the other body 20 together in the world coordinate system, and is a view showing a case where the moving path R is changed from the new maximum movable region E'.

[0153] For example, when the drone body 10 cannot reach the waypoint P within a certain period of time tl due to some external factor such as strong wind, the movable region calculating unit 3022 re-calculates the maximum movable region E' that the other body 20 can take within the certain period of time tl from the current position (x2", y2", z2") of the other body 20 after the certain period of time tl elapses. Then, the moving path generating unit 1061 can change the waypoint P based on the maximum movable region E'.

[0154] In this case, the moving path generating unit 1061 changes the moving path from the current flight position of the drone body 10 to the waypoint P to the moving path R' passing through the coordinate position (x p ', y p ', z p ) of the changed waypoint P'. Thus, even if an unexpected accident occurs so that the drone body 10 cannot reach the waypoint P within a certain predetermined period of time tl, collision with the other body 20 can be avoided.

[0155] Figure 12 is a view showing the drone body 10 and the other body 20 together in the world coordinate system, and is a view showing a case where the moving path R' is generated according to the new maximum movable region E'.

[0156] The information processing system 1 repeatedly performs the series of steps from the previous step S102 to step S110 with a certain period of time tl. Thus, the waypoint P passed through by the drone body 10 is set intermittently every certain period of time tl.

[0157] At this time, as shown in Figure 12 , the movable region calculating unit 3022 re-calculates the maximum movable region E' that the other body 20 can take within the certain period of time tl from the current position (x2", y2", z2") of the other body 20 after the certain period of time tl elapses.

[0158] The movement path generating unit 1061 sets a new waypoint P' based on the maximum movable region E', and regenerates a movement path R' that passes through the coordinate positions (x p ', y p ', z p ) of the waypoint P'.

[0159] Further, when the unmanned aerial vehicle body 10 cannot reach the waypoint P' from the waypoint P within a certain period of time t1, the movable region calculating unit 3022 can recalculate the maximum movable region E' that the other body 20 can reach within a certain period of time t1 from the current position of the other body 20 after a certain period of time t1 elapses, and the movement path generating unit 1061 can change the waypoint P' based on the maximum movable region E'.

[0160] In this case, the movement path generating unit 1061 changes the movement path from the current own flight position to the waypoint P' to a movement path R' that passes through the three-dimensional coordinate positions of the changed waypoint.

[0161] [Effects]

[0162] In the information processing system 1, the information processing apparatus 30 calculates the maximum movable region E, which is the range in which the other body 20 can move within a certain period of time t1. Then, the unmanned aerial vehicle body 10 generates a movement path R that does not cross the maximum movable region E.

[0163] Therefore, even if the other body 20 performs an unexpected operation such as sudden ascent and sudden descent within a certain period of time t1, the operation is within the maximum movable region E. Therefore, if the unmanned aerial vehicle body 10 moves according to the movement path R that does not cross the maximum movable region E, collision with the other body 20 within a certain period of time t1 can be reliably avoided.

[0164] Further, in the information processing system 1, the information processing apparatus 30 recalculates the maximum movable region E' based on the current position of the other body 20 after a certain period of time t1 elapses from when the movement path R is generated. Then, the unmanned aerial vehicle body 10 regenerates a movement path R' that does not cross the maximum movable region E'. This avoids collision between the unmanned aerial vehicle body 10 and the other body 20 regardless of the movement path taken by the other body 20.

[0165] Further, in the information processing system 1, the information processing apparatus 30 performs arithmetic processing for calculating the maximum movable region E of the drone body 10. That is, in order to avoid collision between the drone body 10 and the other body 20, the information processing apparatus 30 is responsible for a part of the arithmetic processing to be performed by the drone body 10. Therefore, it is possible to greatly reduce the computational load of the drone body 10. Further, since it is not necessary to increase the computational processing capacity of the drone body 10, the design cost of the drone body 10 is suppressed.

[0166] <Second Embodiment>

[0167] Figure 13 is a block diagram showing a configuration example of the drone body 10 according to the second embodiment of the present technology. Hereinafter, the same components as those of the first embodiment are denoted by the same reference numerals, and the description thereof will be omitted.

