Flying object, system, and method

Abstract

The present invention provides a flying body, a system, and a method for improving the visibility of the flying body from a preset point. A flying body (600) flying in space has an acquisition unit (691), which acquires information indicating the position of the flying body (600). In addition, the flying body (600) has a control unit (692), which controls the direction of the first surface of the flying body (600) with a preset color to change toward a preset point based on the acquired information, or controls the display of an image of a preset color on a second surface of a display device of the flying body (600) that is a part of the surface or the entire surface facing the preset point based on the acquired information.

Description

Technical Field

[0001] The present invention relates to a flying object, a system, and a method. Background Art

[0002] Conventionally, a flying object that emits smoke to improve visibility is known (for example, Patent Document 1).

[0003] [Background Technology Literature]

[0004] [Patent Document]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 2019-182379 Summary of the invention

[0006] [Problems to be solved by the invention]

[0007] However, the flying object of Patent Document 1 has a problem that, for example, since smoke is sprayed at a position irrelevant to the position of a preset point including the point to be viewed, the visibility of the flying object from the preset point cannot be improved.

[0008] Therefore, in view of the above-mentioned problems, the present invention aims to provide a flying object, a system, and a method that can improve the visibility of the flying object from a predetermined point.

[0009] [Technical means to solve the problem]

[0010] In order to achieve the above-mentioned object, a flying object according to a first aspect of the present invention is characterized in that:

[0011] It is a flying object flying in space and has:

[0012] an acquiring unit, which acquires information indicating the position of the flying object; and

[0013] The control unit performs a direction change control based on the acquired information, that is, makes the first surface of the surface of the flying body and having a predetermined color face toward a predetermined point, or

[0014] Display control is performed based on the acquired information, that is, the image of the preset color is displayed on the second surface which is a display surface of the display device of the flying object and is a partial surface or the entire surface facing the preset point.

[0015] [Effects of the Invention]

[0016] According to the flying object, system, and method of the present invention, the visibility of the flying object from a preset point can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a system configuration diagram showing a configuration example of a flight system according to the first embodiment of the present invention.

[0018] Figure 2 This is a diagram showing an example of the direction of the flying object in Example 1.

[0019] Figure 3 This is a hardware configuration diagram showing an example of the configuration of a control device included in the flight system.

[0020] Figure 4 This is an appearance configuration diagram showing an appearance example of the flying object of Example 1.

[0021] Figure 5 This is a hardware configuration diagram showing an example of the configuration of a control device included in an aircraft.

[0022] Figure 6 This is a flowchart showing an example of flight control processing executed by the flying object of the first embodiment.

[0023] Figure 7 This is a functional block diagram showing an example of functions of a control device included in an aircraft.

[0024] Figure 8 This is a diagram showing an example of a terminal table stored in the flying object of the first embodiment.

[0025] Fig. 9 This is a diagram showing an example of a map table stored in an air vehicle.

[0026] Fig.10 This is a flowchart showing an example of a flight path determination process performed by an aerial body.

[0027] Fig.11 This is a flowchart showing an example of the direction change control process executed by the flying object of the first embodiment.

[0028] Fig.12 This is a hardware configuration diagram showing an example configuration of a terminal device.

[0029] Fig.13 This is a diagram showing an example of the hardware configuration of an imaging device included in a flying object.

[0030] Fig.14 This is a flowchart showing an example of flight control processing performed by the flying object of the second embodiment.

[0031] Fig.15 This is a flowchart showing an example of the color setting process performed by the flying object.

[0032] Fig.16 This is a diagram showing an example of the minimum depression angle formed by the horizontal plane and the front direction of the flying object 600.

[0033] Fig.17 This is a flowchart showing an example of flight control processing performed by the flying object of the third embodiment.

[0034] Fig.18 This is a diagram showing an example of a terminal table stored in a flying object according to the fourth embodiment.

[0035] Fig.19 This is a flowchart showing an example of flight control processing performed by the flying object of the fourth embodiment.

[0036] Fig. 20 This is a diagram showing an example of the direction of the flying object in Example 4.

[0037] Fig.21 This is a flowchart showing an example of flight control processing performed by the flying object of the fifth embodiment.

[0038] Fig. 22 This is a flowchart showing an example of direction change control processing performed by the flying object of Example 5.

[0039] Fig.23 This is an appearance configuration diagram showing an appearance example of a flying object of Example 6.

[0040] Fig.24 This is a flowchart showing an example of flight control processing performed by the flying object of Example 6.

[0041] Fig.25 This is a flowchart showing an example of the second display control process performed by the flying object.

[0042] Fig.26 This is a diagram showing an example of the second surface. DETAILED DESCRIPTION

[0043] <Example 1>

[0044] Hereinafter, Embodiment 1 of the present invention will be described with reference to the drawings.

[0045] The flying system 1 of the first embodiment of the present invention comprises: Figure 1 The control device 100 shown in the figure controls the delivery of articles in a predetermined delivery area; and the flying body 600, according to the control of the control device 100, flies to the Figure 2 The delivery destination AD of the items shown is shown. Therefore, the flight system 1 is also called a delivery system.

[0046] The delivery area includes a predetermined first area and a predetermined second area different from the first area. Figure 2In this embodiment, for the sake of simplicity of description, the first area and the second area are collectively referred to as predetermined areas.

[0047] The airspace above the first region is referred to as the first observation airspace AB1, and while the flying object 600 is flying in the first observation airspace AB1, the delivery worker (hereinafter referred to as the first observer) observes the flying object 600 to detect abnormalities of the flying object 600. In this embodiment, the delivery worker observes the flying object 600, but the present invention is not limited thereto, and the worker may also monitor the flying object 600.

[0048] The airspace above the second region is referred to as a second observation airspace AB2 . While the flying object 600 is flying in the second observation airspace AB2 , an employee of a delivery company different from the first observer (hereinafter referred to as a second observer) observes the flying object 600 .

[0049] therefore, Figure 1 The flying system 1 shown further includes: a first terminal device 800 carried by a first observer; and a second terminal device 900 carried by a second observer. The first observer uses the communication function of the first terminal device 800 to report the observation result of the flying object 600 to the operator of the flying object 600, and the second observer uses the communication function of the second terminal device 900 to report the result of observing the flying object 600 flying in the second observation airspace AB2 to the operator. In this embodiment, in order to simplify the description, the first observer and the second observer are collectively referred to as observers, and the first terminal device 800 and the second terminal device 900 are collectively referred to as terminal devices.

[0050] The operator operates the control device 100 to cause the control device 100 to send a flight command to instruct the flying object 600 to fly to the delivery destination AD of the article. After receiving the flight command, the flying object 600 can autonomously fly to the delivery destination AD without the operator's operation.

[0051] When an observer reports an abnormality of the flying object 600, such as smoke from the flying object 600, via the terminal device, the operator operates the control device 100 to land the flying object 600 at a location that is closest to the flying object 600 and does not prohibit the flying object 600 from landing. The control device 100 transmits a landing command to the flying object 600 instructing it to land in response to the operation, and the flying object 600 autonomously lands according to the landing command after receiving the landing command.

[0052] In this embodiment, the places where the flying object 600 is not prohibited from landing include, for example, roads, river beaches, or parks, but are not limited thereto and may be any place different from the places where landing is prohibited.

[0053] The control device 100 is a server installed at the business location BO of the delivery company. Figure 3 The illustrated device includes a CPU (Central Processing Unit) 101, a RAM (Random Access Memory) 102, a ROM (Read Only Memory) 103a, a hard disk 103b, a data communication circuit 104a, a graphics card 105a, a display device 105b, an input device 105c, a speaker 109a, and a microphone 109b.

[0054] The CPU 101 of the control device 100 controls the control device 100 as a whole by executing the program stored in the ROM 103a or the hard disk 103b. The RAM 102 temporarily stores the data to be processed when the program is executed by the CPU 101. In the present embodiment, it is described that the control device 100 has one CPU 101, but it is not limited to this and may also have multiple CPUs. In addition, the control device 100 may also have multiple RAMs or multiple hard disks.

[0055] The ROM 103a and the hard disk 103b of the control device 100 store various programs. In addition, the hard disk 103b further stores various data used when executing the programs and a table storing the data. The control device 100 may include a flash memory instead of the hard disk 103b.

[0056] The data communication circuit 104a of the control device 100 is a NIC (Network Interface Card), and performs data communication with a base station (not shown) connected to the Internet IN using radio waves according to communication standards such as LTE (Long Term Evolution) and 5G (5th Generation). In this way, the data communication circuit 104a of the control device 100 performs data communication with the flying object 600, the first terminal device 800, and the second terminal device 900 connected to the Internet IN.

[0057] The graphics card 105a of the control device 100 renders an image based on the digital signal output from the CPU 101, and outputs an image signal representing the rendered image. The display device 105b is an EL (Electroluminescence) display, and displays an image based on the image signal output from the graphics card 105a. The control device 100 may also include a PDP (Plasma Display Panel) or an LCD (Liquid Crystal Display) instead of the EL display. The input device 105c is any one or more of a keyboard, a mouse, a touch panel, and a button, and inputs a signal corresponding to the operator's operation.

[0058] The speaker 109 a of the control device 100 outputs sound based on a signal output by the CPU 101 , and the microphone 109 b inputs a signal representing surrounding sound.

[0059] The flying object 600 is, for example, an unmanned aircraft such as a drone, and lands at the business location BO of the delivery company. The flying object 600 has a control system for controlling the posture and flight of the flying object 600. Figure 4 The control device 610 is shown as a cubic shape.

[0060] In this embodiment, the reference surface among the multiple surfaces of the control device 610 is referred to as the front surface, and the direction parallel to the normal direction of the front surface and toward the outside of the control device 610 is referred to as the front direction of the flying body 600. In addition, one surface perpendicular to the front surface among the multiple surfaces of the control device 610 is referred to as the upper surface, and the direction parallel to the normal direction of the upper surface and toward the outside of the control device 610 is referred to as the upper direction of the flying body 600.

[0061] The flying object 600 includes propeller arms 621 and 622, and 623 and 624 that protrude from the front surface of the control device 610 toward the right front direction and the left front direction, and from the rear surface of the control device 610 toward the left rear direction and the right rear direction. Furthermore, the flying object 600 includes propellers 631 to 634 that are respectively provided at positions from the connection portions of the propeller arms 621 to 624 and the control device 610 to the front ends of the propeller arms 621 to 624, and motors (not shown) that rotate the propellers 631 to 634 according to the control of the control device 610.

[0062] In addition, the flying object 600 is provided with a belt-shaped propeller guard 641, which is placed at the front end of the propeller arm 621 and the front end of the propeller arm 622 to protect the propellers 631 and 632 from colliding with a person, an animal, or an object other than the flying object 600. Furthermore, the flying object 600 is provided with a propeller guard 642 placed at the front end of the propeller arms 622 and 623 to protect the propellers 632 and 633; ​​a propeller guard 643 placed at the front end of the propeller arms 623 and 624 to protect the propellers 633 and 634; and a propeller guard 644 placed at the front end of the propeller arms 621 and 624 to protect the propellers 631 and 634.

[0063] The propeller guards 641 to 644 are made of flexible and elastic components such as carbon fiber reinforced plastic, and cushion the impact caused by collision with people, animals, or objects.

[0064] One of the two wide surfaces of the propeller shroud 641 (hereinafter referred to as the first surface) PL1 is colored in a preset color. In contrast, the wide surface of the propeller shroud 641 different from the first surface PL1 and the two wide surfaces of the propeller shrouds 642 to 644 are colored in colors different from the preset color.

[0065] In this embodiment, the color of the first surface PL1 is pre-set to a color with higher visibility than the color of the wide surface different from the first surface PL1 of the propeller shroud 641 and the colors of the two wide surfaces of the propeller shrouds 642 to 644. In this embodiment, the color with higher visibility includes a warning color, and the warning color includes a complementary color to the color of the environment in which the flying object 600 flies. In addition, the color of the environment in which the flying object 600 flies includes the background color of the flying object 600 observed by observers including the first observer and the second observer when observing the flying object 600.

[0066] In this embodiment, the flying object 600 flies in a street lined with brown brick houses, so the background color of the observed flying object 600 is brown. Therefore, in this embodiment, the first surface PL1 of the propeller shroud 641 is pre-colored with cyan, which is the complementary color of brown.

[0067] In the present embodiment, the wide surface of the propeller shroud 641 which is different from the first surface PL1 and the two wide surfaces of the propeller shrouds 642 to 644 are colored in advance in red, which is the corporate color of the transportation company.

[0068] The propeller guard 641 is provided at the front end of the propeller arms 621 and 622 in such a manner that the first surface PL1 of a preset color, i.e., a warning color, faces the front direction of the flying body 600. In this embodiment, the first surface PL1 faces the front direction of the flying body 600, which means that the normal direction of the first surface PL1 is parallel to the front direction of the flying body 600, and the first surface PL1 is located further forward than the wide surface of the propeller guard 641 different from the first surface PL1. Therefore, the first surface PL1 facing the front direction of the flying body 600 can be visually seen from the front direction of the flying body 600.

[0069] The propeller shroud 642 is provided at the front ends of the propeller arms 622 and 623 with its wide surface facing the right direction of the flying object 600. In addition, the propeller shrouds 643 and 644 are provided at the front ends of the propeller arms 621, 623, and 624 with their wide surfaces facing the rear and left directions of the flying object 600, respectively.

[0070] The flying body 600 is provided below the control device 610 with: a first enclosing frame 651a for enclosing four sides of one of the sides of the rectangular corrugated cardboard for packaging articles; and a second enclosing frame 651b for enclosing four sides of the side surface (hereinafter referred to as the second enclosing surface) opposite to the surface enclosed by the first enclosing frame 651a (hereinafter referred to as the first enclosing surface). Furthermore, the flying body 600 is provided with guide rails 652a and 652b on the lower surface of the control device 610, and the guide rails 652a and 652b are extended in the normal direction of the first enclosing surface and the second enclosing surface, and suspend the first enclosing frame 651a and the second enclosing frame 651b, and the moving direction of the first enclosing frame 651a and the second enclosing frame 651b is the extension direction.

[0071] In addition, the flying body 600 is further provided with an electric motor (not shown), which moves the first enclosing frame 651a and the second enclosing frame 651b toward each other under the control of the control device 610, so that the first enclosing frame 651a and the second enclosing frame 651b enclose the article. The electric motor (not shown) moves the first enclosing frame 651a and the second enclosing frame 651b toward each other, so that the first enclosing frame 651a and the second enclosing frame 651b release the enclosed article under the control of the control device 610.

[0072] Furthermore, the flying object 600 includes a support leg 653 that protrudes downward from the lower surface of the control device 610 and supports the control device 610 .

[0073] In addition, the flying object 600 further includes a LiDAR (Light Detection and Ranging) sensor 661 provided on the front surface of the control device 610 , and a LiDAR sensor (not shown) provided on the rear surface of the control device 610 .

[0074] The front surface LiDAR sensor 661 irradiates laser light in a plurality of directions within a range of -90 to +90 degrees in azimuth with respect to the reference azimuth and -90 to +90 degrees in elevation with respect to the front direction of the flying body 600, with the front surface LiDAR sensor 661 taking the front direction of the flying body 600 as a reference azimuth. The front surface LiDAR sensor 661 receives reflected light of the irradiated laser light, and measures the distance to a plurality of reflection points of the reflected laser light based on the time from irradiation of the laser light to reception of the reflected light. Next, the front surface LiDAR sensor 661 calculates the coordinate values ​​of the plurality of reflection points in the three-dimensional coordinate system of the flying body 600 with the center point of the flying body 600 as the origin, based on the irradiation direction of the laser light and the measured distance. Thereafter, the front surface LiDAR sensor 661 outputs the calculated coordinate values ​​of the plurality of reflection points to the control device 610.

[0075] The rear surface LiDAR sensor irradiates infrared laser light in a plurality of directions including an azimuth angle of -90 degrees to +90 degrees with respect to the reference azimuth and an elevation angle of -90 degrees to +90 degrees with respect to the rear direction of the flying body 600, with the rear direction of the flying body 600 being a reference azimuth. In addition, the rear surface LiDAR sensor calculates coordinate values ​​of a plurality of reflection points of the irradiated laser light in the three-dimensional coordinate system of the flying body 600, and outputs the calculated coordinate values ​​of the plurality of reflection points to the control device 610.

[0076] The LiDAR sensor 661 on the front surface and the LiDAR sensor on the rear surface output the coordinate values ​​of multiple reflection points to the control device 610, so that the control device 610 can specify the coordinate values ​​and dimensions of objects in all directions in three-dimensional space based on the flying body 600.

[0077] The control device 610 of the flying object 600 includes Figure 5 The CPU 611, RAM 612, ROM 613a, flash memory 613b, data communication circuit 614a, graphics card 615a, display device 615b, input device 615c, position measurement circuit 616, azimuth sensor 617a, posture sensor 617b, input / output port 618, and driving circuit 619 are shown.

[0078] The structure and function of the CPU 611, RAM 612, ROM 613a, data communication circuit 614a, graphics card 615a, display device 615b, and input device 615c of the control device 610 of the flying object 600 are similar to Figure 3 The control device 100 shown in the figure has the same structure and function as the CPU 101, RAM 102, ROM 103a, data communication circuit 104a, graphics card 105a, display device 105b, and input device 105c. In the present embodiment, the control device 610 of the flying object 600 is described as having one CPU 611, but the invention is not limited thereto and may also have multiple CPUs. In addition, the control device 610 may also have multiple RAMs or multiple hard disks.

[0079] The flash memory 613b of the flying object 600 stores various data used when executing a program and a table for storing the data. The control device 610 of the flying object 600 may include a hard disk instead of the flash memory 613b.

[0080] The data communication circuit 614a of the flying object 600 wirelessly communicates data with the control device 100, the first terminal device 800, and the second terminal device 900 connected via the Internet IN.

[0081] The position measurement circuit 616 of the flying object 600 is a QZSS (Quasi-Zenith Satellite System) circuit. The position measurement circuit 616 receives a signal sent from a quasi-zenith satellite, measures the latitude, longitude, and altitude representing the position of the flying object 600 based on the received signal, and outputs a signal representing the measured latitude, longitude, and altitude. The position measurement circuit 616 may not be a QZSS circuit, but a GPS circuit, which receives a GPS signal sent from a GPS (Global Positioning System) satellite, and measures the latitude, longitude, and altitude representing the position of the flying object 600 based on the received GPS signal.

[0082] The azimuth sensor 617a of the flying object 600 is, for example, a magnetic sensor, which measures the azimuth angle θ between the front direction of the flying object 600 and the reference azimuth counterclockwise from the reference azimuth, and outputs a signal indicating the measured azimuth angle θ. In this embodiment, the reference azimuth is north, but it is not limited thereto, and the reference azimuth may also be any azimuth including, for example, south, east, west, or southeast.

[0083] The attitude sensor 617b of the flying object 600 is, for example, a gyroscope, detects the minimum depression angle φ between the front direction of the flying object 600 and the horizontal plane, and outputs a signal indicating the detected depression angle φ.

[0084] The input / output port 618 of the flying object 600 is connected to a cable (not shown) which is connected to the front LiDAR sensor 661 and the rear LiDAR sensor. The input / output port 618 inputs signals indicating the coordinate values ​​outputted by the front LiDAR sensor 661 and the rear LiDAR sensor to the CPU 611.

[0085] The driving circuit 619 of the flying object 600 is respectively connected to: a cable not shown in the figure, Figure 4 The drive circuit 619 drives the motor that rotates the propellers 631 to 634 or the motor that moves the first and second enclosures 651a and 651b according to the signal output by the CPU 611.

[0086] In this embodiment, the second region is included in Figure 2 The following description takes as a specific example a case where an article designated as a delivery destination at the location AD shown is carried into the business location BO of the delivery company.

[0087] After the articles are carried into the business place BO, the operator working at the business place BO reads the receipt attached to the corrugated cardboard used to pack the articles and confirms the address of the delivery destination AD of the articles. After that, the operator places the articles between the first enclosing frame 651a and the second enclosing frame 651b of the flying body 600 and operates the input device 615c of the control device 610 of the flying body 600 so that the first enclosing frame 651a and the second enclosing frame 651b enclose the articles.

[0088] When the input device 615c of the flying object 600 inputs a signal corresponding to the operation, the CPU 611 of the flying object 600 outputs a control signal to the driving circuit 619 to move the first and second surrounding frames 651a and 651b toward each other, thereby causing the flying object 600 to store items.

[0089] Thereafter, the operator operates the input device 105c of the control device 100 to input the address of the delivery destination AD. When the input device 105c of the control device 100 inputs a signal corresponding to the operator's operation, the CPU 101 of the control device 100 acquires information indicating the address of the delivery destination AD of the item from the input signal. Next, the CPU 101 acquires information indicating the latitude, longitude, and altitude stored in advance in correspondence with the information indicating the acquired address from the hard disk 103b.

[0090] Next, the CPU 101 of the control device 100 generates a flight command, which includes information indicating the location of the delivery destination AD in terms of latitude, longitude, and altitude, and instructs the aircraft 600 to fly to the delivery destination AD. Thereafter, the CPU 101 outputs the generated flight command to the data communication circuit 104a with the aircraft 600 as the receiving destination, thereby controlling the aircraft 600 to fly to the delivery destination AD.

[0091] After the data communication circuit 614a of the flying object 600 receives the flight command from the control device 100, the CPU 611 of the flying object 600 executes Figure 6 The flight control process shown is to perform control to rotate the propellers 631 to 634 to fly in accordance with the flight command.

[0092] Therefore, the CPU 611 of the flying object 600 acts as Figure 7 The acquisition unit 691 shown functions to acquire information indicating the position of the flying object 600 based on the signal output from the position measurement circuit 616. The CPU 611 also functions as a control unit 692 that controls the flight of the flying object 600 based on the acquired information.

[0093] Furthermore, the flash memory 613b of the flying object 600 is used as a pre-stored Figure 8 The information storage unit 699 of the terminal table shown functions to store information on the first terminal device 800 and the second terminal device 900 respectively carried by the first observer and the second observer who observe the flying object 600 .

[0094] A plurality of records are pre-stored in the terminal table, and information indicating the communication address of the first terminal device 800 assigned to the first observer and information indicating the range of the first observation airspace AB1 observed by the first observer are pre-stored in the first record. In contrast, information indicating the position of the point PB1 from which the first observer observes the flying object 600 (hereinafter referred to as the first observation point) is not stored in the first record. This is because the information indicating the position of the first observation point PB1 will be stored by executing Figure 6 The information indicating the position of the first observation point PB1 is saved by executing the flight control processing because the first observer observes at a position within the first area where the first observer believes it is easy to observe the first observation airspace AB1, so it is difficult to save the information indicating the position of the first observation point PB1 in the terminal table in advance.

[0095] In addition, information indicating the communication address of the second terminal device 900 carried by the second observer is associated with information indicating the range of the second observation airspace AB2 of the second observer and is stored in advance in the second record of the terminal table. In contrast, information indicating the position of the point PB2 observed by the second observer (hereinafter referred to as the second observation point) is not stored in advance in the second record, and information indicating the position of the second observation point PB2 will be stored in the second record by executing the flight control process. In this embodiment, for simplicity of description, the first observation point PB1 and the second observation point PB2 are collectively referred to as observation points.

[0096] In this embodiment, the information indicating the range of the first observation airspace AB1 is information indicating the positions of a plurality of vertices of the first observation airspace AB1 using latitude, longitude, and altitude, and the information indicating the range of the second observation airspace AB2 is information indicating the positions of the vertices of the second observation airspace AB2 using latitude, longitude, and altitude. In addition, the information indicating the position of the first observation point PB1 is information indicating the position of the first observation point PB1 using latitude, longitude, and altitude, and the information indicating the position of the second observation point PB2 is information indicating the position of the second observation point PB2 using latitude, longitude, and altitude, but the present invention is not limited thereto.

[0097] In addition, the information storage unit 699 of the flying object 600 stores in advance a landing site table (not shown). In the landing site table, information indicating the position of a place as a candidate landing site for the flying object 600 to land when an abnormality of the flying object 600 is observed using latitude, longitude, and altitude is stored in advance. The place as a candidate landing site may be any place as long as it is different from a place where the flying object 600 is prohibited from landing and has an area greater than a preset area.

[0098] In addition, the information storage unit 699 of the flying object 600 stores in advance Fig. 9 The map table shown stores information related to a map recording the positions and shapes of buildings and natural objects in the delivery area where the aircraft 600 performs delivery.

[0099] The map table stores a plurality of records, wherein information indicating the range of a first region is stored in a first record in association with map information indicating a map of the first region, and information indicating the range of a second region is stored in a second record in association with map information indicating a map of the second region.

[0100] In this embodiment, the information indicating the range of the first region is information indicating the positions of the multiple vertices of the first region using latitude, longitude, and altitude. In addition, the map information of the first region includes information indicating the positions and shapes of buildings in the first region and information indicating the positions and shapes of natural objects in the first region. Buildings include houses, buildings, and bridges, and the information indicating the positions and shapes of buildings is information indicating the positions of the multiple vertices of buildings using latitude, longitude, and altitude. Natural objects include trees and rocks, and the information indicating the positions and shapes of natural objects is information indicating the positions of the multiple vertices of natural objects using latitude, longitude, and altitude, but is not limited thereto.

[0101] Similarly, in this embodiment, the information indicating the range of the second region is information indicating the positions of a plurality of vertices in the second region using latitude, longitude, and altitude, but is not limited thereto. In addition, in this embodiment, the map information of the second region includes information indicating the positions and shapes of buildings in the second region and information indicating the positions and shapes of natural objects in the second region.

[0102] When the flight control process starts, the acquisition unit 691 of the aircraft 600 acquires the flight command from the data communication circuit 614a, and acquires information indicating the position of the delivery destination AD included in the acquired flight command using latitude, longitude, and altitude. Next, the control unit 692 of the aircraft 600 sets the movement destination of the aircraft 600 to the delivery destination AD indicated by the acquired information (step S01).

[0103] Next, the acquisition unit 691 of the flying object 600 obtains Figure 8 The control unit 692 obtains the communication address of the first terminal device 800 from the terminal table of the first terminal device 800, and outputs a request for replying information indicating the position of the first terminal device 800 in terms of latitude, longitude, and altitude to the data communication circuit 614a, with the communication address of the first terminal device 800 as the destination. Similarly, the acquisition unit 691 obtains the communication address of the second terminal device 900, and the control unit 692 outputs a request with the communication address of the second terminal device 900 as the destination.

[0104] After sending the request to the first terminal device 800 and the second terminal device 900, the data communication circuit 614a of the flying object 600 receives information indicating the position from the first terminal device 800 and the second terminal device 900. Next, the acquisition unit 691 of the flying object 600 acquires this information from the data communication circuit 614a (step S02).

[0105] Next, the control unit 692 of the flying body 600 sets the point at the position of the first terminal device 800 indicated by the information acquired by the acquisition unit 691 as the first observation point PB1, which is the point observed by the first observer carrying the first terminal device 800 and is the point toward which the first surface PL1 of the predetermined color of the flying body 600 faces. In addition, the control unit 692 associates the information indicating the position of the first observation point PB1 with the communication address of the first terminal device 800 and stores the information in the storage medium. Figure 8 Similarly, the control unit 692 sets a point at the position of the second terminal device 900 as a second observation point PB2, which is a point observed by a second observer carrying the second terminal device 900 and is a point toward which the first surface PL1 of the flying body 600 is directed, and saves information indicating the position of the second observation point PB2 in the second record of the terminal table (step S03).

[0106] In this embodiment, for simplicity of description, the first observation point PB1 set in step S03 is also referred to as the first set point PB1, the second observation point PB2 is referred to as the second set point PB2, and the first set point PB1 and the second set point PB2 are collectively referred to as pre-set points.

[0107] Afterwards, execute Fig.10 The flight path determination processing shown is to determine the flight path of the flying body 600 as a path from the position of the flying body 600 to the moving destination AD set in step S01, and passing through both a point that can be visually seen from the first observation point PB1 as the first set point and a point that can be visually seen from the second observation point PB2 as the second set point (step S04).

[0108] When the flight path determination process starts to be executed, the acquisition unit 691 of the flying object 600 acquires information indicating the position of the flying object 600 based on the signal output from the position measurement circuit 616 (step S21 ).

[0109] Next, the control unit 692 of the flying body 600 reads a partial path table (not shown) from the information storage unit 699, for example. The partial path table stores information related to partial paths such as roads and rivers that the flying body 600 can fly. The partial path table stores a plurality of records in advance, and the latitude, longitude, and altitude of the start node of the edge of the partial path, the latitude, longitude, and altitude of the end node of the edge, and information indicating the distance of the edge are associated and stored in advance in each record.

[0110] Next, the control unit 692 of the flying object 600 executes a path search algorithm such as the Dykstra algorithm using the position of the flying object 600, the start and end nodes of the plurality of edges, and the latitude, longitude, and altitude of the delivery destination AD. Thus, the control unit 692 determines a plurality of overall paths from the position of the flying object 600 to the delivery destination AD by combining partial paths.

[0111] Next, the control unit 692 of the flying object 600 determines the first to Nth overall paths (where N is a natural number) in the order of the total flight distance from shortest to longest as candidate flight paths for the flying object 600 to fly, that is, candidate paths (step S22). Thereafter, the control unit 692 generates information indicating the candidate paths. The information indicating the candidate paths includes information indicating the positions of the plurality of passing points included in the candidate paths using latitude, longitude, and altitude, and information indicating the passing order of the plurality of passing points.

[0112] Next, the control unit 692 of the flying object 600 obtains map information (step S23). Fig. 9 In the map table shown, information indicating a predetermined geographical range including a predetermined point is associated.

[0113] Therefore, the control unit 692 of the flying object 600 changes Figure 8 In the first record of the terminal table shown in FIG. 1 , information indicating the position of the first observation point PB1, which is the first set point, is obtained. Fig. 9 The control unit 692 obtains the information of the range of the first region and the information indicating the range of the second region stored in the map table. Then, the control unit 692 designates the region including the first observation point PB1 as the first region based on the acquired information. Next, the control unit 692 obtains the map information corresponding to the information indicating the range of the first region in the map table.

[0114] Similarly, the control unit 692 of the aircraft 600 obtains information indicating the position of the second set point, namely the second observation point PB2, from the second record of the terminal table, specifies the area including the second observation point PB2 as the second area, and obtains map information of the second area.

[0115] Next, the acquisition unit 691 of the flying object 600 obtains Figure 8In the first record of the terminal table shown, information indicating the range of the first observation airspace AB1 corresponding to the information indicating the position of the first observation point PB1 is obtained. Thereafter, the control unit 692 specifies a non-visible point included in the first observation airspace AB1 and not visually visible from the first observation point PB1 among the multiple through points included in the N candidate paths. In addition, the control unit 692 specifies a visible point included in the first observation airspace AB1 and visually visible from the first observation point PB1 among the multiple through points included in the N candidate paths.

[0116] Therefore, the control unit 692 of the flying object 600 performs a process of setting one of the unfocused candidate paths among the N candidate paths as a focus path. Next, the control unit 692 specifies a plurality of pass points included in the first observation airspace AB1 from among the plurality of pass points included in the focus path, based on information indicating the position of the pass points using latitude, longitude, and altitude, and information indicating the plurality of vertices of the first observation airspace AB1 using latitude, longitude, and altitude. Thereafter, the control unit 692 performs a process of setting one of the unfocused pass points among the plurality of pass points included in the first observation airspace AB1 as a focus pass point.

[0117] Then, the control unit 692 of the flying object 600 calculates the equation of the line segment from the first observation point PB1 to the passing point of interest based on the latitude, longitude, and altitude of the first observation point PB1 and the latitude, longitude, and altitude of the passing point of interest. Then, the control unit 692 determines whether there is a building or a natural object intersecting with the line segment from the first observation point PB1 to the passing point of interest based on the information of the latitude, longitude, and altitude of a plurality of vertices respectively included in the map information of the first region and the calculated equation of the line segment.

[0118] When the control unit 692 of the flying object 600 determines that there is a building or natural object intersecting the line segment, the control unit 692 specifies the through-point of interest as a non-visible point of the first observation point PB1 because there is a building or natural object that prevents the through-point of interest from being visually viewed from the first observation point PB1. In contrast, when the control unit 692 determines that there is no building or natural object intersecting the line segment, the control unit 692 specifies the through-point of interest as a visible point of the first observation point PB1.

[0119] Thereafter, the control unit 692 of the flying object 600 repeats the above-mentioned process from processing one of the unfocused passing points as the focused passing point until all the passing points among the plurality of passing points included in the focused path are focused. Next, when all the passing points among the plurality of passing points included in the focused path are focused, the control unit 692 repeats the above-mentioned process from processing one of the unfocused candidate paths as the focused path until all the candidate paths among the N candidate paths are focused.

[0120] After specifying the visible points and the non-visible points of the first observation point PB1, the control unit 692 of the flying object 600 specifies the non-visible points that are included in the second observation airspace AB2 and cannot be visually viewed from the second observation point PB2 among the multiple pass points included in the N candidate paths. In addition, the control unit 692 specifies the visible points that are included in the second observation airspace AB2 and can be visually viewed from the second observation point PB2 among the multiple pass points included in the N candidate paths (step S24).

[0121] Thereafter, the control unit 692 of the flying object 600 removes the path in which all the passing points included in the first observation airspace AB1 are non-visual points of the first observation point PB1 and the path in which all the passing points included in the second observation airspace AB2 are non-visual points of the second observation point PB2 from the N candidate paths determined in step S22. Thus, the control unit 692 limits the candidate paths to visible paths, on which at least one of the passing points included in the first observation airspace AB1 is a visible point of the first observation point PB1, and at least one of the passing points included in the second observation airspace AB2 is a visible point of the second observation point PB2 (step S25).

[0122] Next, the control unit 692 of the flying body 600 calculates the total number of passing points and the total number of visible points for each of the multiple candidate paths limited to visible paths, and calculates the ratio of the total number of visible points to the calculated total number of passing points (hereinafter referred to as the visible ratio).

[0123] Thereafter, the control unit 692 of the flying object 600 selects one candidate path from the plurality of candidate paths according to the calculated visual ratio, and determines the selected candidate path as the flight path (step S26). In the present embodiment, the control unit 692 determines the candidate path with the highest calculated visual ratio as the flight path, but the present invention is not limited thereto. Thereafter, the control unit 692 terminates the flight path determination process.

[0124] After the flight path is determined, the control unit 692 of the flying object 600 generates a control signal for rotating the propellers 631 to 634 in order to make the flying object 600 take off from the business location BO and outputs the control signal to the drive circuit ( Figure 6 In this embodiment, the following description will be given by taking the case where the flying object 600 takes off from the business location BO at time T1 as a specific example.

[0125] After taking off from the business location BO, the control unit 692 of the aircraft 600 Fig.10 The information indicating the position of the flying object 600 obtained in step S21, and Figure 8The information indicating the range of the first observation airspace AB1 and the information indicating the range of the second observation airspace AB2 stored in the terminal table shown in FIG. 1 designates that the aircraft 600 is flying in the first observation airspace AB1 (step S06). The reason why the aircraft 600 is designated to fly in the first observation airspace AB1 as soon as the aircraft 600 takes off from the business location BO is that, in this embodiment, Figure 2 As shown, the airspace including the sky above the business location BO is preset as the first observation airspace AB1.

[0126] Next, the acquisition unit 691 of the flying object 600 obtains Figure 8 The terminal table shown in FIG. 14 obtains information indicating the position of the first observation point PB1 associated with information indicating the range of the first observation airspace AB1 . The acquisition unit 691 thereby specifies that the flying object 600 is observed at the first set point, namely, the first observation point PB1 (step S07 ).

[0127] Next, the control unit 692 of the flying object 600 executes Fig.11 The direction change control process shown is performed to make the first surface PL1 of the preset color face the first set point PB1 specified in step S07 among the points preset in step S03 (step S08). In this embodiment, for the sake of simplicity of description, the direction change control process performed to make the first surface PL1 face the first set point, i.e., the first observation point PB1, is referred to as the first direction change control process.

[0128] When the first direction change control process is started, the control unit 692 of the aircraft 600 calculates a vector from the aircraft 600 toward the first observation point PB1 based on the information indicating the position of the first observation point PB1 using latitude, longitude, and altitude, and the information indicating the position of the aircraft 600 using latitude, longitude, and altitude (step S31). Next, the control unit 692 calculates an azimuth angle θ' formed between the calculated vector and the reference azimuth (step S32).

[0129] Thereafter, the acquisition unit 691 of the flying object 600 acquires information indicating the azimuth angle θ formed between the front direction of the flying object 600 and the reference azimuth based on the signal output from the azimuth sensor 617 a (step S33 ).

[0130] Next, the control unit 692 of the flying body 600 determines whether the azimuth angle θ of the front direction of the flying body 600 is consistent with the azimuth angle θ' of the vector toward the first observation point PB1 (step S34). At this time, when the control unit 692 determines that the azimuth angle θ is inconsistent with the azimuth angle θ' (step S34; No), the control unit 692 reads information indicating a preset angle Δθ from the information storage unit 699. Next, the control unit 692 generates a control signal for reducing the difference between the azimuth angle θ and the azimuth angle θ' by the angle Δθ indicated by the read information while the flying body 600 is flying.

[0131] Therefore, the control unit 692 of the flying body 600 determines whether the azimuth angle θ of the front direction of the flying body 600 is greater than the azimuth angle θ' of the vector from the flying body 600 to the first observation point PB1. When the control unit 692 determines that the azimuth angle θ of the front direction is greater than the azimuth angle θ' of the vector, the control unit 692 generates a control signal, and the control signal is used to rotate the flying body 600 clockwise on the horizontal plane by an angle Δθ while flying the flying body 600. The reason for rotating the flying body 600 clockwise is that, in this embodiment, the azimuth angles θ and θ' are measured counterclockwise from the reference azimuth.

[0132] In contrast, when the control unit 692 of the flying object 600 determines that the azimuth angle θ in the forward direction is smaller than the azimuth angle θ′ of the vector, the control signal is used to rotate the flying object 600 counterclockwise by an angle Δθ on the horizontal plane while making the flying object 600 fly.

[0133] Thereafter, the control unit 692 of the flying object 600 outputs the generated control signal to the driving circuit 619 (step S35 ), and then repeats the above-mentioned processing from step S33 .

[0134] In step S34, when the control unit 692 of the flying object 600 determines that the azimuth angle θ and the azimuth angle θ' are consistent (step S34; Yes), it calculates the minimum depression angle φ' formed by the vector from the flying object 600 toward the first observation point PB1 and the horizontal plane (step S36).

[0135] Thereafter, the acquisition unit 691 of the flying object 600 acquires information indicating the minimum depression angle φ between the front direction of the flying object 600 and the horizontal plane based on the signal output from the attitude sensor 617 b (step S37 ).