[0168] The second embodiment differs from the first embodiment in that, when the arithmetic processing capacity of the drone body 10 itself is improved or when the drone body 10 cannot communicate with the information processing apparatus 30, the drone body 10 calculates the maximum movable region of the other body 20, and always performs processing for generating its own movement path that does not cross the maximum movable region.

[0169] [Configuration of Drone Body]

[0170] As shown in Figure 13 , the control unit 106 of the drone body 10 according to the second embodiment functionally includes a movement path generation unit 1061, a relative position calculation unit 3021, and a movable region calculation unit 3022.

[0171] [Action of Drone Body]

[0172] Figure 14 is a flowchart showing a typical operation of the drone body 10 of the second embodiment. The drone body 10 performs the operation according to the flowchart shown in Figure 14 . The same operation as that of the information processing system 1 of the first embodiment is denoted by the same reference numerals, and the description thereof will be omitted.

[0173] <Modification>

[0174] Although the embodiments of the present technology have been described above, the present technology is not limited to the above-described embodiments, and it should be understood that various modifications can be made thereto.

[0175] For example, in the above-described embodiment, the movement path R of the drone body 10 is generated based on the maximum movable area E calculated from the current position and the body performance of the other body 20, but is not limited thereto, and the movement path of the drone body 10 can be generated based on the maximum movable area of the other body 20 calculated in advance for each model name or model number of the other body 20.

[0176] In the above-described embodiment, the superimposed image is displayed on the display unit 41, but is not limited thereto, and as an alternative or in addition to the superimposed image, information for prompting the user to pay attention can be displayed on the display unit 41.

[0177] Further, in the above-described embodiment, the model name or model number of the other body 20 is specified from the 3D shape of the other body 20, but is not limited thereto, and for example, the model name or model number of the other body 20 can be specified from a logo, a mark, or the like on the surface of the other body 20.

[0178] In addition, in the above-described embodiment, all of the maximum speed, the maximum ascending speed, the maximum descending speed, the maximum acceleration, the maximum ascending acceleration, and the maximum descending acceleration of the other body 20 are used to calculate the maximum movement range E1, the maximum ascending range E2, and the maximum descending range E3, but are not limited thereto, and at least one of the maximum speed, the maximum ascending speed, the maximum descending speed, the maximum acceleration, the maximum ascending acceleration, or the maximum descending acceleration can be used to calculate the maximum movement range E1, the maximum ascending range E2, or the maximum descending range E3.

[0179] Further, in the above-described embodiment, the information processing apparatus 30 calculates the maximum movable area of the other body 20 and generates its own movement path of the drone body 10 that does not cross the maximum movable area, but is not limited thereto. As an alternative or in addition to the maximum movable area of the other body 20, the drone body 10 can generate its own movement path based on a movable area that the other body 20 can achieve within a certain period of time t1.

[0180] <Other>

[0181] As described above, embodiments of the present technology can include, for example, an information processing apparatus, a system, an information processing method executed by the information processing apparatus or the system, a program for operating the information processing apparatus, and a non-transitory tangible medium in which the program is recorded.

[0182] In the above-described embodiments, the description is made on the premise that the unmanned aerial vehicle body 10 and the other body 20 are flight bodies, but is not limited thereto, and at least one of the unmanned aerial vehicle body 10 or the other body 20 can be a flight body. Further, the present technology can be applied to other moving bodies (for example, robots) other than flight bodies, and the application thereof is not particularly limited. In addition to unmanned aerial vehicle bodies, flight bodies include aircrafts, unmanned aerial vehicles, and unmanned helicopters.

[0183] Further, the effects described herein are merely descriptive or exemplary, and are not limiting. In other words, the present technology can have other effects apparent to those skilled in the art from the description herein in addition to or instead of the above-described effects.

[0184] The preferred embodiments of the present technology are described in detail above with reference to the accompanying drawings. However, the present technology is not limited to these examples. It is obvious that a person with ordinary knowledge in the technical field of the present technology can conceive various changes or modifications within the scope of the technical idea according to the embodiments of the present technology. It should be understood that such changes or modifications also fall within the technical scope of the present technology.

[0185] The present technology can also have the following configurations.

[0186] (1) An information processing apparatus comprising:

[0187] a control unit that calculates a relative position of a second moving body with respect to a first moving body based on a captured image of the second moving body captured by the first moving body and position information of the first moving body, and calculates a movable region of the second moving body based on the relative position.