[0136] Next, the control unit 692 of the flying body 600 determines whether the depression angle φ of the front direction of the flying body 600 is consistent with the depression angle φ' of the vector toward the first observation point PB1 (step S38). At this time, when the control unit 692 determines that the depression angle φ of the front direction is inconsistent with the depression angle φ' of the vector (step S38; No), the control unit 692 reads information indicating the preset angle Δφ from the information storage unit 699. Next, the control unit 692 generates a control signal for reducing the difference between the depression angle φ and the depression angle φ' by the preset angle Δφ while flying the flying body 600.

[0137] Therefore, the control unit 692 of the flying body 600 determines whether the depression angle φ in the front direction of the flying body 600 is greater than the depression angle φ′ of the vector toward the first observation point PB1. When the control unit 692 determines that the depression angle φ in the front direction is greater than the depression angle φ′ of the vector, it generates a control signal, which is used to reduce the depression angle φ by an angle Δφ while the flying body 600 is flying. In contrast, when the control unit 692 determines that the depression angle φ in the front direction is less than the depression angle φ′ of the vector, it generates a control signal, which is used to increase the depression angle φ by an angle Δφ while the flying body 600 is flying.

[0138] Next, the control unit 692 of the flying object 600 outputs the generated control signal to the driving circuit 619 (step S39 ), and then repeats the above-mentioned processing from step S37 .

[0139] In step S38, when the control unit 692 of the flying object 600 determines that the depression angle φ and the depression angle φ' coincide with each other (step S38; Yes), the control unit 692 of the flying object 600 ends the execution of the direction change control process.

[0140] When through Figure 6 When the direction change control process is executed in step S08 so that the first plane PL1 of the preset color faces the first observation point PB1, a first facing notification is generated to notify that the first plane PL1 has faced the position of the first terminal device 800 set as the first observation point PB1. Next, the control unit 692 outputs the generated first facing notification to the data communication circuit 614a with the first terminal device 800 as the receiving destination, thereby executing the first notification control process for sending the first facing notification to the first terminal device 800 (step S09).

[0141] Next, the control unit 692 of the flying object 600 generates a control signal for performing a flight that reduces the distance between the position of the flying object 600 and the position of the earliest passing point in the passing order, based on the information indicating the position of the flying object 600 in terms of latitude, longitude, and altitude, and the information indicating the position of the earliest passing point in the passing order among one or more passing points not passed in the flight path in terms of latitude, longitude, and altitude. Thereafter, the control unit 692 outputs the generated control signal to the driving circuit 619, thereby performing a antegrade flight control process for causing the flying object 600 to fly antegrade through the flight path (step S10).

[0142] Next, the acquisition unit 691 of the flying object 600 executes Fig.10 The same processing as step S21 is performed, thereby acquiring information indicating the position of the flying object 600 (step S11).

[0143] Thereafter, the control unit 692 of the flying object 600 determines whether the data communication circuit 614a has received a landing command from the control device 100 (step S12).

[0144] In this embodiment, the following situation is cited as a specific example for explanation, that is, since the first observer did not find the abnormality of the flying object 600, the abnormality of the flying object 600 was not reported to the operator, and the operator did not send the landing command to the control device 100.

[0145] In step S12, when the control unit 692 of the flying body 600 determines that the landing command has not been received (step S12; No), the distance from the position of the flying body 600 to the position of the mobile destination AD is calculated based on the information indicating the position of the flying body 600 using latitude, longitude, and altitude, and the information indicating the position of the mobile destination AD using latitude, longitude, and altitude. Next, the control unit 692 determines whether the mobile destination AD has been reached based on whether the calculated distance is less than a preset distance (step S15).

[0146] In this embodiment, the following description will be given as a specific example. That is, at time T2 after time T1, the flying object 600 executes the process of step S15 while flying in the first observation airspace AB1 toward the movement destination.

[0147] At time T2, the control unit 692 of the flying object 600 determines that the flying object 600 has not reached the destination because the calculated distance is longer than the preset distance (step S15; No), and repeats the above-mentioned processing from step S06.

[0148] Next, the control unit 692 of the flying object 600 designates that the flying object 600 flies in the first observation airspace AB1 and performs observation at the first observation point PB1 (steps S06 and S07 ).

[0149] Thereafter, the control unit 692 of the flying body 600 again executes the first direction change control process for causing the first surface PL1 of the preset color to face the first observation point PB1 (step S08). The first direction change control process is executed again because the first surface PL1, which was directed toward the first observation point PB1 by the last execution of the first direction change control process at time T1, faces a direction different from the direction toward the first observation point PB1 due to the flight of the flying body 600 from time T1 to time T2.

[0150] After the first direction change control process is executed again, the processes of steps S09 to S12 are executed, whereby the flying object 600 transmits the first facing notification to the first terminal device 800 , flies forward on the flight path, and acquires information indicating the position of the flying object 600 .

[0151] In this embodiment, the following case is cited as a specific example for the following description, that is, during the period from time T2 to time T3, the first observer does not find that the flying object 600 is abnormal, and therefore does not send a landing command. In addition, in this embodiment, the following case is cited as a specific example for the following description, that is, at a time after time T2, the flying object 600 enters the second observation airspace AB2, and at a subsequent time T3, while flying in the second observation airspace AB2 toward the mobile destination AD, the processing of step S15 is performed again.

[0152] Therefore, at time T3, the control unit 692 of the flying object 600 determines that the landing command has not been received (step S12; No), and determines that the moving destination has not been reached (step S15; No), and repeats the above-mentioned process from step S06. Next, the control unit 692 of the flying object 600 specifies that the flying object 600 flies in the second observation airspace AB2 and observes at the second observation point PB2 (steps S06 and S07).

[0153] Thereafter, the control unit 692 of the flying object 600 executes Fig.11 The direction change control process is performed to make the first plane PL1 of the preset color face the second observation point PB2 (step S08). In this embodiment, for simplicity of description, the direction change control process performed to make the first plane PL1 face the second set point, that is, the second observation point PB2 is referred to as the second direction change control process.

[0154] When the second direction change control process is started, the control unit 692 of the aircraft 600 calculates a vector from the aircraft 600 toward the second observation point PB2 based on the information indicating the position of the second observation point PB2 using latitude, longitude, and altitude and the information indicating the position of the aircraft 600 using latitude, longitude, and altitude (step S31). Thereafter, the control unit 692 of the aircraft 600 performs the processes of steps S32 to S39, thereby causing the first plane PL1 of the preset color to face the second observation point PB2 based on the calculated vector (steps S32 to S39), and then terminates the second direction change control process.

[0155] Thereafter, the control unit 692 of the flying object 600 generates a second facing notification notifying that the first plane PL1 of the preset color has turned toward the second observation point PB2 set at the position of the second terminal device 900. Next, the control unit 692 outputs the generated second facing notification to the data communication circuit 614a with the second terminal device 900 as the receiving destination. Thus, the control unit 692 performs a second notification control process for causing the data communication circuit 614a to send the second facing notification to the second terminal device 900 (step S09).

[0156] In this embodiment, for simplicity of description, the first oncoming notification and the second oncoming notification are collectively referred to as oncoming notifications, and the first notification control process and the second notification control process are collectively referred to as notification control processes.

[0157] Next, the processing of steps S10 and S11 is performed, whereby the flying object 600 flies forward on the flight path, and information indicating the position of the flying object 600 is acquired (steps S10 and S11 ).

[0158] Thereafter, the control unit 692 of the flying object 600 determines whether the data communication circuit 614a has received a landing command from the control device 100 (step S12).

[0159] In this embodiment, the following situation is cited as a specific example for explanation. That is, at time T3, the second observer finds that the flying object 600 is abnormal and reports the abnormality of the flying object 600 to the operator, so the operator operates the control device 100 to send a landing command.

[0160] In step S12, the control unit 692 of the flying body 600 determines that a landing command has been received (step S12; yes). Next, the acquisition unit 691 of the flying body 600 acquires a plurality of information indicating the positions of places as candidate landing places from a landing place table (not shown) stored in the information storage unit 699. Next, the control unit 692 of the flying body 600 determines the place PD closest to the position of the flying body 600 indicated by the information acquired in step S11 as the landing place for the flying body 600 to land, among the plurality of places whose positions are indicated by the acquired information. Thereafter, the control unit 692 changes the moving destination of the flying body 600 to the determined landing place PD (step S13). In the present embodiment, the following case is cited as a specific example for explanation, that is, the determined landing place PD is included in the second area directly below the second observation airspace AB2 where the flying body 600 flies.

[0161] After changing the destination in step S13, execute Fig.10 The flight path determination process shown is to determine the flight path of the flying object 600 as a path that reaches the changed destination from the position of the flying object 600 and passes through a point visible from the second viewing point PB2 (step S14).

[0162] In this embodiment, the following case is described as a specific example. That is, at time T4 after time T3, the flying object 600 performs the process of step S15 again while flying in the second observation airspace AB2 toward the moving destination changed to the landing site PD.

[0163] At time T4, the control unit 692 of the flying object 600 determines that it has not reached the destination (step S15; No), and repeats the above process from step S06. Next, the control unit 692 executes the process of steps S06 to S12 (step S06S12). As a result, the flying object 600 makes the first surface PL1 of the preset color fly forward toward the second observation point PB2 through the flight path leading to the landing site PD, and sends the second opposite notification notifying that the first surface PL1 has been directed toward the second observation point PB2 to the second terminal device 900 located at the second observation point PB2.

[0164] Next, after determining that the landing command has not been received (step S12; No), the control unit 692 of the flying object 600 generates a control signal for landing the flying object 600 and outputs it to the drive circuit 619 (step S16) when determining that the flying object 600 has arrived at the landing place PD as the moving destination (step S15; Yes). Thereafter, the control unit 692 ends the execution of the flight control process.

[0165] The first terminal device 800 carried by the first observer who observes the flying object 600 is, for example, a smart phone, and has Fig.12 Shown are a CPU 801, a RAM 802, a ROM 803a, a flash memory 803b, a data communication circuit 804a, a graphics card 805a, a display device 805b, an input device 805c, a position measurement circuit 806, a speaker 809a, and a microphone 809b.

[0166] The first terminal device 800 includes a CPU 801, a RAM 802, a ROM 803a, a data communication circuit 804a, a graphics card 805a, a display device 805b, an input device 805c, a speaker 809a, and a microphone 809b. Figure 3 The control device 100 shown in the figure has the same configuration and function as the CPU 101, RAM 102, ROM 103a, data communication circuit 104a, graphics card 105a, display device 105b, input device 105c, speaker 109a, and microphone 109b. In the present embodiment, it is described that the first terminal device 800 has one CPU 801, but it is not limited to this, and it may also have multiple CPUs. In addition, the first terminal device 800 may also have multiple RAMs or multiple hard disks.

[0167] The configuration and function of the flash memory 803b and the position measurement circuit 806 of the first terminal device 800 are respectively Figure 5 The structure and function of the flash memory 613b and the position measurement circuit 616 included in the flying object 600 shown are the same.

[0168] The first observer operates the input device 805c of the first terminal device 800 to execute the call application pre-stored in the flash memory 803b of the first terminal device 800. When the input device 805c outputs a signal corresponding to the operation, the CPU 801 of the first terminal device 800 starts executing the call application.

[0169] The operator who has received the report from the first observer carrying the first terminal device 800 operates the input device 105c of the control device 100 to execute the application for communication stored in advance in the hard disk 103b of the control device 100. When the input device 105c outputs a signal corresponding to the operation, the CPU 101 of the control device 100 starts to execute the application for communication.

[0170] When the first observer visually observes the flying object 600 taking off from the business premises BO and entering the first observation airspace AB1, he starts observing the flying object 600 and verbally describes the observation result at a predetermined timing or a random timing. The microphone 809b of the first terminal device 800 converts the voice of the first observer into an electrical signal and inputs it to the CPU 801. The CPU 801 generates sound information representing the voice of the first observer based on the input signal, and outputs the generated sound information to the data communication circuit 804a with the control device 100 as the receiving location.

[0171] When receiving the voice information, the data communication circuit 104a of the control device 100 generates a signal representing the voice of the first observer based on the voice information and outputs the generated signal to the speaker 109a. The speaker 109a of the control device 100 outputs a sound based on the output signal, and the operator operating the control device 100 confirms the output sound.

[0172] When the operator confirms that the flying object 600 has an abnormality from the sound output from the speaker 109a, the operator performs an operation to land the flying object 600 on the input device 105c of the control device 100. When the input device 105c of the control device 100 inputs a signal corresponding to the operation, the CPU 101 of the control device 100 outputs a landing command to the data communication circuit 104a with the flying object 600 as the receiving destination. In contrast, when the operator confirms that there is no abnormality in the flying object 600, the operator does not perform an operation for landing.

[0173] When the data communication circuit 804a of the first terminal device 800 receives the first oncoming notification sent from the flying object 600 flying in the first observation airspace AB1, the CPU 801 of the first terminal device 800 reads out information indicating the notification sound pre-stored in the flash memory 803b. Next, the CPU 801 outputs a signal to the speaker 809a based on the read information, and the speaker 809a outputs the notification sound based on the output signal.

[0174] The configuration and function of the second terminal device 900 are the same as those of the first terminal device 800 .

[0175] According to the above configuration, the flying object 600 flying in space includes: an acquisition unit 691 that acquires information indicating the position of the flying object 600; and a control unit 692 that performs a direction change control process to make the first surface PL1 of the flying object 600, which is a surface of a preset color, face toward a preset point, i.e., a first observation point PB1. Therefore, the visibility of the flying object 600 from the preset point, i.e., the first observation point PB1, can be improved. In addition, since the control unit 692 also performs a direction change control process to make the first surface PL1 face the second observation point PB2, the visibility of the flying object 600 from the second observation point PB2 can also be improved.

[0176] According to the above configuration, the pre-set point is the first observation point PB1 at the position where the first observer observes the flying object 600. Therefore, if the first observer observes the flying object 600 at the first observation point PB1, the first observer can easily distinguish the flying object 600 based on the pre-set color. In addition, the pre-set point is also the second observation point PB2, so the second observer can also easily distinguish the flying object 600.

[0177] In addition, since the preset color is a warning color, the first observer and the second observer can find the flying object 600 based on the warning color. Furthermore, since the preset color is a complementary color to the color of the environment in which the flying object 600 is located, it is more conspicuous against the color of the environment in which the flying object 600 is located, so the visibility of the first surface PL1 colored in the preset color is improved.

[0178] The information storage unit 699 of the flying body 600 stores information indicating the range of the predetermined first region in correspondence with map information recording the positions and shapes of buildings and natural objects in the predetermined first region. In addition, the acquisition unit 691 of the flying body 600 acquires map information corresponding to the following information from the information storage unit 699, the information indicating the range of the first region including the predetermined point, i.e., the first observation point PB1. Furthermore, the control unit 692 of the flying body 600 determines the flight path of the flying body 600 as a path passing through the following passing points based on the acquired map information, and performs a forward flight control process to make the flying body fly through the determined flight path, the passing points being different from the passing points where there are buildings or natural objects between the predetermined point, i.e., the first observation point PB1. Therefore, the flying body 600 can improve the visibility of the flying body 600 when viewed from the first observation point PB1.

[0179] The information storage unit 699 of the flying object 600 stores the information indicating the range of the second region by establishing a correspondence with the map information of the second region, and the acquisition unit 691 acquires the map information established in correspondence with the following information, which indicates the range of the second region including the second observation point PB2. In addition, the control unit 692 determines the flight path to be a path passing through the following passing point based on the acquired map information, and the passing point is different from the passing point where there is a building or a natural object between the second observation point PB2. Therefore, the visibility of the flying object 600 from the second observation point PB2 can be improved.

[0180] According to the above configuration, the flying body 600 further includes a data communication circuit 614a, which receives information indicating the positions of the terminal devices including the first terminal device 800 and the second terminal device 900. In addition, the control unit 692 of the flying body 600 sets the point of the position of the terminal device indicated by the received information to a predetermined point by setting it as the point to which the first surface PL1 is directed. Furthermore, after the control unit 692 of the flying body 600 performs a direction change control process to make the first surface PL1 of a predetermined color turn toward a predetermined point, it performs a notification control process to make the data communication circuit 614a send a counter notification to the terminal device notifying that the first surface PL1 has turned toward the position of the terminal device. Therefore, the flying body 600 can improve the visibility of the flying body 600 from the position of the terminal device, and can notify that the state of the flying body 600 is a state with high visibility in which the first surface PL1 of a predetermined color is turned toward the terminal device. That is, if the first observer carries the first terminal device 800, the flying object 600 can improve the visibility of the flying object 600 from the first observation point PB1 where the first observer is located, and can notify the first observer that the first surface PL1 of the preset color is facing the first terminal device 800. The first observer can find the flying object 600 more easily than before by searching for the first surface PL1 of the preset color at the timing of notification. Similarly, if the second observer carries the second terminal device 900, the flying object 600 can improve the visibility of the flying object 600 from the second observation point PB2, and can notify the second observer that the first surface PL1 is facing the second terminal device 900.

[0181] <Variation 1 of Example 1>

[0182] In the first embodiment, the case where an abnormality of the flying object 600 is observed at the time T3 is described as a specific example, but in the present variation, the case where an abnormality of the flying object 600 is not observed is described as a specific example.

[0183] In this variation, when execution starts Figure 6During the flight control process shown in FIG. 1 , the process of steps S01 to S05 is performed (steps S01 to S05). Figure 2 Following the flight path from the business location BO to the delivery destination AD of the article, the aircraft takes off from the business location BO at time T1.

[0184] Next, the processes of steps S06 to S14 are executed (steps S06 to S14 ). Thus, the flying object 600 flies on the flight path with the first plane PL1 of a preset color directed toward the first view point PB1 which is a preset point.

[0185] In this variation, since no abnormality of the flying object 600 is observed and no landing command is sent to the flying object 600, the flying object 600 determines that no landing command has been received and maintains the moving destination at the delivery destination AD.

[0186] Thereafter, at time T2, the flying object 600 determines that it has not reached the destination (step S15; No), and executes the processing of steps S06 to S15 again (steps S06 to S15). Thus, the flying object 600 continues to fly in the flight path with the first plane PL1 facing the first viewpoint PB1.

[0187] Furthermore, at time T3 and time T4, after the processes of steps S06 to S15 are respectively executed (steps S06 to S15), the flying object 600 continues to fly in the flight path with the first plane PL1 directed toward the second view point PB2.

[0188] Next, after the flying object 600 repeats the processing of steps S06 to S14 (steps S06 to S14), it is determined that it has arrived at the delivery destination AD as the moving destination (step S15; yes). Thereafter, the control unit 692 of the flying object 600 generates a control signal for landing at the delivery destination AD and outputs it to the drive circuit. Thus, after the flying object 600 lands at the delivery destination AD (step S16), the flight control processing is terminated.

[0189] Next, the control unit 692 of the flying object 600 outputs a control signal for moving the first enclosing frame 651a and the second enclosing frame 651b away from each other to the driving circuit 619. Thus, the control unit 692 causes the first enclosing frame 651a and the second enclosing frame 651b to release the articles.

[0190] Thereafter, the CPU 611 of the flying object 600 executes the operation of setting the moving destination as the business location BO. Figure 6 The flight control process shown is performed. As a result, the flying object 600 returns to the business location BO.

[0191] <Variation 2 of Example 1>

[0192] In the first embodiment, it is described that when the flying object 600 flies in the first observation airspace AB1 , the first direction change control process is executed to direct the first plane PL1 of a preset color toward the first observation point PB1 .

[0193] However, the present invention is not limited thereto, and when the flying object 600 of the present variation flies in the first observation airspace AB1 and the distance to the first observation point PB1 is less than a preset distance L, the flying object 600 performs a first direction change control process to direct the first plane PL1 toward the first observation point PB1.

[0194] Therefore, the control unit 692 of the flying object 600 of this variation is Figure 6 After the first observation point PB1 is designated for observation in step S07, the information indicating the distance L pre-stored in the information storage unit 699 is read out. Next, the control unit 692 reads the information indicating the position of the first observation point PB1 obtained in step S07 and the information indicating the position of the first observation point PB1 in step S11 or Fig.10 The distance from the flying object 600 to the first observation point PB1 is calculated based on the information indicating the position of the flying object 600 acquired in step S21.

[0195] Thereafter, when the control unit 692 of the flying object 600 determines that the calculated distance is less than the distance L indicated by the read information, the flight control process is continued from step S08 for executing the first direction change control process for making the first plane PL1 of the preset color face the first observation point PB1. In contrast, when the control unit 692 determines that the calculated distance is longer than the distance L, the flight control process is continued from step S10, thereby not executing the first direction change control process and the first notification control process.

[0196] Similarly, when the flying object 600 of this variation is determined to be flying in the second observation airspace AB2 and the distance from the second observation point PB2 is less than the preset distance L, the second direction change control process and the second notification control process are executed to make the first surface PL1 face the second observation point PB2. In contrast, when the flying object 600 is determined to be flying in the second observation airspace AB2 and the distance from the second observation point PB2 is longer than the preset distance L, the second direction change control process and the second notification control process are not executed.

[0197] In this variation example, it is described that when the flying body 600 is flying in the first observation airspace AB1 and the distance between the flying body 600 and the first observation point PB1 is less than the distance L, the first direction change control processing and the first notification control processing are executed, and when the flying body 600 is flying in the second observation airspace AB2 and the distance between the flying body 600 and the second observation point PB2 is less than the distance L, the second direction change control processing and the second notification control processing are executed.

[0198] However, this is not limited to this. When the flying body 600 is flying in the first observation airspace AB1 and the distance between the flying body 600 and the first observation point PB1 is less than the distance L, the first direction change control processing and the first notification control processing are executed. When flying in the second observation airspace AB2, the second direction change control processing and the second notification control processing may be executed regardless of the distance between the flying body 600 and the second observation point PB2.

[0199] In addition, the present invention is not limited to this. When the flying body 600 is flying in the first observation airspace AB1, the first direction change control processing and the first notification control processing may be performed regardless of the distance between the flying body 600 and the first observation point PB1. When flying in the second observation airspace AB2 and the distance between the flying body 600 and the second observation point PB2 is less than the distance L, the second change control processing and the second notification control processing may also be performed.

[0200] In addition, not limited to this, the flying body 600 may also fly in the first observation airspace AB1 or the second observation airspace AB2. When the distance between the flying body 600 and the first observation point PB1 is less than the distance L, and the first observation point PB1 is closer to the flying body 600 than the second observation point PB2, the first direction change control processing and the first notification control processing are performed, and when the distance between the flying body 600 and the second observation point PB2 is less than the distance L, and the second observation point PB2 is closer to the flying body 600 than the first observation point PB1, the second change control processing and the second notification control processing are performed.

[0201] <Variation 3 of Example 1>

[0202] In the first embodiment, it is explained that the background color of the flying object 600 is brown because the flying object 600 flies in a street lined with brown brick houses, but the present invention is not limited thereto. The background color of the flying object 600 may be, for example, the color with the highest observation frequency among the background colors of the flying object 600 observed in the past by any one or more of the first observer, the second observer, and observers different from the first observer and the second observer, or may be a color selected according to a predetermined rule or randomly from one or more colors observed at a frequency higher than a predetermined frequency.

[0203] In addition, in Example 1, it is described that the first surface PL1 of the propeller shroud 641 of the flying body 600 is colored with a complementary color to the background color of the flying body 600, but it is not limited to this. In the case where the background color of the flying body 600 is a non-color, the first surface PL1 may also be colored with a pre-set chromatic color or a non-color. For example, if the background color of the flying body 600 is white, the first surface PL1 may also be colored with a pre-set red color as a chromatic color, or a pre-set black color as a non-color. In addition, for example, the first surface PL1 may also be pre-colored with a non-color having a brightness that differs from the brightness of the non-color of the background by a preset value or more.

[0204] <Variation 4 of Example 1>

[0205] In the first embodiment, it is described that among the plurality of wide surfaces of the propeller shrouds 641 to 644 of the flying object 600, only the first surface PL1 of the propeller shroud 641 is colored in a predetermined color, but the present invention is not limited thereto.

[0206] The surface colored in a preset color may be, for example, a surface different from the wide surface among the multiple surfaces of the propeller shroud 641 .

[0207] Furthermore, for example, of the two wide surfaces of any one of the propeller shrouds 642 to 644 , the wide surface on the outer side of the flying object 600 may be colored in a predetermined color.

[0208] Furthermore, for example, the wide surface on the outer side of the flying object 600 among the two wide surfaces respectively possessed by two or more propeller shrouds 641 to 644 may be colored in a preset color. In addition, the control unit 692 of the flying object 600 may also perform a direction change control process for causing one of the two or more wide surfaces colored in the preset color to face the first observation point PB1 or the second observation point PB2.

[0209] In addition, for example, one or more of the surfaces of the body of the flying object 600 may be colored in a preset color. The surface colored in the preset color may be, for example, the front surface, rear surface, side surface, upper surface, or lower surface of the body. In addition, the surface of the body of the flying object 600 may also include the surface of the control device 610 of the flying object 600.

[0210] <Variation 5 of Example 1>

[0211] In the first embodiment, it is explained that the first surface PL1 of a predetermined color faces the front direction of the flying body 600, which means that the normal direction of the first surface PL1 is parallel to the front direction of the flying body 600, and the first surface PL1 is located further forward than the wide surface of the propeller shroud 641 different from the first surface PL1. In addition, it is explained that the control unit 692 of the flying body 600 makes the first surface PL1 of the predetermined color facing the front direction of the flying body 600 face the first observation point PB1 or the second observation point PB2 by making the azimuth angle θ coincide with the azimuth angle θ' and making the depression angle φ coincide with the depression angle φ'. The azimuth angle θ is the azimuth angle between the front direction of the flying body 600 and the reference azimuth, and the azimuth angle θ' is the azimuth angle between the vector from the flying body 600 to the first observation point PB1 or the second observation point PB2 and the reference azimuth. In addition, the depression angle φ is the minimum depression angle formed by the front direction of the flying object 600 and the horizontal plane, and the depression angle φ′ is the minimum depression angle formed by the vector and the horizontal plane.

[0212] However, this is not limited to this, and the control unit 692 of the flying body 600 may also direct the first plane PL1 toward the first observation point PB1 or the second observation point PB2 by making the azimuth angle θ in the front direction of the flying body 600 consistent with the azimuth angle θ' of the vector, and making the minimum elevation angle between the front direction of the flying body 600 and the horizontal plane consistent with the minimum elevation angle between the vector and the horizontal plane.

[0213] In addition, without limitation to this, the first surface PL1 facing the front direction of the flying body 600 may also mean that the azimuth angle formed by the normal direction of the first surface PL1 and the reference azimuth is consistent with the azimuth angle θ formed by the front direction of the flying body 600 and the reference azimuth, and the first surface PL1 is located further forward than the wide surface of the propeller shroud 641 that is different from the first surface PL1. That is, the minimum elevation angle or depression angle formed by the front direction of the flying body 600 and the horizontal plane may be consistent with or inconsistent with the minimum elevation angle or depression angle formed by the normal direction of the first surface PL1 and the horizontal plane. In addition, the control unit 692 of the flying body 600 may direct the first plane PL1 toward the first observation point PB1 or the second observation point PB2 by making the azimuth angle θ formed by the front direction of the flying body 600 and the reference azimuth and the azimuth angle θ' formed by the vector and the reference azimuth consistent, regardless of whether the elevation angle or depression angle φ in the front direction of the flying body 600 is consistent with the elevation angle or depression angle φ' of the vector from the flying body 600 toward the first observation point PB1 or the second observation point PB2.

[0214] <Variation 6 of Example 1>

[0215] The description of Example 1 uses Figure 2In FIG. 1 , the first observation point PB1 and the second observation point PB2 are shown as points different from the business location BO and the delivery destination AD, but the present invention is not limited thereto. The first observation point PB1 or the second observation point PB2 may be the same point as the business location BO or the delivery destination AD.

[0216] <Variation 7 of Example 1>

[0217] In the first embodiment, it is described that the flying system 1 includes two terminal devices, namely the first terminal device 800 and the second terminal device 900, and two observers carrying the first terminal device 800 and the second terminal device 900 respectively observe the flying object 600 at two points, namely the first observation point PB1 and the second observation point PB2.

[0218] However, the invention is not limited thereto, and the flying system 1 may include one first terminal device 800, and one observer carrying the first terminal device 800 may observe the flying object 600 at one first observation point PB1. In addition, the flying system 1 may include N terminal devices (where N is an integer greater than or equal to 3), and N observers carrying the terminal devices may observe the flying object 600 at N observation points.

[0219] <Variation 8 of Example 1>

[0220] In the first embodiment, the flying object 600 emits smoke as a specific example of the abnormality of the flying object 600, but the abnormality of the flying object 600 is not limited to this. The abnormality of the flying object 600 includes, for example, Figure 4 The abnormality of the flying object 600 includes, for example, that one or more of the propellers 631 to 634 do not rotate for a time longer than a preset time. In addition, the abnormality of the flying object 600 includes, for example, that one or more of the propellers 631 to 634 rotate at a speed less than a preset rotation speed per unit time for a time longer than a preset time. Furthermore, the abnormality of the flying object 600 includes, for example, that the flying object 600 is on fire.

[0221] <Variation 9 of Example 1>

[0222] In the first embodiment, it is described that the places where the flying object 600 is not prohibited from landing include places such as roads, river beaches, or parks, but it is not limited to these. The places where the flying object 600 is not prohibited from landing include, for example, the first observation point PB1 or the second observation point PB2. In addition, the places where the flying object 600 is not prohibited from landing may also be, for example, mountains, hills, campuses, or airports where the flying object 600 is allowed to land.

[0223] The airport may also be the entrance of a residential complex, an office building, a hotel, or a public facility, or the front door of a single-family house. In addition, the airport may also be the lobby of a residential complex, an office building, a hotel, or a public facility. Furthermore, the airport may also be the courtyard, rooftop, terrace, or parking lot of a single-family house, a residential complex, an office building, a hotel, or a public facility.

[0224] <Variation 10 of Example 1>

[0225] In the first embodiment, it is described that the buildings in the delivery area include, for example, houses, buildings, and bridges, and the natural objects in the delivery area include, for example, trees and rocks, but the present invention is not limited thereto. The buildings in the delivery area also include, for example, at least one of a temple, a city, an arena, a bronze statue, a stone statue, a pedestrian bridge, a sign, a signal, a telephone pole, a wire, a street lamp, a billboard, a wall, a tower, and a tour bus. In addition, the natural object also includes at least one of an iceberg and an icicle.

[0226] <Variation 11 of Example 1>

[0227] In Example 1, it is described that Fig. 9 The map table shown includes map information stored in association with information indicating the range of the first area, information indicating the position and shape of a building in the first area, and information indicating the position and shape of a natural object in the first area.

[0228] However, the present invention is not limited thereto, and the map information of the first area in this modification includes only information indicating the position and shape of buildings in the first area. Similarly, the map information of the second area in this modification includes only information indicating the position and shape of buildings in the second area.

[0229] In addition, the control unit 692 of the flying object 600 of this variation specifies, based on the map information of the first region, a point that is not visible from the first observation point PB1 where a building exists between the first observation point PB1 and the control unit 692 of the flying object 600 of this variation, and a point that is visible from the first observation point PB1 where no building exists, among the pass-through points of the candidate path set as the candidate flight path. Similarly, the control unit 692 specifies a point that is not visible from the second observation point PB2 where a building exists between the second observation point PB2 and the control unit 692, and a point that is visible from the second observation point PB2 where no building exists.

[0230] Next, the control unit 692 of the flying object 600 of this variation limits the plurality of candidate paths to visual paths in which at least one of the passing points included in the first observation airspace AB1 is a visual point of the first observation point PB1, and at least one of the passing points included in the second observation airspace AB2 is a visual point of the second observation point PB2. Thereafter, the control unit 692 selects a flight path from the plurality of candidate paths limited to visual paths.

[0231] In addition, the present invention is not limited thereto, and the map information of the first area may include information indicating the position and shape of natural objects in the first area, and the map information of the second area may include information indicating the position and shape of natural objects in the second area.

[0232] <Variation 12 of Example 1>

[0233] In Example 1, it is described that the control unit 692 of the flying body 600 limits multiple candidate paths to visual paths, in which at least one of the passing points contained in the first observation airspace AB1 is a visual point of the first observation point PB1, and at least one of the passing points contained in the second observation airspace AB2 is a visual point of the second observation point PB2.

[0234] However, this is not limited to this, and the control unit 692 of the flying body 600 may also limit the multiple candidate paths to the following paths, in which all the passing points contained in the first observation airspace AB1 are visual points of the first observation point PB1, and all the passing points contained in the second observation airspace AB2 are visual points of the second observation point PB2.

[0235] In addition, but not limited to this, the control unit 692 of the flying body 600 may also limit the multiple candidate paths to the following paths, on which at least one of the passing points contained in the first observation airspace AB1 and the passing points contained in the second observation airspace AB2 is a visible point of the first observation point PB1 or a visible point of the second observation point PB2.

[0236] <Variation 13 of Example 1>

[0237] In the first embodiment, the first terminal device 800 and the second terminal device 900 are described as being smartphones, but the present invention is not limited thereto and they may be tablet-type personal computers or notebook-type personal computers.

[0238] In the first embodiment, it is described that when the first terminal device 800 receives the first oncoming notification from the flying object 600, the first terminal device 800 outputs the notification sound from the speaker 809a, but the present invention is not limited to this, and the first terminal device 800 may also display a notification image.

[0239] Therefore, when the data communication circuit 804a of the first terminal device 800 receives the first onward notification, the CPU 801 of the first terminal device 800 reads out the information indicating the notification image pre-stored in the flash memory 803b. Next, the CPU 801 outputs a signal to the graphics card 805a based on the read information, and the display device 805b displays the notification image based on the signal output from the graphics card 805a.

[0240] In addition, the present invention is not limited thereto, and the first terminal device 800 may include a vibration generating device (not shown) as a vibrator, for example, and generate vibrations using the vibration generating device when receiving the first facing notification from the flying object 600 .

[0241] Therefore, when the data communication circuit 804a of the first terminal device 800 receives the first opposite notification, the CPU 801 of the first terminal device 800 outputs a signal to operate the vibration generating device. The vibration generating device operates according to the signal and generates vibrations for a preset time.

[0242] <Variation 14 of Example 1>

[0243] In the first embodiment, it is described that the flying body 600 has the information storage unit 699, but the present invention is not limited thereto. The flying body 600 of this variation does not have the information storage unit 699. The flying body 600 of this variation is connected to an information storage device (not shown) via the Internet IN. The information storage device is, for example, a NAS (Network Attached Storage) and has the same function as the information storage unit 699. The flying system 1 of this variation may have the information storage device or may not have the information storage device.

[0244] The acquisition unit 691 of the flying object 600 of this variation obtains the information stored in the information storage device. Fig. 9 In the map table shown, map information associated with information indicating the range of the first region and map information associated with information indicating the range of the second region are acquired.

[0245] <Variation 15 of Example 1>

[0246] In the first embodiment, the flying object 600 is described as an unmanned aircraft, but the invention is not limited thereto and may be an unmanned flying object. Figure 4 The propellers 631 to 634 shown in the figure are used to obtain lift and thrust of the drone, but the invention is not limited thereto. The flying body 600 may also have wings to obtain lift through the wings, or may have an air bag filled with a gas with a specific gravity less than that of air to obtain lift through the air bag. In addition, the flying body 600 may also have a jet engine or a rocket engine to obtain thrust through the jet engine or the rocket engine.

[0247] Furthermore, the flying object 600 is not necessarily unmanned, and may be equipped with a person as long as it is an object that can fly autonomously except for being controlled by the control device 100 .

[0248] <Variation 16 of Example 1>

[0249] In the first embodiment, the CPU 611 of the flying object 600 executes Figure 6 Flight control processing, Fig.10 Flight path determination processing, and Fig.11 The direction change control is handled as Figure 7 The acquisition unit 691 and the control unit 692 shown in the figure function. Figure 8 Terminal table, Fig. 9 The information storage unit 699 functions as a map table, a landing location table (not shown), and a partial route table.

[0250] However, it is not limited to this. Figure 6 Flight control processing, Fig.10 Flight path determination processing, and Fig.11 The direction change control process can also be performed by the CPU 611 of the flying body 600 and Figure 3 The CPU 101 of the control device 100 shown in the figure is distributed for execution. Therefore, the CPU 611 of the flying body 600 may not function as any one or more functional units of the acquisition unit 691 and the control unit 692, and the CPU 101 of the control device 100 may function as the one or more functional units. In addition, the information storage unit 699 of the flying body 600 may not store any one or more tables among the terminal table, the map table, the landing place table, and the partial path table, and the hard disk 103b of the control device 100 may function as an information storage unit (not shown) that stores the one or more tables.

[0251] <Example 2>

[0252] In the first embodiment, the first surface PL1 is described as one of the two wide surfaces of the propeller shroud 641, but the present invention is not limited thereto. Figure 5 The display surface of the display device 615b provided in the flying object 600 shown in the figure. Hereinafter, the same components as those in the first embodiment will be described using the same reference numerals as those used in the first embodiment, but the differences between the present embodiment and the first embodiment will be mainly described.

[0253] The display device 615 b of the present embodiment has a planar display surface, and is provided on the front surface of the control device 610 in such a manner that a first surface PL1 serving as the display surface faces the front direction of the flying object 600 .

[0254] In addition, on the upper surface of the control device 610 of the present embodiment, there is provided Fig.13The hemispherical camera device 670 is shown. The camera device 670 includes a cylindrical housing 671 having an axis parallel to the upward direction of the flying object 600. One bottom surface of the housing 671 is fixed to the upper surface of the control device 610, and the other bottom surface of the housing 671 has an opening. In addition, the camera device 670 includes a hemispherical transparent cover 672 covering the opening of the housing 671.

[0255] The housing 671 contains a rotating table 673a having a rotating axis AT passing through the center of the bottom surface and parallel to the axis of the housing 671, and a motor 673b for rotating the rotating table 673a. A support member 675b for supporting a camera unit 674 as a digital camera is fixed to the upper surface of the rotating table 673a. The support member 675b axially supports a protrusion 675a ​​protruding in a horizontal direction from both sides of the camera unit 674 toward the outside of the camera unit 674. A motor 675c is further fixed to the upper surface of the rotating table 673a. The motor 675c causes the camera unit 674 to swing by rotating a gear formed on the protrusion 675a ​​of the camera unit 674.

[0256] When the motor 675c swings the camera unit 674, the minimum elevation angle formed by the optical axis AO of the lens of the camera unit 674 and the upper surface of the control device 610 is changed to an angle ranging from 0 degrees, where the optical axis AO is directed toward the front direction of the flying body 600, to 90 degrees, where the optical axis AO is directed toward the upper direction of the flying body 600. Furthermore, when the motor 673b rotates the rotating table 673a, when the front direction of the flying body 600 is taken as a reference azimuth, the azimuth angle formed with the reference azimuth is changed counterclockwise within a range of 0 degrees to 360 degrees.