[0188] (2) The information processing apparatus according to (1), wherein

[0189] the control unit specifies identification information for identifying the second moving body by performing image processing on the captured image.

[0190] (3) The information processing apparatus according to (2), wherein

[0191] the control unit estimates a distance between the second moving body and the first moving body, and calculates position information of the second moving body in accordance with the estimated distance, the position information of the first moving body, and a relative direction of the second moving body with respect to the first moving body.

[0192] (4) The information processing apparatus according to (3), wherein

[0193] the control unit calculates the movable region of the second moving body based on the position information of the second moving body and a body performance of the second moving body associated with the identification information.

[0194] (5) The information processing device according to (3) or (4), wherein

[0195] The control unit calculates the movable area of the second mobile body based on at least one of a maximum speed, a maximum ascending speed, a maximum descending speed, a maximum acceleration, a maximum ascending acceleration, or a maximum descending acceleration of the second mobile body associated with the identification information and position information of the second mobile body.

[0196] (6) The information processing device according to (5), wherein

[0197] The control unit outputs the calculation result of the movable area to the first mobile body, and

[0198] The first mobile body generates a movement path of the first mobile body that does not cross the movable area.

[0199] (7) The information processing device according to (5) or (6), wherein

[0200] The control unit re-calculates the movable area of the second mobile body based on position information of the second mobile body after a certain period of time from when the movement path of the first mobile body is generated.

[0201] (8) The information processing device according to (7), wherein

[0202] The control unit outputs the calculation result obtained by re-calculating the movable area of the second mobile body to the first mobile body, and

[0203] The first mobile body re-generates a movement path of the first mobile body that does not cross the re-calculated movable area.

[0204] (9) The information processing device according to any one of (1) to (8), wherein

[0205] At least one of the first mobile body or the second mobile body is a flying body.

[0206] (10) The information processing device according to any one of (1) to (9), which is a server.

[0207] (11) An information processing device that calculates a relative position of a mobile body with respect to the information processing device based on a captured image of the mobile body captured by the information processing device and position information of the information processing device, and calculates a movable area of the mobile body based on the relative position.

[0208] (12) The information processing device according to (11), which is a mobile body or a flying body.

[0209] (13) An information processing method executed by an information processing apparatus, comprising:

[0210] calculating a relative position of a second mobile body with respect to a first mobile body based on a captured image of the second mobile body captured by the first mobile body and position information of the first mobile body; and

[0211] calculating a movable region of the second mobile body based on the relative position.

[0212] (14) A program causing an information processing apparatus to execute:

[0213] calculating a relative position of a second mobile body with respect to a first mobile body based on a captured image of the second mobile body captured by the first mobile body and position information of the first mobile body; and

[0214] calculating a movable region of the second mobile body based on the relative position.

[0215] (15) An information processing system, comprising:

[0216] an information processing apparatus that calculates a relative position of a second mobile body with respect to a first mobile body based on a captured image of the second mobile body captured by the first mobile body and position information of the first mobile body, calculates a movable region of the second mobile body based on the relative position, and outputs a result of the calculation of the movable region to the first mobile body, and the first mobile body generates a movement path of the first mobile body that does not cross the movable region.

[0217] Reference mark list

[0218] 1 Information processing system

[0219] 10 Unmanned aerial vehicle body

[0220] 20 Other body

[0221] 50 Movable recording medium

[0222] 60 Controller

[0223] 106, 302 Control unit

[0224] E, E' Maximum movable region

[0225] R, R' Movement path

Claims

1. An information processing apparatus comprising: a control unit that calculates a relative position of a second mobile body with respect to a first mobile body based on a captured image of the second mobile body captured by the first mobile body and position information of the first mobile body, and calculates a movable region of the second mobile body based on the relative position, wherein the control unit specifies identification information for identifying the second mobile body by performing image processing on the captured image, if the identification information for identifying the second mobile body can be specified, the control unit calculates the movable region of the second mobile body based on the position information of the second mobile body and a body performance of the second mobile body associated with the identification information, and if the identification information for identifying the second mobile body cannot be specified, the control unit calculates the movable region of the second mobile body based on the position information of the second mobile body and a body performance of a preset default model, the body performance of the second mobile body or the preset default model includes a maximum speed, a maximum ascending speed, a maximum descending speed, a maximum acceleration, a maximum ascending acceleration, and a maximum descending acceleration of the second mobile body or the preset default model; a maximum moving range of the second mobile body in a horizontal direction is calculated based on the maximum speed and the maximum acceleration of the second mobile body or the preset default model; a maximum ascending range of the second mobile body in a vertical plane direction is calculated based on the maximum ascending speed and the maximum ascending acceleration of the second mobile body or the preset default model; a maximum descending range of the second mobile body in the vertical plane direction is calculated based on the maximum descending speed and the maximum descending acceleration of the second mobile body or the preset default model; and the movable region of the second mobile body is calculated by combining the maximum moving range, the maximum ascending range, and the maximum descending range. 2.The information processing apparatus according to claim 1, wherein the control unit estimates a distance between the second mobile body and the first mobile body, and calculates the position information of the second mobile body in accordance with the estimated distance, the position information of the first mobile body, and a relative direction of the second mobile body with respect to the first mobile body. 3.The information processing apparatus according to claim 1, wherein the control unit outputs a result of the calculation of the movable region to the first mobile body, and the first mobile body generates a moving path of the first mobile body that does not cross the movable region. 4.The information processing apparatus according to claim 1, wherein the control unit recalculates the movable region of the second mobile body based on position information of the second mobile body after a certain period of time from when the moving path of the first mobile body is generated. 5.The information processing apparatus according to claim 4, wherein the control unit outputs a result obtained by recalculating the movable region of the second mobile body to the first mobile body, and the first mobile body regenerates the moving path of the first mobile body that does not cross the recalculated movable region. 6.The information processing apparatus according to claim 1, wherein at least one of the first mobile body or the second mobile body is a flying body. 7.The information processing apparatus according to claim 1, which is a server. 8.An information processing apparatus that calculates a relative position of a mobile body with respect to the information processing apparatus based on a captured image of the mobile body captured by the information processing apparatus and position information of the information processing apparatus, and calculates a movable region of the mobile body based on the relative position, wherein the information processing apparatus specifies identification information for identifying the mobile body by performing image processing on the captured image, the information processing apparatus calculates the movable region of the mobile body based on the position information of the mobile body and a body performance of the mobile body associated with the identification information if the identification information for identifying the mobile body can be specified, and the information processing apparatus calculates the movable region of the mobile body based on the position information of the mobile body and a body performance of a preset default model if the identification information for identifying the mobile body cannot be specified, wherein the body performance of the mobile body or the preset default model includes a maximum speed, a maximum ascending speed, a maximum descending speed, a maximum acceleration, a maximum ascending acceleration, and a maximum descending acceleration of the mobile body or the preset default model; a maximum moving range of the mobile body in a horizontal direction is calculated based on the maximum speed and the maximum acceleration of the mobile body or the preset default model; a maximum ascending range of the mobile body in a vertical plane direction is calculated based on the maximum ascending speed and the maximum ascending acceleration of the mobile body or the preset default model; a maximum descending range of the mobile body in the vertical plane direction is calculated based on the maximum descending speed and the maximum descending acceleration of the mobile body or the preset default model; and the movable region of the mobile body is calculated by combining the maximum moving range, the maximum ascending range, and the maximum descending range. 9.The information processing apparatus according to claim 8, wherein the information processing apparatus is a mobile body or a flying body. 10.An information processing method executed by an information processing apparatus, comprising: calculating a relative position of a second mobile body with respect to a first mobile body based on a captured image of the second mobile body captured by the first mobile body and position information of the first mobile body; and calculating a movable region of the second mobile body based on the relative position, wherein the information processing apparatus specifies identification information for identifying the second mobile body by performing image processing on the captured image, the information processing apparatus calculates the movable region of the second mobile body based on the position information of the second mobile body and a body performance of the second mobile body associated with the identification information if the identification information for identifying the second mobile body can be specified, and the information processing apparatus calculates the movable region of the second mobile body based on the position information of the second mobile body and a body performance of a preset default model if the identification information for identifying the second mobile body cannot be specified, wherein the body performance of the second mobile body or the preset default model includes a maximum speed, a maximum ascending speed, a maximum descending speed, a maximum acceleration, a maximum ascending acceleration, and a maximum descending acceleration of the second mobile body or the preset default model; a maximum moving range of the second mobile body in a horizontal direction is calculated based on the maximum speed and the maximum acceleration of the second mobile body or the preset default model; a maximum ascending range of the second mobile body in a vertical plane direction is calculated based on the maximum ascending speed and the maximum ascending acceleration of the second mobile body or the preset default model; a maximum descending range of the second mobile body in the vertical plane direction is calculated based on the maximum descending speed and the maximum descending acceleration of the second mobile body or the preset default model; and the movable region of the second mobile body is calculated by combining the maximum moving range, the maximum ascending range, and the maximum descending range. calculating a maximum ascending range of the second mobile body in the vertical plane direction based on a maximum ascending speed and a maximum ascending acceleration of the second mobile body or a preset default model; calculating a maximum descending range of the second mobile body in the vertical plane direction based on a maximum descending speed and a maximum descending acceleration of the second mobile body or a preset default model; and calculating a movable area of the second mobile body by combining the maximum moving range, the maximum ascending range, and the maximum descending range.