[0257] The driving circuit 619 of the flying object 600 of this embodiment is connected to a cable (not shown), which is respectively connected to the motor 673b and the motor 675c of the camera 670. The driving circuit 619 drives the motor 673b and the motor 675c of the camera 670 according to the signal output by the CPU 611, thereby changing the azimuth angle and elevation angle of the optical axis AO of the camera 670.

[0258] The CPU 611 of the flying object 600 of this embodiment executes Fig.14 When the flight control process is started, CPU 611 executes the same Figure 6 The same processing as steps S01 to S07 is performed (steps S41 to S47). Thus, the first observation point PB1 or the second observation point PB2 for observing the flying object 600 is specified.

[0259] Next, based on the background color of the flying object 600 viewed from the designated first viewing point PB1 or second viewing point PB2, a Fig.15The color setting process shown is to set the color of the image displayed on the first surface PL1 as the display surface (step S48).

[0260] When the color setting process is started, the control unit 692 of the flying object 600 executes the Fig.11 The same process as step S31 is performed to calculate the direction from the flying object 600 toward the first observation point PB1 or the second observation point PB2 specified in step S47. Figure 1 6. Next, the control unit 692 calculates the inverse vector of the calculated vector V, and changes the starting point of the calculated inverse vector to the position of the flying object 600. Thus, the control unit 692 calculates a vector Vr that is directed from the flying object 600 in a direction opposite to the direction from the flying object 600 toward the first observation point PB1 or the second observation point PB2 (step S61).

[0261] In this embodiment, for simplicity of description, the first observation point PB1 or the second observation point PB2 is a point on the ground surface of the first area or the second area, and therefore is a position lower than the position of the flying object 600 flying in the first observation airspace AB1 or the second observation airspace AB2. Therefore, the control unit 692 of the flying object 600 calculates Fig.16 The vector Vr shown is directed from the flying object 600 toward the upward direction of the flying object 600.

[0262] Next, the control unit 692 of the flying object 600 calculates Fig.16 The minimum elevation angle φr formed by the horizontal plane H shown in FIG. 1 and the vector Vr (step S62). In addition, the acquisition unit 691 performs the same Fig.11 The same processing as step S37 is performed to obtain information indicating the minimum depression angle φ, which is the depression angle between the horizontal plane H and the vector Vf indicating the forward direction of the flying object 600 (step S63).

[0263] Here, the minimum depression angle φ formed by the vector Vf indicating the forward direction of the flying object 600 and the horizontal plane H is equal to the minimum depression angle formed by the upper surface U of the control device 610 provided to the flying object 600 and the horizontal plane H. Therefore, the minimum elevation angle formed by the upper surface U of the control device 610 and the vector Vr is an angle obtained by subtracting the depression angle φ from the elevation angle φr.

[0264] Thereafter, the control unit 692 of the flying body 600 generates a control signal for changing the minimum elevation angle between the optical axis AO of the camera device 670 and the upper surface U of the control device 610 to an angle obtained by subtracting the depression angle φ from the elevation angle φr, and outputs the generated control signal to the drive circuit 619 (step S64). The drive circuit 619 drives the motor 675c of the camera device 670 according to the output control signal, thereby changing the minimum elevation angle between the optical axis AO of the camera device 670 and the horizontal plane H to the same angle as the minimum elevation angle φr between the vector Vr and the horizontal plane H.

[0265] Next, the control unit 692 of the flying object 600 calculates the azimuth angle θr formed by the reference azimuth and the vector Vr (step S65). Fig.11 The same processing as step S33 is performed to obtain information indicating the azimuth angle θ between the reference azimuth and the front direction of the flying object 600 (step S66).

[0266] Thereafter, the control unit 692 of the flying body 600 outputs a control signal to the driving circuit 619 (step S67), the control signal being used to change the azimuth angle formed between the front direction of the flying body 600 and the optical axis AO of the camera device 670 to an angle obtained by subtracting the azimuth angle θ from the azimuth angle θr. The driving circuit 619 drives the motor 673b of the camera device 670 according to the output control signal, thereby changing the azimuth angle formed between the optical axis AO of the camera device 670 and the reference azimuth to the same angle as the azimuth angle θr formed between the vector Vr and the reference azimuth.

[0267] Thereafter, the control unit 692 of the flying object 600 outputs a signal for commanding imaging to the imaging device 670 that can capture images in the direction indicated by the vector Vr via the input / output port 618. The direction indicated by the vector Vr is the direction from the first observation point PB1 or the second observation point PB2 toward the flying object 600, so the imaging device 670 captures the environment that becomes the background of the flying object 600 when the flying object 600 is viewed from the first observation point PB1 or the second observation point PB2. Thereafter, the acquisition unit 691 acquires a signal representing the captured image generated by the imaging device 670 via the input / output port 618, and acquires information representing the captured image based on the acquired signal (step S68).

[0268] Next, the control unit 692 of the flying object 600 specifies the background color of the flying object 600 based on the acquired information and the pixel values ​​of the plurality of pixels constituting the captured image. In this embodiment, the control unit 692 calculates the average value of the pixel values ​​of the plurality of pixels and specifies the color represented by the calculated average value as the background color.

[0269] Thereafter, the control unit 692 of the flying object 600 determines the complementary color of the designated background color using, for example, the following equations (1) to (4).

[0270] S=max(R,G,B)+min(R,G,B)···(1)

[0271] HR=SR···(2)

[0272] HG=SG···(3)

[0273] HB=SB···(4)

[0274] Here, R, G, and B represent the R value, G value, and B value of the background color, respectively. In addition, max(R, G, B) represents a function that takes R, G, and B as independent variables and returns the maximum value among R, G, and B. min(R, G, B) represents a function that takes R, G, and B as independent variables and returns the minimum value among R, G, and B. HR, HG, and HB represent the R value, G value, and B value of the complementary color of the background color, respectively.

[0275] After determining the complementary color of the background color, the control unit 692 of the flying object 600 sets the determined complementary color as the color of the image displayed on the first plane PL1 as the display surface (step S69), and then terminates the execution of the color setting process.

[0276] exist Fig.14 After executing the color setting process in step S48, the control unit 692 of the flying body 600 performs a display control process on the display device 615b to display the image of the complementary color set in step S69 on the first plane PL1 (step S49).

[0277] Afterwards, execute Figure 6 After the same processing as steps S08 to S16 (steps S50 to S58), the flight control processing is terminated. Thus, the flying body 600 makes the first surface PL1 showing the image of the complementary color face the first observation point PB1 or the second observation point PB2, flies to the moving destination along the flight path, and then lands at the moving destination.

[0278] According to the above configuration, the first surface PL1 is a display surface of the display device 615b. In addition, the flying body 600 is further provided with a camera device 670, which obtains a camera image by shooting from the flying body 600 in a direction opposite to the direction from the flying body 600 toward a predetermined point, namely, the first observation point PB1 or the second observation point PB2. In addition, the control unit 692 of the flying body 600 sets the complementary color of the color of the camera image obtained by the camera device 670 to the predetermined color by setting it as the color of the image displayed on the first surface PL1. Furthermore, the control unit 692 performs a display control process to display an image of the predetermined color on the first surface PL1. Therefore, even if the background of the flying body 600 observed when the flying body 600 is observed from the first observation point PB1 or the second observation point PB2 changes due to the flight of the flying body 600, the flying body 600 can display an image of the complementary color of the background color on the first surface PL1 of the flying body 600. Thus, the visibility of the flying object 600 from the first observation point PB1 or the second observation point PB2 can be continuously improved.

[0279] <Variation 1 of Example 2>

[0280] In the second embodiment, the first observation point PB1 or the second observation point PB2 is described as a point on the ground surface of the first area or the second area, but the present invention is not limited thereto. The first observation point PB1 or the second observation point PB2 of this variation is, for example, a point higher than the ground surface of the first area or the second area, such as a rooftop of a building located in the first area or the second area.

[0281] The flying object 600 of this variation includes the camera device 670 described in Example 2 on the upper surface of the control device 610 of the flying object 600 , and includes a camera device (not shown) having the same structure and function as the camera device 670 on the lower surface of the control device 610 .

[0282] The control unit 692 of the flying object 600 of this variation is Fig.15 In the color setting process, when it is determined that the height of the first observation point PB1 or the second observation point PB2 is lower than the height of the flying body 600, a signal for shooting in the direction opposite to the direction from the flying body 600 to the first observation point PB1 or the second observation point PB2 is output to the camera device 670 on the upper surface. In contrast, when it is determined that the height of the first observation point PB1 or the second observation point PB2 is higher than the height of the flying body 600, the control unit 692 outputs a signal for shooting in the direction opposite to the direction from the flying body 600 to the first observation point PB1 or the second observation point PB2 to the camera device on the lower surface. Thereafter, the control unit 692 sets the complementary color of the camera image generated by the camera device 670 on the upper surface or the camera device on the lower surface as the color of the image displayed on the first surface PL1.

[0283] <Variation 2 of Example 2>

[0284] In the second embodiment, the control unit 692 of the flying object 600 calculates the average value of the pixel values ​​of the plurality of pixels constituting the captured image and designates the color represented by the calculated average value as the background color, but the present invention is not limited thereto. For example, the control unit 692 may designate the color of the pixel value most used in the captured image among the pixel values ​​of the plurality of pixels constituting the captured image as the background color.

[0285] In addition, in the second embodiment, it is described that the control unit 692 of the flying body 600 uses the above-mentioned formulas (1) to (4) to determine the complementary color of the background color, but it is not limited to this. The information storage unit 699 of the flying body 600 may also store, for example, a complementary color table, in which a plurality of information representing colored pixel values ​​and information representing the complementary color of the colored pixel values ​​are pre-established and stored in correspondence. In this case, the control unit 692 may also obtain information corresponding to the information representing the pixel value of the background color calculated from the camera image in the complementary color table, and determine the color of the pixel value represented by the obtained information as the complementary color of the background color.

[0286] <Variation 3 of Example 2>

[0287] In the second embodiment, the control unit 692 of the flying object 600 controls the flying object 600 to execute Fig.14 After the image of the color set in step S48 is displayed on the display surface of the display device 615b in step S49, the display surface is directed to the first observation point PB1 or the second observation point PB2 in step S50.

[0288] However, this is not limiting. After the control unit 692 of the flying body 600 of this variation directs the display surface toward the first observation point PB1 or the second observation point PB2, it sets the color of the image displayed on the display surface and displays the image of the set color on the display surface.

[0289] Therefore, the display device 615b of this variation is disposed on the front surface of the control device 610 of the flying object 600 in such a manner that the display surface faces the front direction of the flying object 600. In addition, the camera device 670 of this variation does not have a mechanism for changing the elevation angle and the azimuth angle, and is disposed on the rear surface of the control device 610 by setting the optical axis AO and the viewing angle in such a manner that the rear direction of the flying object 600 can be photographed.

[0290] The control unit 692 of the flying body 600 of this variation performs the direction change control process to make the display surface face the direction from the flying body 600 to the first observation point PB1 or the second observation point PB2, thereby making the camera device 670 face the direction opposite to the direction from the flying body 600 to the first observation point PB1 or the second observation point PB2. Next, the control unit 692 outputs a signal to command the camera device 670 to capture images, and sets the color of the image displayed on the display surface to the complementary color of the captured image generated by the camera device 670. Thereafter, the control unit 692 causes the image of the set color to be displayed on the display surface.

[0291] <Example 3>

[0292] In the first embodiment, it is described that the first surface PL1 of the propeller shroud 641 of the flying body 600 is colored in a preset color, but the present invention is not limited thereto. In the present embodiment, the first surface PL1 of the propeller shroud 641 is a light-emitting surface that emits light of a preset color. Hereinafter, the same configuration as that of the first embodiment will be described using the same reference numerals as those used in the first embodiment, but the differences between the present embodiment and the first embodiment will be mainly described.

[0293] The propeller shroud 641 of the present embodiment is provided with, for example, a light emitting diode (LED) light emitting element on the first surface PL1 . The light emitting element on the first surface PL1 is connected to the driving circuit 619 of the flying object 600 via a cable (not shown).

[0294] The CPU 611 of the flying object 600 of this embodiment executes Fig.17 When the flight control process is started, CPU 611 executes the same Figure 6 The same processing as steps S01 to S05 is performed (steps S71 to S75). Thus, after the flight path is determined, the flying object 600 takes off from the business location BO.

[0295] Next, the acquisition unit 691 of the flying object 600 acquires information indicating the preset light-emitting period for making the first surface PL1 emit light from the information storage unit 699. In the present embodiment, the light-emitting period is preset to be a period from a time included in the preset period including the sunset time to a time included in the preset period including the sunrise time, but the present invention is not limited thereto.

[0296] Thereafter, the acquisition unit 691 of the flying body 600 acquires, for example, the system time managed by the OS (Operating System). Next, the control unit 692 of the flying body 600 determines whether the acquired system time is included in the light-emitting period (step S76). At this time, when the control unit 692 determines that the system time is included in the light-emitting period (step S76; yes), it performs the light-emitting control process, that is, outputs the control signal for making the first surface PL1 emit light to the drive circuit 619 (step S77). The drive circuit 619 makes the light-emitting element of the first surface PL1 emit light according to the control signal.

[0297] In step S76, when the control unit 692 of the flying object 600 determines that the system time is not included in the light-emitting period (step S76; No), it performs a light-off control process, that is, outputs a control signal for stopping the first surface PL1 from emitting light to the driving circuit 619 (step S78). The driving circuit 619 turns off the light-emitting element of the first surface PL1 according to the control signal.

[0298] After executing step S77 or S78, execute Figure 6 Thus, the flying object 600 makes the first plane PL1 face the first observation point PB1 or the second observation point PB2, sends the first opposite notification or the second opposite notification to the first terminal device 800 or the second terminal device 900, and then flies to the moving destination.

[0299] According to the above configuration, the first surface PL1 of the flying body 600 emits light of a preset color, and the control unit 692 of the flying body 600 performs light emission control processing to cause the first surface PL1 to emit light during a light emission period from a time included in a preset period including sunset to a time included in a preset period including sunrise. Therefore, even if the illumination decreases due to sunset, for example, since the flying body 600 causes the first surface PL1 facing the first observation point PB1 or the second observation point PB2 to emit light in a preset color, it is possible to suppress a decrease in visibility when viewing from the first observation point PB1 or the second observation point PB2.

[0300] <Variation 1 of Example 3>

[0301] In the third embodiment, it is described that the control unit 692 of the flying object 600 causes the first surface PL1 to emit light in the preset light emitting period, but the present invention is not limited to this.

[0302] The flying object 600 of this variation includes an illuminance sensor (not shown), which illuminates the first surface PL1 when the illuminance measured by the illuminance sensor is below a preset illuminance, and turns off the first surface PL1 when the measured illuminance is greater than the preset illuminance.

[0303] Therefore, the acquisition unit 691 of the flying body 600 acquires information indicating the illuminance measured by the illuminance sensor based on the signal output from the illuminance sensor. In addition, the acquisition unit 691 acquires information indicating the preset illuminance stored in the information storage unit 699. Thereafter, when the control unit 692 determines that the measured illuminance indicated by the acquired information is less than the preset illuminance, it executes the light emission control process of making the first surface PL1 emit light. In contrast, when it is determined that the measured illuminance is greater than the preset illuminance, it executes the light-off control process of stopping the light emission of the first surface PL1.

[0304] <Variation 2 of Example 3>

[0305] In the third embodiment, the light-emitting period is described as a period from a time included in a preset period including the sunset time to a time included in a preset period including the sunrise time. However, this is not limited to this, and the light-emitting period may be a period from the sunset time to the sunrise time, or a period from a time later than the sunset time by a preset time to a time earlier than the sunrise time by a preset time. In addition, the control unit 692 of the flying body 600 may also cause the first surface PL1 to emit light regardless of the time period.

[0306] <Variation 3 of Example 3>

[0307] In the third embodiment, the first surface PL1 is described as a wide surface of the propeller shroud 641 provided with an LED light emitting element, but the present invention is not limited thereto. The first surface PL1 may also be a display surface of a display device 615b provided in the flying body 600. In this case, the display surface only needs to have a backlight source (not shown) that emits light. In addition, a fluorescent lamp, a mercury lamp, a metal halide lamp, a halogen lamp, or a light bulb may be provided on the first surface PL1 instead of the LED.

[0308] <Example 4>

[0309] In the first embodiment, it is described that the first observer observes the flying object 600 when the flying object 600 flies in the first observation airspace AB1, and the second observer observes the flying object 600 when the flying object 600 flies in the second observation airspace AB2. Therefore, it is described that when the flying object 600 flies in the first observation airspace AB1, the first surface PL1 of the preset color is directed toward the first observation point PB1 where the first observer is located, and when flying in the second observation airspace AB2, the first surface PL1 is directed toward the second observation point PB2 where the second observer is located.

[0310] However, the present invention is not limited thereto, and the first observer and the second observer of the present embodiment can observe the flying object 600 when the flying object 600 is flying, regardless of whether the flying object 600 is flying in the first observation airspace AB1 or the second observation airspace AB2. Therefore, when the flying object 600 of the present embodiment takes off from the business premises BO, the first surface PL1 of the preset color is directed toward the first observation point PB1, which is closer to the position of the flying object 600, between the first observation point PB1 and the second observation point PB2. Thereafter, when the flying object 600 receives a visual report notifying the first observer to visually identify the flying object 600 from the first terminal device 800, the flying object 600 directs the first surface PL1 toward the second observation point PB2. Hereinafter, the same configuration as that of the first embodiment will be described using the same reference numerals as those used in the first embodiment, but the differences between the present embodiment and the first embodiment will be mainly described.

[0311] The information storage unit 699 of the flying object 600 of this embodiment stores in advance Fig.18 The terminal table shown in FIG. 1 is a first record in the terminal table. The communication address of the first terminal device 800 and a visual identification flag with a value of "false" indicating that the flying object 600 cannot be visually identified by the first observer carrying the first terminal device 800 are stored in advance. However, as in the first embodiment, the first record does not store information indicating the position of the first observation point PB1. The communication address of the second terminal device 900 and a visual identification flag with a value of "false" are stored in advance in the second record in the terminal table, but the information indicating the position of the second observation point PB2 is not stored.

[0312] The CPU 611 of the flying object 600 of this embodiment executes Fig.19 When the flight control process is started, CPU 611 executes the same Figure 6 The same processing as steps S01 to S04 of steps S01 to S04 is performed (steps S91 to S94). Thus, the data communication circuit 614a of the flying body 600 receives information indicating the position of the first terminal device 800 carried by the first observer and information indicating the position of the second terminal device 900 carried by the second observer. In addition, the control unit 692 sets the point of the position of the first terminal device 800 indicated by the received information to a first set point set in advance by setting it as the point observed by the first observer and the first observation point PB1 to which the first plane PL1 of a predetermined color faces. In addition, the control unit 692 stores the information indicating the position of the first observation point PB1 in Fig.18 Similarly, the control unit 692 sets the point of the position of the second terminal device 900 as the second observation point PB2, thereby setting it as the pre-set second setting point. In addition, the control unit 692 stores information indicating the position of the second observation point PB2 in the second record of the terminal table.

[0313] In this embodiment, for simplicity of description, the first observation point PB1 and the second observation point PB2 are collectively referred to as observation points as in Embodiment 1. In addition, in this embodiment, the first set point PB1, which is another name for the first observation point PB1, and the second set point PB2, which is another name for the second observation point PB2, are collectively referred to as pre-set points.

[0314] Thereafter, the control unit 692 of the flying object 600 outputs a control signal for taking off from the business location BO to the driving circuit (step S95). Next, the control unit 692 of the flying object 600 selects a destination to which the first surface PL1 of a preset color is directed from the first observation point PB1, the second observation point PB2, and the moving destination (step S96).

[0315] In the present embodiment, the following description will be given by taking as a specific example the case where the flying object 600 takes off from the business location BO at time T11.

[0316] At time T11, the control unit 692 of the flying object 600 selects the direction to which to head. Fig.18 The information indicating the position of the observation point is obtained from the terminal table of the controller 692, and the information is associated with the visibility flag having a value "false" indicating that the object is not visible. Shortly after the flying object 600 leaves the business premises BO at time T11, the first observer and the second observer do not see the flying object 600, and the controller 692 obtains the information indicating the position of the first observation point PB1 and the information indicating the position of the second observation point PB2.

[0317] Next, the control unit 692 of the flying object 600 Fig.10 The control unit 692 calculates the distance from the flying object 600 to the first observation point PB1 based on the information indicating the position of the flying object 600 acquired in step S21 and the information indicating the position of the first observation point PB1. Similarly, the control unit 692 calculates the distance from the flying object 600 to the second observation point PB2.

[0318] In this embodiment, Fig. 20 As shown, the first observation point PB1 is closer to the business location BO than the second observation point PB2. Therefore, shortly after the aircraft 600 takes off from the business location BO at time T11, the control unit 692 of the aircraft 600 determines that the distance from the aircraft 600 to the first observation point PB1 is shorter than the distance from the aircraft 600 to the second observation point PB2, and selects the first observation point PB1 as the direction destination of the first surface PL1 of the preset color.

[0319] Next, the control unit 692 of the flying object 600 determines that the selected destination is the first observation point PB1 (step S97; Yes). Fig.11The direction change control process is performed to make the flying object 600 fly the first plane PL1 toward the first observation point PB1 (step S98). In this embodiment, the direction change control process performed to make the first plane PL1 face the first observation point PB1 is referred to as the first direction change control process as in the first embodiment.

[0320] Thereafter, the control unit 692 of the flying object 600 executes the first notification control process described in the first embodiment to cause the data communication circuit 614a to transmit the first opposing notification to the first terminal device 800 (step S99).

[0321] Thereafter, the control unit 692 of the flying object 600 executes a forward flight control process for causing the flying object 600 to fly forward along the flight path (step S100 ). Next, the control unit 692 determines whether the data communication circuit 614 a has received a visual recognition report from the first terminal device 800 (step S101 ).

[0322] In this embodiment, a case where the first observer visually identifies the flying object 600 and performs an operation of sending a visual identification report on the input device 805c of the first terminal device 800 shortly after the time T11 is described as a specific example. Therefore, when the input device 805c of the first terminal device 800 inputs a signal corresponding to the operation, the CPU 801 of the first terminal device 800 outputs a visual identification report to the data communication circuit 804a of the first terminal device 800 with the flying object 600 as the receiving object. Thereafter, the data communication circuit 614a of the flying object 600 receives the visual identification report sent from the first terminal device 800.

[0323] When the control unit 692 of the flying object 600 determines that a visual recognition report has been received (step S101; Yes), Fig.18 In the terminal table of the first terminal device 800, the visual identification flag corresponding to the communication address of the first terminal device 800 is updated to a value "true" indicating that the first observer carrying the first terminal device 800 can see the flying object 600 (step S102). Figure 6 The same processing as steps S11 to S14 (steps S103 to S106) is performed.

[0324] In this embodiment, the following description will be given as a specific example. That is, at time T12 after time T11, the flying object 600 executes the process of step S107 while flying toward the destination.

[0325] At time T12, the control unit 692 of the flying object 600 determines that it has not reached the destination (step S107; No). Fig.18Only the information indicating the position of the second observation point PB2 is obtained from the terminal table, and this information is associated with the visual flag indicating the value "false" which indicates that the visual identification is not performed. Therefore, the control unit 692 of the flying body 600 selects the second observation point PB2 as the direction destination of the first surface PL1 of the preset color.

[0326] Next, the control unit 692 of the flying object 600 determines that the selected direction destination is not the first observation point PB1 but the second observation point PB2 (step S97: No and step S109: Yes). Fig.11 The direction change control process is performed to make the flying object 600 fly the first plane PL1 toward the second observation point PB2 (step S110). In this embodiment, the direction change control process performed to make the first plane PL1 face the second observation point PB2 is referred to as the second direction change control process as in the first embodiment.

[0327] Thereafter, the control unit 692 of the flying object 600 executes the second notification control process described in the first embodiment to cause the data communication circuit 614a to transmit the second opposite notification to the second terminal device 900 (step S111).

[0328] Thereafter, the control unit 692 of the flying object 600 executes the forward flight control process (step S100 ), and then determines whether the data communication circuit 614 a has received the visual recognition report from the second terminal device 900 (step S101 ).

[0329] In this embodiment, the following description will be given as a specific example. That is, shortly after time T12, the second observer cannot see the flying object 600 and therefore does not perform an operation to send a visibility report to the second terminal device 900.

[0330] When the control unit 692 of the flying object 600 determines that the visual recognition report has not been received (step S101 ; No), it executes the processing of steps S103 to S106 .

[0331] In this embodiment, the following description will be given as a specific example. That is, at time T13 after time T12, the flying object 600 executes the process of step S107 again while flying toward the destination.

[0332] At time T13, the control unit 692 of the flying object 600 determines that it has not reached the destination (step S107; No), and sequentially executes the processes of steps S96, S97, S109, S111, and S100. Thus, the flying object 600 flies the first plane PL1 of the preset color toward the second observation point PB2 that has not been seen, and then sends the second opposite notification to the second terminal device 900 at the second observation point PB2.

[0333] In this embodiment, the following description will be given as a specific example. That is, shortly after time T13, the second observer visually recognizes the flying object 600 and thus performs an operation of transmitting a visual recognition report to the second terminal device 900 .

[0334] The control unit 692 of the flying object 600 determines that the data communication circuit 614a receives the visual recognition report from the second terminal device 900 (step S101; Yes). Fig.18 In the terminal table of the second terminal device 900, the visual identification flag associated with the communication address of the second terminal device 900 is updated to a value of "true" (step S102). Next, the processing of steps S103 to S106 is performed.

[0335] In this embodiment, the following description will be given as a specific example, in which the flying object 600 flying toward the destination executes the process of step S107 again at time T14 after time T13.

[0336] At time T14, the control unit 692 of the flying object 600 determines that it has not reached the destination (step S107; No). Fig.18 The terminal table of the flying object 600 does not store information indicating the position of the observation point, and the information is associated with the visual flag indicating the value "false" indicating that the visual flag is not visually identified. Therefore, the control unit 692 of the flying object 600 selects the moving destination of the flying object 600 as the direction destination of the first surface PL1 of the preset color (step S96).

[0337] Next, the control unit 692 of the flying object 600 determines that the selected destination is neither the first observation point PB1 nor the second observation point PB2 (step S97; No and step S109; No), and then determines that the destination is the moving destination. Fig.11 The direction change control process is performed so that the flying object 600 flies the first plane PL1 toward the moving destination (step S112). In this embodiment, the direction change control process performed to make the first plane PL1 face the moving destination is referred to as the third direction change control process.

[0338] In the third direction change control process, the control unit 692 of the flying object 600 calculates a vector from the flying object 600 to the movement destination in step S31, and then executes the processes of steps S32 to S39 using the calculated vector.

[0339] Thereafter, after executing the processing of steps S100 to S107, when the control unit 692 of the flying body 600 determines that it has arrived at the moving destination (step S107; yes), it outputs a control signal for landing (step S108), and ends the flight control processing.

[0340] According to the above configuration, the data communication circuit 614a of the flying body 600 receives information indicating the position of the first terminal device 800 from the first terminal device 800, and receives information indicating the position of the second terminal device 900 from the second terminal device 900. In addition, the control unit 692 of the flying body 600 sets the point of the position of the first terminal device 800 indicated by the received information as the first observation point PB1 as the first set point, and sets the point of the position of the second terminal device 900 as the first observation point PB1 as the second set point. Furthermore, after performing the first direction change control process of making the first surface PL1 of the preset color face the first observation point PB1, which is the first set point, when the data communication circuit 614a receives a visual report notifying that the flying body 600 is visually recognized from the first terminal device 800, the control unit 692 performs the second direction change control of making the first surface PL1 of the preset color face the second observation point PB2, which is the second set point. Therefore, when the flying body 600 is viewed at the first observation point PB1, the first surface PL1 of the predetermined color can be directed toward the second observation point PB2, thereby effectively improving the visibility of the flying body 600 from the first observation point PB1, and also improving the visibility of the flying body 600 from the second observation point PB2.

[0341] According to the above configuration, when the control unit 692 of the flying body 600 performs the first direction change control process, the control unit 692 performs the first notification control process of sending the first facing notification to the first terminal device 800, the first facing notification notifying that the first surface PL1 of the preset color is facing the first terminal device 800. In addition, when the control unit 692 performs the second direction change control process, the control unit 692 performs the second notification control process of sending the second facing notification to the second terminal device 900, the second facing notification notifying that the second terminal device 900 is facing the first surface PL1. Therefore, when the flying body 600 makes the first surface PL1 of the preset color face the first terminal device 800, it can notify the first terminal device 800 that the first surface PL1 has faced the first terminal device 800. Thus, the first observer carrying the first terminal device 800 can know the timing when the first surface PL1 faces the first terminal device 800, and thus can more easily find the flying object 600 than when it is impossible to know whether the first surface PL1 faces the first terminal device 800 or the second terminal device 900. Similarly, the second observer carrying the second terminal device 900 can easily find the flying object 600.

[0342] <Example 5>

[0343] In the fourth embodiment, it is described that when the flying object 600 takes off from the business location BO, the first surface PL1 of the preset color is directed toward the first observation point PB1 which is closer to the position of the flying object 600 between the first observation point PB1 and the second observation point PB2. In addition, when the flying object 600 receives a visual report from the first terminal device 800 notifying that the first observer has visually detected the flying object 600, the flying object 600 directs the first surface PL1 toward the second observation point PB2.

[0344] However, this is not limited to this, and the flying body 600 of this embodiment rotates while repeating the first direction change control of making the first surface PL1 toward the first observation point PB1 and the second direction change control of making the first surface PL1 toward the second observation point PB2. Hereinafter, the same configuration as that of Example 4 is described using the same symbols as those used in Example 4, but the differences between this embodiment and Example 4 are mainly described.

[0345] The CPU 611 of the flying object 600 of this embodiment executes Fig.21 When the flight control process is started, CPU 611 executes the same Fig.19 The same processing as steps S91 to S95 is performed (steps S121 to S125). Thus, the flying object 600 takes off from the business location BO.

[0346] Next, execute Fig. 22 The direction change control process shown in step S126 is executed. When the direction change control process is started, the control unit 692 of the flying body 600 initializes the first facing flag indicating whether the first surface PL1 of the preset color is facing the first observation point PB1 to a value "false" indicating that the first surface PL1 is not facing the first observation point PB1. Similarly, the control unit 692 initializes the second facing flag indicating whether the first surface PL1 of the preset color is facing the second observation point PB2 to a value "false" (step S141).

[0347] The control unit 692 of the flying object 600 executes Fig.11 The control unit 692 then performs the same processing as step S31 to calculate the first vector from the flying object 600 toward the first observation point PB1 (step S142). Fig.11 The same processing as steps S32 and S36 is performed to calculate the azimuth angle θ1′ formed by the first vector and the reference azimuth, and the minimum depression angle φ1′ formed by the first vector and the horizontal plane (steps S143 and S144).

[0348] Similarly, the control unit 692 of the flying object 600 calculates the second vector from the flying object 600 toward the second observation point PB2, the azimuth angle θ2′ formed by the second vector and the reference azimuth, and the minimum depression angle φ2′ formed by the second vector and the horizontal plane (steps S145 to S147).

[0349] Next, the control unit 692 of the flying object 600 reads out information indicating the preset angle Δθ from the information storage unit 699. Next, the control unit 692 outputs a control signal to the drive circuit 619 to increase the azimuth angle θ between the front direction of the flying object 600 and the reference azimuth by the angle Δθ indicated by the read information in order to rotate the flying object 600 (step S148).

[0350] Next, the control unit 692 of the flying object 600 executes Fig.11 The same processing as step S33 is performed to obtain information indicating the azimuth angle θ between the front direction of the flying object 600 and the reference azimuth (step S149).

[0351] Thereafter, the control unit 692 of the flying body 600 determines whether the azimuth angle θ formed by the front direction of the flying body 600 and the reference azimuth and the azimuth angle θ1' formed by the first vector from the flying body 600 toward the first observation point PB1 and the reference azimuth are consistent (step S150). At this time, when the control unit 692 determines that the azimuth angle θ of the front direction is consistent with the azimuth angle θ1' of the first vector (step S150; yes), it outputs the following control signal to the drive circuit 619, which is used to change the minimum depression angle φ formed by the front direction of the flying body 600 and the horizontal plane to the minimum depression angle φ1' formed by the first vector and the horizontal plane (step S151). Thus, the control unit 692 performs the first direction change control processing, that is, the first surface PL1 of the preset color facing the front direction of the flying body 600 is directed toward the first observation point PB1.

[0352] Thereafter, the control unit 692 of the flying object 600 updates the value of the first facing flag to a value of “true” indicating that the first plane PL1 faces the first viewpoint PB1 (step S152 ), and then terminates the execution direction change control process.

[0353] In step S150, when the control unit 692 of the flying body 600 determines that the azimuth angle θ is inconsistent with the azimuth angle θ1' (step S150; No), it determines whether the azimuth angle θ of the front direction of the flying body 600 and the azimuth angle θ2' of the second vector from the flying body 600 to the second observation point PB2 are consistent (step S153). At this time, when the control unit 692 determines that the azimuth angle θ of the front direction is consistent with the azimuth angle θ2' of the second vector (step S153; Yes), it outputs the following control signal to the drive circuit 619, which is used to change the depression angle φ of the flying body 600 to the depression angle φ2' of the second vector (step S154). As a result, the control unit 692 performs the second direction change control process to make the first plane PL1 face the second observation point PB2. Thereafter, the control unit 692 updates the value of the second opposite flag to the value "true" (step S155), and ends the execution of the direction change control process.

[0354] In step S153, when the control unit 692 of the flying object 600 determines that the azimuth angle θ and the azimuth angle θ2' do not coincide with each other (step S153; No), the control unit 692 of the flying object 600 ends the execution of the direction change control process.

[0355] exist Fig.21 After executing the direction change control process in step S126, the control unit 692 of the flying body 600 determines whether the value of the first opposite flag is "true" (step S127), indicating that the first surface PL1 of the preset color is facing the first observation point PB1. At this time, when the control unit 692 determines that the value of the first opposite flag is "true" (step S127; yes), it executes the first notification control process (step S128). Similar to the fourth embodiment, the first notification control process is a process for causing the data communication circuit 614a to send the first opposite notification to the first terminal device 800, and the first opposite notification is to notify the first terminal device 800 that the first surface PL1 is facing the first observation point PB1.

[0356] In step S127, when the control unit 692 of the flying object 600 determines that the value of the first opposite flag is not "true" (step S127; No), it determines whether the value of the second opposite flag is "true" (step S129). At this time, when the control unit 692 determines that the value of the second opposite flag is "true" (step S129; Yes), it executes the second notification control process of sending the second opposite notification to the second terminal device 900 (step S130).

[0357] After executing step S128 or S130, or in step S129, when it is determined that the value of the second opposite flag is not "true" (step S129; No), execute the same Fig.19 The same processing as the processing of steps S100 and S103 to S106 is performed (steps S131 to S135). Thus, the flying object 600 flies forward along the flight path.

[0358] Thereafter, when the control unit 692 of the flying object 600 determines that the flying object 600 has not arrived at the destination (step S136; No), the processing of steps S126 to S135 is repeated (steps S126 to S135). Thereafter, when the control unit 692 determines that the flying object 600 has arrived at the destination (step S136; Yes), the same processing as in step S126 to S135 is executed. Figure 6 The same process as step S16 is performed (step S137), whereby the flight control process is terminated after the flying object 600 reaches the moving destination.

[0359] According to the above configuration, the control unit 692 of the flying body 600 repeatedly performs the first direction change control process and the second direction change control process while rotating the flying body 600, performs the first notification control process when the first surface PL1 of the preset color faces the first set point, i.e., the first observation point PB1, and performs the second notification control process when the first surface PL1 of the preset color faces the second set point, i.e., the second observation point PB2. Therefore, the flying body 600 can make the first surface PL1 of the preset color face the first observation point PB1 and the second observation point PB2 within the time required for the flying body 600 to rotate once, thereby improving the visibility of the flying body 600 from both the first observation point PB1 and the second observation point PB2 within the time required for the flying body 600 to rotate once. In addition, the flying body 600 can notify both the first terminal device 800 and the second terminal device 900 that the first surface PL1 faces the first observation point PB1 and the second observation point PB2 within the time required for the flying body 600 to rotate once.

[0360] <Variations of Example 5>

[0361] In the fifth embodiment, it is described that the control unit 692 of the flying body 600 repeatedly performs the first direction change control process and the second direction change control process while rotating the flying body 600, but the present invention is not limited thereto. The control unit 692 of the flying body 600 may also repeatedly perform the first direction change control process and the second direction change control process described in the first embodiment within a preset time according to a predetermined rule or randomly. The predetermined rule may also be to alternately perform the first direction change control process and the second direction change control process.

[0362] <Example 6>

[0363] In the second embodiment, it is described that the flying object 600 has a display device 615b having a display surface, and the display surface is a flat surface. Fig.14 After executing display control processing to display an image of a preset color on the display surface in step S49, a direction change control processing to direct the display surface toward a preset point is performed in step S50.

[0364] However, this is not limited to this. The flying object 600 of this embodiment may also have Fig.23 The display device 615b is replaced by a cylindrical display device 680 shown in the figure, and the display surface of the display device 680 is a curved surface forming the side surface of the cylinder. In addition, the flying body 600 of this embodiment performs display control processing, that is, an image of a preset color is displayed on the display surface of the display device 680 and a part of the surface facing the preset point. Hereinafter, the same configuration as that of the second embodiment is described using the same symbols as those used in the second embodiment, but the differences between this embodiment and the second embodiment are mainly described.

[0365] In this specification, the display surface of the display device 615b of Example 2 and the surface facing the preset point are referred to as the first surface, and the display surface of the display device 680 of this embodiment and a part of the surface facing the preset point are referred to as the second surface, so as to distinguish between these two surfaces. In addition, in this specification, the display control processing described in Example 2 is referred to as the first display control processing, and the display control processing described in this embodiment is referred to as the second display control processing, so as to distinguish between these two display control processing.

[0366] The flying object 600 of this embodiment is the same as the flying object 600 of the second embodiment, and has a control device 610 on its upper surface. Fig.13 A hemispherical camera device 670 is shown.

[0367] In addition, the flying body 600 of this embodiment is provided with a storage 650 for storing articles below the control device 610, but does not include a first enclosure frame 651a and a second enclosure frame 651b for enclosing articles, which is different from the flying body 600 of the second embodiment. The storage 650 has a box body, which forms a space closed by a back plate, a bottom plate, a top plate, and two side plates (not shown) and open at the front. A door and a door frame (not shown) supporting the door are provided at the opening of the box body.