11. A program product causing an information processing apparatus to execute the steps of: calculating a relative position of a second mobile body with respect to a first mobile body based on a captured image of the second mobile body captured by the first mobile body and position information of the first mobile body; and calculating a movable area of the second mobile body based on the relative position, wherein the information processing apparatus specifies identification information for identifying the second mobile body by performing image processing on the captured image, if the identification information for identifying the second mobile body can be specified, the information processing apparatus calculates the movable area of the second mobile body based on position information of the second mobile body and body performance of the second mobile body associated with the identification information, and if the identification information for identifying the second mobile body cannot be specified, the information processing apparatus calculates the movable area of the second mobile body based on position information of the second mobile body and body performance of a preset default model, wherein the body performance of the second mobile body or the preset default model includes a maximum speed, a maximum ascending speed, a maximum descending speed, a maximum acceleration, a maximum ascending acceleration, and a maximum descending acceleration of the second mobile body or the preset default model; calculating a maximum moving range of the second mobile body in the horizontal direction based on a maximum speed and a maximum acceleration of the second mobile body or a preset default model; calculating a maximum ascending range of the second mobile body in the vertical plane direction based on a maximum ascending speed and a maximum ascending acceleration of the second mobile body or a preset default model; calculating a maximum descending range of the second mobile body in the vertical plane direction based on a maximum descending speed and a maximum descending acceleration of the second mobile body or a preset default model; and calculating a movable area of the second mobile body by combining the maximum moving range, the maximum ascending range, and the maximum descending range.

12. An information processing system comprising: an information processing apparatus that calculates a relative position of a second mobile body with respect to a first mobile body based on a captured image of the second mobile body captured by the first mobile body and position information of the first mobile body, calculates a movable area of the second mobile body based on the relative position, and outputs a result of the calculation of the movable area to the first mobile body; and the first mobile body generates a moving path of the first mobile body that does not cross the movable area, wherein the information processing apparatus specifies identification information for identifying the second mobile body by performing image processing on the captured image, ​ If identification information for identifying the second mobile body can be specified, the information processing apparatus calculates a movable area of the second mobile body based on position information of the second mobile body and body performance of the second mobile body associated with the identification information, and If identification information for identifying the second mobile body cannot be specified, the information processing apparatus calculates a movable area of the second mobile body based on position information of the second mobile body and body performance of a preset default model, The body performance of the second mobile body or the preset default model includes maximum speed, maximum ascending speed, maximum descending speed, maximum acceleration, maximum ascending acceleration, and maximum descending acceleration of the second mobile body or the preset default model; A maximum moving range of the second mobile body in a horizontal direction is calculated based on the maximum speed and the maximum acceleration of the second mobile body or the preset default model; A maximum ascending range of the second mobile body in a vertical plane direction is calculated based on the maximum ascending speed and the maximum ascending acceleration of the second mobile body or the preset default model; A maximum descending range of the second mobile body in the vertical plane direction is calculated based on the maximum descending speed and the maximum descending acceleration of the second mobile body or the preset default model; and The movable area of the second mobile body is calculated by combining the maximum moving range, the maximum ascending range, and the maximum descending range.

Images