[0368] A cylindrical display device 680 is provided on the lower surface of the storage 650 of the flying object 600. The display device 680 is provided on the lower surface of the storage 650 in such a manner that the lower direction of the flying object 600 is parallel to the axis of the cylinder, and the axis of the cylinder passes through the position measurement circuit 616. Therefore, the latitude and longitude of the flying object 600 measured by the position measurement circuit 616 are consistent with the latitude and longitude of the axis of the cylinder.

[0369] The display device 680 of the flying object 600 has a display surface that forms the side surface of a cylinder. Therefore, if the flying object 600 flies at a position higher than the first observation point PB1 and the second observation point PB2 and at a position different from the position directly above the first observation point PB1 and the second observation point PB2, at least a part of the display surface of the display device 680 can be visually viewed from the first observation point PB1 and the second observation point PB2 regardless of where the first observation point PB1 and the second observation point PB2 are.

[0370] The main scanning direction of the display surface of the display device 680 of the flying body 600 is a direction perpendicular to the axis of the cylinder, and the sub-scanning direction is a direction parallel to the axis of the cylinder. The display surface of the display device 680 is composed of a pixel column composed of Nc pixels arranged in the sub-scanning direction and a pixel surface composed of Nr columns arranged in the main scanning direction (where Nc and Nr are integers greater than 2). The pixel columns numbered from pixel column No. 1 to pixel column No. Nr are arranged at equal intervals, and pixel column No. 1 is arranged at a position where the azimuth angle measured counterclockwise from the reference azimuth is 0 degrees when the front direction of the flying body 600 is taken as the reference azimuth. Therefore, pixel column No. n is arranged at a position where the azimuth angle measured counterclockwise from the reference azimuth is an angle θn represented by the following formula when the front direction of the flying body 600 is taken as the reference azimuth (where n is an integer greater than 1 and less than Nr).

[0371] θn=(n-1)×360 / Nr···(5)

[0372] Wherein, θn represents the azimuth angle, Nr represents the total number of pixel columns, and n represents the number of the pixel column.

[0373] The CPU 611 of the flying object 600 of this embodiment executes Fig.24 When the flight control process is started, CPU 611 executes the same Fig.14 Thus, the camera device 670 of the flying object 600 takes a picture in the direction opposite to the direction from the flying object 600 toward the first observation point PB1 or the second observation point PB2 to obtain a camera image, and the color of the image displayed on the display device 680 is set to the complementary color of the color of the camera image.

[0374] Next, execute Fig.25 The second display control process shown is to display the image of the color set in step S168 on the second surface which is a part of the cylindrical display surface of the display device 680 and faces the first viewing point PB1 or the second viewing point PB2 (step S169).

[0375] When the second display control process is started, the control unit 692 of the flying object 600 executes the Fig.11 The same process as step S31 is performed to calculate the direction from the flying object 600 toward the first observation point PB1 or the second observation point PB2. Fig.26 The vector V shown (step S181).

[0376] Next, the control unit 692 of the flying object 600 calculates the azimuth angle θ′ of the vector V measured counterclockwise from the reference azimuth of the north (step S182). Fig.11 The same processing as step S33 is performed to obtain information on the azimuth angle θ of the vector Vf indicating the forward direction of the flying body 600 measured counterclockwise from the reference azimuth which is the north (step S183).

[0377] Thereafter, the control unit 692 of the flying body 600 calculates the azimuth angle "θ'-θ" measured counterclockwise from the reference orientation by subtracting the azimuth angle θ from the azimuth angle θ' in the direction from the axis of the cylinder toward the first observation point PB1 or the second observation point PB2, with the front direction of the flying body 600 as the reference orientation.

[0378] Next, the control unit 692 of the flying body 600 obtains information indicating the viewing angle θa of the display device 680 from the information storage unit 699 (step S184). Next, the control unit 692 specifies a plurality of pixel columns arranged at the following positions, which are positions where the azimuth angle is an angle included in the range of "θ'-θ-θa / 2" and "θ'-θ+θa / 2" when the front direction of the flying body 600 is used as the reference azimuth. Thereafter, the control unit 692 specifies the partial pixel surface composed of the specified plurality of pixel columns as a visible surface of the displayed image that can be visually viewed from the first observation point PB1 or the second observation point PB2 (step S185). In addition, the control unit 692 specifies the partial pixel surface designated as the visible surface as the second surface PL2 facing the first observation point PB1 or the second observation point PB2 (step S186).

[0379] In order to specify the second plane PL2, the control unit 692 of the flying body 600 determines whether the azimuth angle "θ'-θ-θa / 2" is a negative value. At this time, when the control unit 692 determines that the azimuth angle "θ'-θ-θa / 2" is a negative value, it becomes a positive value by adding 360 degrees to "θ'-θ-θa / 2". Thereafter, the azimuth angle after adding 360 degrees is used in the above-mentioned formula (5) to calculate the pixel number nl of the pixel column arranged at the position of the azimuth angle "θ'-θ-θa / 2". Similarly, the control unit 692 uses the azimuth angle "θ'-θ+θa / 2" in the above-mentioned formula (5) to calculate the pixel number nu of the pixel column arranged at the position of the azimuth angle "θ'-θ+θa / 2". Thereafter, the control unit 692 designates a partial pixel plane consisting of pixel columns with pixel numbers n1 to Nr and pixel columns with pixel numbers 1 to nu as the second plane PL2.

[0380] In contrast, when the control unit 692 of the flying body 600 determines that the azimuth angle "θ'-θ-θa / 2" is not a negative value, it determines whether the azimuth angle "θ'-θ+θa / 2" is a value greater than 360 degrees. At this time, when the control unit 692 determines that the azimuth angle "θ'-θ+θa / 2" is a value greater than 360 degrees, it subtracts 360 degrees from "θ'-θ+θa / 2". Thereafter, the azimuth angle after subtracting 360 degrees is used in the above-mentioned formula (5) to calculate the pixel number nu of the pixel column arranged at the position of the azimuth angle "θ'-θ+θa / 2". Similarly, the control unit 692 calculates the pixel number nl of the pixel column arranged at the position of the azimuth angle "θ'-θ-θa / 2". Thereafter, the control unit 692 designates the partial pixel surface composed of the pixel columns from nl to Nr and the pixel columns from 1 to nu as the second surface PL2.

[0381] In contrast, when the control unit 692 of the flying object 600 determines that the azimuth angle "θ'-θ+θa / 2" is a value less than 360 degrees, the azimuth angles "θ'-θ-θa / 2" and "θ'-θ+θa / 2" are used in the above-mentioned formula (5) to calculate the pixel numbers nu and nl. Thereafter, the control unit 692 designates the partial pixel plane composed of the pixel columns from nl to nu as the second plane PL2.

[0382] Thereafter, the control unit 692 of the flying object 600 generates a color of the partial image displayed on the second surface PL2. Fig.24 The control unit 692 displays the generated entire image in the color preset in step S168 (step S187). Next, the control unit 692 displays the generated entire image on the display surface of the display device 680, and displays the partial image in the preset color on the second plane PL2 facing the first observation point PB1 or the second observation point PB2 (step S188). Thereafter, the control unit 692 ends the execution of the second display control process.

[0383] exist Fig.24 After the second display control process is executed in step S169, the direction change control process described in Example 2 is not executed, but the same as Fig.14 After the same processing as steps S51 to S58 (steps S170 to S177), the flight control processing is terminated. In this embodiment, the reason why the direction change control processing is not performed is that an image of a predetermined color is displayed on the second surface PL2 facing the first observation point PB1 or the second observation point PB2, so there is no need to change the direction of the flying body 600.

[0384] According to the above configuration, the flying object 600 flying in space includes an acquisition unit 691 that acquires information indicating the position of the flying object 600. In addition, the flying object 600 includes a control unit 692 that performs a second display control process based on the acquired information, that is, displays an image of a preset color on the display surface of the display device 680 provided in the flying object 600 and is a second surface PL2 that is a partial surface facing the first observation point PB1 or the second observation point PB2 that is a preset point. Therefore, the flying object 600 can improve the visibility of the flying object 600 when viewed from the preset point, that is, the first observation point PB1 or the second observation point PB2.

[0385] According to the above configuration, the flying body 600 is further provided with an imaging device 670, which obtains a camera image by shooting from the flying body 600 in a direction opposite to the direction from the flying body 600 toward a preset point, namely, the first observation point PB1 or the second observation point PB2. In addition, the control unit 692 of the flying body 600 sets the complementary color of the color of the camera image obtained by the imaging device 670 to the color of the image displayed on the second surface PL2 toward the first observation point PB1 or the second observation point PB2 as the preset color. Furthermore, the control unit 692 performs the second display control for displaying the image of the preset color on the second surface PL2. Therefore, even if the background of the flying body 600 observed when the flying body 600 is observed from the first observation point PB1 or the second observation point PB2 changes due to the flight of the flying body 600, the flying body 600 can display the image of the complementary color of the background color on the second surface PL2 toward the first observation point PB1 or the second observation point PB2. Thus, the visibility of the flying object 600 from the first observation point PB1 or the second observation point PB2 can be improved.

[0386] In the present embodiment, it is described that the main scanning direction of the display surface of the display device 680 is a direction perpendicular to the axis of the cylinder, and the sub-scanning direction is a direction parallel to the axis of the cylinder, but it is not limited to this. The main scanning direction of the display surface may also be a direction parallel to the axis of the cylinder, and the sub-scanning direction may also be a direction perpendicular to the axis of the cylinder. In addition, in the present embodiment, it is described that the display surface of the display device 680 is composed of a pixel surface composed of a pixel column composed of Nc pixels arranged in the sub-scanning direction and a pixel surface composed of Nr columns arranged in the main scanning direction, but it is not limited to this. The display surface may also be composed of a pixel surface composed of a pixel row composed of Nc pixels arranged in the main scanning direction and a pixel surface composed of Nr rows arranged in the sub-scanning direction.

[0387] The flying object 600 of this embodiment is described. Fig.24 After color setting processing is performed in step S168, the Fig.25 Thus, it is described that the flying body 600 specifies a portion of the display surface of the display device 680 and faces the second surface PL2 of the first observation point PB1 or the second observation point PB2, so that a partial image of a color preset by executing the color setting process is displayed on the second surface PL2.

[0388] However, the present invention is not limited thereto, and the flying object 600 may also execute the second display control process (not shown) instead of the color setting process in step S168. Fig.25 The second display control process not shown in the figure may be a process in which the entire image of the color pre-set in step S168 is displayed on the entire display surface of the display device 680 without specifying the second surface PL2. According to the above configuration, even if the flying body 600 does not specify the second surface PL2 facing the first observation point PB1 or the second observation point PB2, the image of the color pre-set in step S168 may be displayed on the entire display surface of the display device 680 including the second surface PL2. Thus, compared with the case in which the second surface PL2 is specified, the flying body 600 can reduce the amount of calculation of the display control process performed to improve the visibility while improving the visibility of the flying body 600 from the first observation point PB1 or the second observation point PB2.

[0389] <Variation 1 of Example 6>

[0390] In the sixth embodiment, it is described that the camera device 670 of the flying body 600 takes a picture in the direction opposite to the direction from the flying body 600 toward the first observation point PB1 or the second observation point PB2, and the control unit 692 of the flying body 600 performs the second display control process, that is, the complementary color of the color of the camera image obtained by the camera device 670 is displayed on the second surface PL2 which is a part of the display surface of the display device 680 and is a part of the surface facing the first observation point PB1 or the second observation point PB2. However, this is not limited to this, and the control unit 692 of the flying body 600 of this variation performs the second display control process of controlling the color of the entire display surface of the display device 680.

[0391] When the second display control process of this variation starts, the control unit 692 of the flying body 600 initializes the variable n indicating the number of the pixel column to a value of "1". Next, the control unit 692 uses the variable n in the above-mentioned equation (5) to perform the following process, that is, when the front direction of the flying body 600 is taken as the reference azimuth, the azimuth angle θ1 formed by the reference azimuth and the direction from the axis of the cylinder toward the first pixel column is calculated.

[0392] Thereafter, the control unit 692 of the flying body 600 calculates an azimuth angle θr1 in the direction opposite to the direction from the axis of the cylinder toward the pixel column No. 1 by adding 180 degrees to the calculated azimuth angle θ1. Next, the control unit 692 outputs a control signal to the drive circuit 619, and the control signal is to change the azimuth angle formed by the front direction of the flying body 600 and the optical axis AO of the camera device 670 to the calculated azimuth angle θr1. Thereafter, the control unit 692 outputs a signal commanding the camera to the camera device 670, and then obtains information representing the camera image from the camera device 670. Next, the control unit 692 of the flying body 600 sets the color of the pixel column No. 1 constituting the entire image displayed on the display device 680 to the complementary color of the camera image represented by the obtained information.

[0393] Thereafter, the control unit 692 of the flying body 600 repeats the above process starting from the process of calculating the azimuth angle θn until the variable n representing the number of the pixel column is increased by the value "1" and the value of the variable n is greater than the total number of pixel columns Nr, thereby setting the colors of pixel columns No. 2 to Nr that constitute the entire image.

[0394] When the value of the variable n is greater than the total number Nr of pixel columns, the control unit 692 of the flying body 600 generates an entire image having the colors of the set pixel columns No. 1 to No. Nr, and performs control to display the generated entire image on the display surface of the display device 680. Thereafter, the control unit 692 ends the execution of the second display control process.

[0395] According to the above configuration, the flying body 600 has a cylindrical display device 680, and the display device 680 has a display surface forming the side of the cylinder. The display surface is composed of a pixel column composed of a plurality of pixels arranged in a direction parallel to the axis of the cylinder, and a pixel surface composed of Nr pixels arranged in a main scanning direction perpendicular to the axis of the cylinder. The control unit 692 of the flying body 600 sets the complementary color of the color of the camera image obtained by causing the camera device 670 to shoot in the direction opposite to the direction from the axis of the cylinder toward the n-numbered pixel column to the color of the n-numbered pixel column for each of the n-numbered pixel columns numbered from 1 to Nr. In addition, the control unit 692 generates an image having the colors of the set pixel columns from 1 to Nr, and displays the generated image on the cylindrical display device 680. Therefore, when observing the flying body 600 from any azimuth angle, the visibility of the flying body 600 from the point of observation can be improved. Furthermore, even if the flying object 600 is observed from different positions, ie, the first observation point PB1 and the second observation point PB2 at the same time, the visibility of the flying object 600 from both the first observation point PB1 and the second observation point PB2 can be improved.

[0396] In this variation, the control unit 692 of the flying body 600 calculates the azimuth angle θn of the n-th pixel column, changes the azimuth angle of the optical axis AO of the camera device 670 to the azimuth angle obtained by adding 180 degrees to the azimuth angle θn, and then performs shooting, and sets the color of the n-th pixel column to the complementary color of the camera image obtained by the shooting. However, the present invention is not limited to this, and the control unit 692 may also calculate the average value of the azimuth angles of a plurality of pixel columns from n to n+k, changes the azimuth angle of the optical axis AO of the camera device 670 to the azimuth angle obtained by adding 180 degrees to the azimuth angle, and then performs shooting, and sets the color of the n-th pixel column to the complementary color of the camera image obtained by the shooting (where n is an integer greater than 1 and less than Nr-k, k is an integer greater than 1 and less than Nr-n, and Nr is an integer greater than 2).

[0397] <Variation 2 of Example 6>

[0398] In Embodiment 6, it is described that the flying body 600 has a cylindrical display device 680. In Embodiment 6, it is described that the control unit 692 of the flying body 600 designates a display surface of the display device 680 that forms a side surface of a cylinder and a portion of a surface where a displayed image can be visually viewed from the first observation point PB1 or the second observation point PB2 as the second surface PL2 facing the first observation point PB1 or the second observation point PB2.

[0399] However, the present invention is not limited thereto, and the flying body 600 may also be provided with a square tube-shaped display device (not shown), and the square tube-shaped display device may have a plurality of planar display surfaces that respectively form a plurality of side surfaces of the square tube. In addition, the control unit 692 of the flying body 600 may also designate the entire surface or a portion of one or more display surfaces of the plurality of display surfaces of the square tube-shaped display device, where the displayed image can be visually viewed from the first observation point PB1 or the second observation point PB2, as the second surface PL2 facing the first observation point PB1 or the second observation point PB2.

[0400] In addition, the present invention is not limited thereto, and the flying body 600 may be provided with a plurality of display devices having a display surface in a planar shape, and the plurality of display devices may be provided on the flying body 600 in such a manner as to form a square tube and have the display surface facing the outside of the square tube. In addition, the control unit 692 of the flying body 600 may also designate the entire surface or a part of the display surface of one or more display devices, whose displayed images can be visually viewed from the first observation point PB1 or the second observation point PB2, among the plurality of display devices forming the square tube as the second surface PL2 facing the first observation point PB1 or the second observation point PB2.

[0401] <Variation 3 of Example 6>

[0402] In Embodiment 6, it is described that the flying body 600 is provided with a camera device 670 on the upper side of the control device 610 and a display device 680 on the lower side of the control device 610, but the present invention is not limited thereto. The flying body 600 may also be provided with a camera device 670 and a display device 680 on the upper side of the control device 610. In addition, the flying body 600 is provided with a camera device 670 on the lower side of the control device 610 and a display device 680 on the upper side of the control device 610, or may be provided with a camera device 670 and a display device 680 on the lower side of the control device 610. Furthermore, the flying body 600 may be provided with a camera device having the same structure and function as the camera device 670 on the lower side and the upper side of the control device 610, respectively, and may be provided with a display device having the same structure and function as the display device 680 on the upper side and the lower side of the control device 610, respectively.

[0403] <Variation 4 of Example 6>

[0404] Embodiment 3 and Embodiment 6 may be combined. That is, the second surface PL2 may also emit light of a preset color. In addition, the control unit 692 of the flying body 600 may also perform light emission control such that the second surface PL2 emits light in a period from a time included in a preset period including sunset to a time included in a preset period including sunrise.

[0405] <Variation 5 of Example 6>

[0406] Variation 2 of Embodiment 1 may be combined with Embodiment 6. That is, the control unit 692 of the flying body 600 may also perform the second display control process and the notification control process when the distance from the position of the flying body 600 indicated by the information acquired by the acquisition unit 691 to the first observation point PB1 or the second observation point PB2, which is a preset point, is less than the preset distance L. In addition, the control unit 692 of the flying body 600 may not perform the second display control process and the notification control process when the distance from the position of the flying body 600 to the first observation point PB1 or the second observation point PB2 is greater than the preset distance L.

[0407] Embodiments 1 to 6 of the present invention, variations 1 to 16 of embodiment 1, variations 1 to 3 of embodiment 2, variations 1 to 3 of embodiment 3, the variation of embodiment 5, and variations 1 to 5 of embodiment 6 may be combined with each other.

[0408] Of course, it can be provided as a control device 100 having a structure for realizing the functions of any one of Examples 1 to 6, Variations 1 to 16 of Example 1, Variations 1 to 3 of Example 2, Variations 1 to 3 of Example 3, Variations of Example 5, and Variations 1 to 5 of Example 6, and a control device 610 having a structure for realizing the functions of any one of Examples 1 to 6, Variations 1 to 16 of Example 1, Variations 1 to 3 of Example 2, Variations 1 to 3 of Example 3, Variations of Example 5, and Variations 1 to 5 of Example 6. It can also be provided as a system composed of multiple devices, and the system as a whole has a structure for realizing the functions of any one of Examples 1 to 6, Variations 1 to 16 of Example 1, Variations 1 to 3 of Example 2, Variations 1 to 3 of Example 3, Variations of Example 5, and Variations 1 to 5 of Example 6.

[0409] The control device 100 may be provided with a configuration that realizes the functions of any one of Embodiments 1 to 6, Variations 1 to 16 of Embodiment 1, Variations 1 to 3 of Embodiment 2, Variations 1 to 3 of Embodiment 3, Variations of Embodiment 5, and Variations 1 to 5 of Embodiment 6. In addition, an existing control device may be made to function as the control device 100 of any one of Embodiments 1 to 6, Variations 1 to 16 of Embodiment 1, Variations 1 to 3 of Embodiment 2, Variations 1 to 3 of Embodiment 3, Variations of Embodiment 5, and Variations 1 to 5 of Embodiment 6 by using a program. That is, by controlling a computer (CPU, etc.) that controls the existing control device to execute a program for implementing the functional configuration of the control device 100 illustrated in any of the above-mentioned embodiments 1 to 6, variations 1 to 16 of embodiment 1, variations 1 to 3 of embodiment 2, variations 1 to 3 of embodiment 3, variations of embodiment 5, and variations 1 to 5 of embodiment 6, the existing control device is made to function as the control device 100 of any of embodiments 1 to 6, variations 1 to 16 of embodiment 1, variations 1 to 3 of embodiment 2, variations 1 to 3 of embodiment 3, variations of embodiment 5, and variations 1 to 5 of embodiment 6.

[0410] The control device 610 may be provided with a configuration that is preliminarily equipped to realize the functions of any one of the embodiments 1 to 6, the variations 1 to 16 of the embodiment 1, the variations 1 to 3 of the embodiment 2, the variations 1 to 3 of the embodiment 3, the variation of the embodiment 5, and the variations 1 to 5 of the embodiment 6 of the present invention. In addition, an existing control device may be made to function as the control device 610 of any one of the embodiments 1 to 6, the variations 1 to 16 of the embodiment 1, the variations 1 to 3 of the embodiment 2, the variations 1 to 3 of the embodiment 3, the variation of the embodiment 5, and the variations 1 to 5 of the embodiment 6 by using a program. That is, by controlling a computer (CPU, etc.) that controls the existing control device to execute a program for implementing the functional configuration of the control device 610 illustrated in any of the above-mentioned embodiments 1 to 6, variations 1 to 16 of embodiment 1, variations 1 to 3 of embodiment 2, variations 1 to 3 of embodiment 3, variations of embodiment 5, and variations 1 to 5 of embodiment 6, the existing control device is made to function as the control device 610 of any of embodiments 1 to 6, variations 1 to 16 of embodiment 1, variations 1 to 3 of embodiment 2, variations 1 to 3 of embodiment 3, variations of embodiment 5, and variations 1 to 5 of embodiment 6.

[0411] The program may be distributed by any method, for example, it may be distributed by storing it in a recording medium such as a memory card, a CD (Compact Disc)-ROM, or a DVD (Digital Versatile Disc)-ROM, or it may be distributed via a communication medium such as the Internet.

[0412] The method of the present invention can be implemented using the control device 100 of any one of Embodiments 1 to 6, Variations 1 to 16 of Embodiment 1, Variations 1 to 3 of Embodiment 2, Variations 1 to 3 of Embodiment 3, Variations of Embodiment 5, and Variations 1 to 5 of Embodiment 6, and the control device 610 of any one of Embodiments 1 to 6, Variations 1 to 16 of Embodiment 1, Variations 1 to 3 of Embodiment 2, Variations 1 to 3 of Embodiment 3, Variations of Embodiment 5, and Variations 1 to 5 of Embodiment 6. In addition, the method of the present invention can be implemented using the flying system 1 of any one of Embodiments 1 to 6, Variations 1 to 16 of Embodiment 1, Variations 1 to 3 of Embodiment 2, Variations 1 to 3 of Embodiment 3, Variations of Embodiment 5, and Variations 1 to 5 of Embodiment 6. Furthermore, the method of the present invention can be implemented using the flying body 600 of any one of Embodiments 1 to 6, Variations 1 to 16 of Embodiment 1, Variations 1 to 3 of Embodiment 2, Variations 1 to 3 of Embodiment 3, Variations of Embodiment 5, and Variations 1 to 5 of Embodiment 6.

[0413] In addition, the present invention can adopt various embodiments and changes without departing from the broad spirit and scope of the present invention. In addition, the above-mentioned embodiments are used to illustrate the present invention and do not limit the scope of the present invention. That is, the scope of the present invention is not represented by the embodiments but by the scope of the claims. Moreover, various changes implemented within the scope of the claims and the scope of the invention equivalent thereto can be regarded as being within the scope of the present invention.

[0414] (Note)

[0415] (Note 1)

[0416] A flying object, characterized in that it flies in space and has:

[0417] an acquiring unit, which acquires information indicating the position of the flying object; and

[0418] The control unit performs a direction change control based on the acquired information, that is, makes the first surface of the surface of the flying body and the surface of the preset color face the preset point, or

[0419] Display control is performed based on the acquired information, that is, the image of the preset color is displayed on the display surface of the display device of the flying object and on the second surface which is a part of the surface or the whole surface facing the preset point.

[0420] (Note 2)

[0421] The flying object according to Supplementary Note 1, characterized in that:

[0422] The first surface facing the preset point is a display surface different from the second surface facing the preset point, and

[0423] The apparatus further comprises an imaging unit for acquiring an image by imaging a direction opposite to a direction from the flying object toward the predetermined point from the flying object.

[0424] The control unit,

[0425] The complementary color of the color of the image obtained by the camera unit is set as the color of the image displayed on the first surface or the color of the image displayed on the second surface to be the predetermined color, and

[0426] A first display control different from the display control is performed to display the image of the preset color on the first surface, or a second display control different from the display control is performed to display the image of the preset color on the second surface.

[0427] (Note 3)

[0428] The flying object according to Supplementary Note 1 or 2, characterized in that:

[0429] The first surface or the second surface emits light of the predetermined color,

[0430] The control unit performs light emission control so as to cause the first surface or the second surface to emit light during a period from a time included in a preset period including sunset to a time included in a preset period including sunrise.

[0431] (Note 4)

[0432] The flying object according to any one of Supplementary Notes 1 to 3, characterized in that:

[0433] The acquisition unit,

[0434] acquiring the map associated with the region including the predetermined point from a storage unit that stores a predetermined region and the map that records the position and shape of at least one of a building and a natural object in the predetermined region in association with each other,

[0435] The control unit,

[0436] According to the acquired map, the flight path of the flying object is determined as a path passing through a passing point different from a passing point where the building or the natural object exists between the predetermined point and the flying object; and

[0437] The flight control is performed to make the flying object fly along the determined flight path.

[0438] (Note 5)

[0439] The flying object according to any one of supplementary notes 1 to 4, characterized in that:

[0440] further comprising a communication unit for receiving information indicating a location of the terminal device,

[0441] The control unit,

[0442] The point of the position indicated by the received information is set as the predetermined point by setting it to face the first surface, and

[0443] When the direction change control is performed to make the first surface of the preset color face the preset point, the communication unit is controlled to be notified, that is, the communication unit sends a corresponding notification to the terminal device to notify the position of the first surface facing the terminal device.

[0444] (Note 6)

[0445] The flying object according to any one of supplementary notes 1 to 5, characterized in that:

[0446] The control unit performs the direction change control or the display control when the distance from the position of the flying object indicated by the acquired information to the predetermined point is equal to or smaller than a predetermined distance.

[0447] (Note 7)

[0448] The flying object according to Supplementary Note 5, characterized in that:

[0449] The terminal device includes a first terminal device and a second terminal device,

[0450] The communication unit receives information indicating a location of the first terminal device from the first terminal device, and receives information indicating a location of the second terminal device from the second terminal device.

[0451] The points facing the first surface include a first point and a second point,

[0452] The pre-set points include a first set point and a second set point.

[0453] the control unit sets the point of the position of the first terminal device indicated by the received information as the first set point, and sets the point of the position of the second terminal device as the second set point,

[0454] The direction change control includes a first direction change control for causing the first surface to face the first set point, and a second direction change control for causing the first surface to face the second set point.

[0455] After the control unit performs the first direction change control to direct the first surface toward the first set point, when the communication unit receives a visual report notifying visual detection of the flying object from the first terminal device, the control unit performs the second direction change control to direct the first surface toward the second set point.

[0456] (Note 8)

[0457] The flying object according to Supplementary Note 7, characterized in that:

[0458] The facing notification includes a first facing notification notifying that the first surface faces the position of the first terminal device, and a second facing notification notifying that the first surface faces the position of the second terminal device.

[0459] The notification control includes a first notification control for transmitting the first onward notification to the first terminal device, and a second notification control for transmitting the second onward notification to the second terminal device.

[0460] The control unit performs the first notification control when performing the first direction change control, and performs the second notification control when performing the second direction change control.

[0461] (Note 9)

[0462] The flying object according to Supplementary Note 5, characterized in that:

[0463] The terminal device includes a first terminal device and a second terminal device,

[0464] The communication unit receives information indicating a location of the first terminal device from the first terminal device, and receives information indicating a location of the second terminal device from the second terminal device.

[0465] The points facing the first surface include a first point and a second point,

[0466] The pre-set points include a first set point and a second set point.

[0467] the control unit sets the point of the position of the first terminal device indicated by the received information as the first set point, and sets the point of the position of the second terminal device as the second set point,

[0468] The direction change control includes a first direction change control for causing the first surface to face the first set point, and a second direction change control for causing the first surface to face the second set point.

[0469] The notification control includes: a first notification control for sending a first opposite notification for notifying that the first surface is facing the position of the first terminal device to the first terminal device; and a second notification control for sending a second opposite notification for notifying that the first surface is facing the position of the second terminal device to the second terminal device;

[0470] The control unit,

[0471] The first direction change control and the second direction change control are repeatedly performed while the flying object is rotated.

[0472] When the first surface of the preset color faces the first set point, the first notification control is performed, and when the first surface of the preset color faces the second set point, the second notification control is performed.

[0473] (Note 10)

[0474] A system, characterized by having:

[0475] Flying body, flying in space;

[0476] an acquiring unit, which acquires information indicating the position of the flying object; and

[0477] The control unit performs a direction change control based on the acquired information, that is, directs a predetermined point toward a first surface of the surface of the flying object and having a predetermined color, or

[0478] Display control is performed based on the acquired information, that is, the image of the preset color is displayed on the display surface of the display device of the flying object and on the second surface which is a part of the surface or the whole surface facing the preset point.

[0479] (Note 11)

[0480] A method characterized by:

[0481] An acquisition step, in which the flying object or the system acquires information indicating the position of the flying object;

[0482] Controlling step, the flying object or the system,

[0483] The direction change control is performed based on the acquired information, that is, the predetermined point is directed toward the first surface of the surface of the flying object and the surface is a predetermined color, or

[0484] Display control is performed based on the acquired information, that is, the image of the preset color is displayed on the display surface of the display device of the flying object and on the second surface which is a part of the surface or the whole surface facing the preset point.

[0485] [Explanation of Symbols]

[0486] 1 Flight System

[0487] 100, 610 control device

[0488] 101, 611, 801 CPU

[0489] 102, 612, 802 RAM

[0490] 103a, 613a, 803a ROM

[0491] 103b hard disk

[0492] 104a, 614a, 804a data communication circuit

[0493] 105a, 615a, 805a graphics cards

[0494] 105b, 615b, 805b display device

[0495] 105c, 615c, 805c input device

[0496] 109a, 619a, 809a Speakers

[0497] 109b, 619b, 809b microphones

[0498] 600 Flying Body

[0499] 613b, 803b flash memory

[0500] 616, 806 Position measurement circuit

[0501] 617a Azimuth sensor

[0502] 617b attitude sensor

[0503] 618 Input and Output Ports

[0504] 619 drive circuit

[0505] 621624 Propeller Arm

[0506] 631~634 Propeller

[0507] 641~644 Propeller guard

[0508] 650 Repository

[0509] 651a No. 1 bracket

[0510] 651b Second support frame

[0511] 652a, 652b rails

[0512] 653 Support Leg

[0513] 661 LiDAR Sensor

[0514] 670 Camera Device

[0515] 671 Housing

[0516] 672 Hood

[0517] 673a Rotating table

[0518] 673b, 675c Electric motor

[0519] 674 Camera Unit

[0520] 675a Protrusion

[0521] 675b Support components

[0522] 680 Display Device

[0523] 691 Acquisition Department

[0524] 692 Control Department

[0525] 699 Information Storage Department

[0526] 800 1st terminal device

[0527] 900 Second terminal device

[0528] AB1 Observation Airspace No. 1

[0529] AB2 2nd Observation Airspace

[0530] AD Delivery Destination

[0531] AO Optical Axis

[0532] BO Business Place

[0533] H Horizontal plane

[0534] IN Internet

[0535] PB1 Observation Point 1

[0536] PB2 Observation Point 2

[0537] PD landing place

[0538] PL1 Page 1

[0539] PL2 Page 2

[0540] U The upper surface of the flying object

[0541] V is the vector from the flying object toward the observation point

[0542] Vf is the vector pointing in the forward direction of the flying object.

[0543] Vr is a vector pointing in the opposite direction to vector V.

[0544] θ is the azimuth of the flying object in the forward direction

[0545] θa Viewing angle

[0546] θ' azimuth of vector V

[0547] φ pitch angle of the flying object

[0548] φr is the elevation angle of the vector Vr.

Claims

1. A flying object, characterized in that: Flying in space with: a communication unit that receives information indicating a location of a terminal device; A control unit, which sets the point of the position indicated by the received information as a preset point; an acquisition unit, which acquires information indicating the position of the flying object; and an imaging unit that acquires an image by photographing from the flying object in a direction opposite to a direction from the position of the flying object toward the predetermined point; and The control unit: (1) setting the complementary color of the color of the image obtained by the imaging unit to a preset color, and (2)(a) performing control, i.e., first display control, for displaying the image of the predetermined color on a first surface provided on the flying object, and performing control for changing the direction of the first surface toward the predetermined point based on the acquired information and the received information, or (b) performing a second display control based on the acquired information and the received information, that is, displaying the image of the predetermined color on a second surface, which is a portion of the surface or the entire surface facing the predetermined point and is different from the first surface, on the display surface of the display device possessed by the flying body.

2. The flying object according to claim 1, characterized in that: The position of the terminal device is the position of a point where the flying object is visually observed or monitored.

3. The flying object according to claim 1 or 2, characterized in that: The first surface or the second surface emits light of the predetermined color, The control unit performs light emission control so as to cause the first surface or the second surface to emit light during a period from a time included in a preset period including sunset to a time included in a preset period including sunrise.

4. The flying object according to claim 1 or 2, characterized in that: The acquisition unit: acquiring, from a storage unit that stores a predetermined region and a map that records the position and shape of at least one of a building and a natural object in the predetermined region in association with each other, the map associated with the region including the predetermined point; The control unit: Based on the acquired map, a possible point is specified in which there is no building or natural object between the predetermined point and the predetermined point, and the flight path of the flying object is determined to be a path with at least one passing point as the possible point, and flight control is performed to make the flying object fly along the determined flight path.

5. The flying object according to claim 1 or 2, characterized in that: The control unit: When the direction change control is performed to make the first surface of the preset color face the preset point, the communication unit is controlled to be notified, that is, the communication unit sends a corresponding notification to the terminal device to notify the position of the first surface facing the terminal device.

6. The flying object according to claim 1 or 2, characterized in that: The control unit performs the first display control and the direction change control, or performs the second display control, when the distance from the position of the flying object indicated by the acquired information to the predetermined point is less than or equal to a predetermined distance.

7. The flying object according to claim 5, characterized in that: The terminal device includes a first terminal device and a second terminal device, The communication unit receives information indicating a location of the first terminal device from the first terminal device, and receives information indicating a location of the second terminal device from the second terminal device. The pre-set points include a first set point and a second set point. the control unit sets the point of the position of the first terminal device indicated by the received information as the first set point, and sets the point of the position of the second terminal device as the second set point, The direction change control includes a first direction change control for causing the first surface to face the first set point, and a second direction change control for causing the first surface to face the second set point. After the control unit performs the first direction change control to direct the first surface toward the first set point, when the communication unit receives a visual report notifying visual detection of the flying object from the first terminal device, the control unit performs the second direction change control to direct the first surface toward the second set point.

8. The flying object according to claim 7, characterized in that: The facing notification includes a first facing notification notifying that the first surface faces the position of the first terminal device, and a second facing notification notifying that the first surface faces the position of the second terminal device. The notification control includes a first notification control for transmitting the first onward notification to the first terminal device, and a second notification control for transmitting the second onward notification to the second terminal device. The control unit performs the first notification control when performing the first direction change control, and performs the second notification control when performing the second direction change control.

9. The flying object according to claim 5, characterized in that: The terminal device includes a first terminal device and a second terminal device, The communication unit receives information indicating a location of the first terminal device from the first terminal device, and receives information indicating a location of the second terminal device from the second terminal device. The pre-set points include a first set point and a second set point. the control unit sets the point of the position of the first terminal device indicated by the received information as the first set point, and sets the point of the position of the second terminal device as the second set point, The direction change control includes a first direction change control for causing the first surface to face the first set point, and a second direction change control for causing the first surface to face the second set point. The notification control includes: a first notification control for sending a first opposite notification for notifying that the first surface is facing the position of the first terminal device to the first terminal device; and a second notification control for sending a second opposite notification for notifying that the first surface is facing the position of the second terminal device to the second terminal device; The control unit: The first direction change control and the second direction change control are repeatedly performed while the flying object is rotated. When the first surface of the preset color faces the first set point, the first notification control is performed, and when the first surface of the preset color faces the second set point, the second notification control is performed.

10. A system, characterized in that have: Flying body, flying in space; a communication unit that receives information indicating a location of a terminal device; A control unit, which sets the point of the position indicated by the received information as a preset point; an acquisition unit, which acquires information indicating the position of the flying object; and an imaging unit that acquires an image by photographing from the flying object in a direction opposite to a direction from the position of the flying object toward the predetermined point; and The control unit: (1) setting the complementary color of the color of the image obtained by the imaging unit to a preset color, and (2)(a) performing control, i.e., first display control, for displaying the image of the predetermined color on a first surface provided on the flying object, and performing control for changing the direction of the first surface toward the predetermined point based on the acquired information and the received information, or (b) performing a second display control based on the acquired information and the received information, That is, the image of the predetermined color is displayed on the display surface of the display device provided in the flying object, which is a partial surface or the entire surface facing the predetermined point and is a second surface different from the first surface.

11. A method characterized in that A method performed by an aircraft or system having: a communicating step of receiving information indicating a location of a terminal device; A first control step, setting the point of the position indicated by the received information to a preset point; An acquisition step of acquiring information indicating the position of the flying object; A photographing step of photographing from the flying object in a direction opposite to a direction from the position of the flying object toward the preset point to obtain an image; A second control step of setting a complementary color of the color of the image obtained by the camera step to a preset color; and 3rd control step: (a) performing control for displaying the image of the predetermined color on a first surface provided on the flying object, i.e., a first display control, and performing control for changing the direction of the first surface toward the predetermined point based on the acquired information and the received information, or (b) performing a second display control based on the acquired information and the received information, that is, displaying the image of the predetermined color on a second surface, which is a portion of the surface or the entire surface facing the predetermined point and is different from the first surface, on the display surface of the display device possessed by the flying body.

Images