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

Abstract

An information processing device according to one embodiment of the present technology is provided with an acquisition unit, a connection unit, and a smoothing unit. The acquisition unit acquires path information, the path information including a path and a state parameter, the path including a plurality of positions, the state parameter being related to the movement state of a moving object while moving along the path and being associated with each position in the path. The connection unit connects a first path included in the acquired first path information and a second path included in the acquired second path information. The smoothing unit smoothes the difference between a first state parameter associated with a first smoothing point on the first path and a second state parameter associated with a second smoothing point on the second path.

Description

Technical Field

[0001] The present technology relates to an information processing device, an information processing method, a program, and an information processing system that can be applied to control the autonomous movement of a mobile object. Background Art

[0002] In the flight processing system described in Patent Document 1, a user retrieves flight data from an unmanned aerial vehicle. This flight data includes the flight path, flight speed, and the image acquisition direction and speed of the image acquisition device installed on the unmanned aerial vehicle. A preview image of the flight data within the retrieved flight path is presented to the user. By viewing the preview image, the user can intuitively understand the information of the retrieved flight data and easily select the desired flight data.

[0003] In addition, in the flight processing system described in Patent Document 1, the unmanned aerial vehicle is controlled based on the selected flight data, thereby easily reproducing the flight data (

[0036] to

[0045] ,

[0066] to

[0068] of Patent Document 1). Figure 2 and Figure 5 wait).

[0004] Reference List

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent No. 6294487 Summary of the Invention

[0007] Technical issues

[0008] As described above, there is a need for a technology that can easily create a movement path for a moving object or the like that can move autonomously.

[0009] In view of the above circumstances, an object of the present technology is to provide an information processing apparatus, an information processing method, a program, and an information processing system that can easily create a path of a moving body capable of autonomous movement.

[0010] Solution to the problem

[0011] In order to achieve the above-mentioned object, an information processing apparatus according to an embodiment of the present technology includes an acquisition unit, a connection unit, and a smoothing unit.

[0012] The acquisition unit acquires path information including a path and a state parameter related to a movement state of the mobile body when the mobile body moves along the path, the path including a plurality of positions, and the state parameter being associated with each position of the path.

[0013] The connecting unit connects the first path included in the acquired first path information and the second path included in the acquired second path information to each other.

[0014] The smoothing unit smoothes a difference between a first state parameter associated with a first smoothing point on the first path and a second state parameter associated with a second smoothing point on the second path.

[0015] In this information processing device, path information is acquired. The path information includes a path and a state parameter related to the movement state of a mobile object as it moves along the path. The path includes a plurality of locations, and a state parameter is associated with each location on the path. A first path included in the acquired first path information and a second path included in the acquired second path information are connected to each other. The difference between the first state parameter associated with a first smoothing point on the first path and the second state parameter associated with a second smoothing point on the second path is smoothed. As a result, a path for a mobile object capable of autonomous movement can be easily created.

[0016] The smoothing unit may set the first smoothing point and the second smoothing point with reference to a connection point at which the first path and the second path are connected to each other.

[0017] The smoothing unit may set the connection point to at least one of a first smoothing point and a second smoothing point.

[0018] The information processing apparatus may further include a generation unit that generates path information in which a path and a state parameter are associated with each other, the path including a first path and a second path connected to each other, and the state parameter including a smoothed result.

[0019] The state parameters related to the moving state of the moving object may include the speed of the moving object and the posture of the moving object.

[0020] The acquisition unit may acquire performance information related to the performance of the moving object. In this case, the smoothing unit may smooth the difference between the first state parameter and the second state parameter based on the acquired performance information.

[0021] The performance information may include at least one of a maximum speed of the moving body, a maximum acceleration of the moving body, a maximum deceleration of the moving body, and a maximum angular velocity of the moving body.

[0022] The information processing apparatus may further include a smoothing determination unit that determines whether to smooth a difference between the first state parameter and the second state parameter.

[0023] The connection unit may connect the end point of the first path and the starting point of the second path. In this case, the smoothing determination unit may determine whether to smooth the difference between the first state parameter and the second state parameter based on the difference between the state parameter associated with the end point of the first path and the state parameter associated with the starting point of the second path.

[0024] The acquisition unit may acquire performance information related to the movement performance of the mobile body. In this case, the determination unit may determine whether to smooth the difference between the first state parameter and the second state parameter based on the acquired performance information.

[0025] The information processing apparatus may further include a connection determination unit that determines, for each position of a path included in the acquired path information, ease of connection with another path.

[0026] The connection determination unit may determine the ease of connection to the other path based on the state parameter included in the acquired path information.

[0027] The information processing apparatus may further include a graphical user interface (GUI) generating unit that generates a GUI for inputting instructions related to connection of the paths included in the path information.

[0028] Instructions related to the connection of paths may include instructions to cut off a portion of a path included in the path information, instructions to copy a path or a portion of a path, instructions to connect a first path and a second path to each other, instructions to set a first smoothing point and a second smoothing point, and instructions to perform smoothing.

[0029] The information processing device may further include a connection determination unit that determines the ease of connection to other paths for each location on a path included in the acquired path information. In this case, the GUI generation unit may generate a GUI including the path, in which the determination result of the connection determination unit is displayed in a discernible manner.

[0030] The information processing apparatus may further include an endpoint smoothing unit that performs endpoint smoothing for connection with other paths on at least one of a start point and an end point of a path included in the acquired path information.

[0031] The endpoint smoothing unit may smooth a difference between a state parameter at an endpoint serving as a start point or an end point and a state parameter at a position set as a reference endpoint.

[0032] An information processing method according to an embodiment of the present technology is an information processing method executed by a computer system, and includes: acquiring path information, the path information including a path and a state parameter related to a moving state of a moving body when the moving body moves along the path, the path including a plurality of positions, and a state parameter associated with each position of the path; connecting a first path included in the acquired first path information and a second path included in the acquired second path information to each other; and smoothing a difference between a first state parameter associated with a first smoothing point on the first path and a second state parameter associated with a second smoothing point on the second path.

[0033] A program according to an embodiment of the present technology causes a computer system to perform the following steps: acquiring path information, the path information including a path and a state parameter related to a movement state of a moving body when the moving body moves along the path, the path including a plurality of positions, a state parameter being associated with each position of the path; connecting a first path included in the acquired first path information and a second path included in the acquired second path information to each other; and smoothing a difference between a first state parameter associated with a first smoothing point on the first path and a second state parameter associated with a second smoothing point on the second path.

[0034] An information processing system according to an embodiment of the present technology includes an information processing device, a generation unit, and a mobile object.

[0035] The information processing device includes an acquiring unit, a connecting unit, and a smoothing unit.

[0036] The acquisition unit acquires path information including a path and a state parameter related to a movement state of the mobile body when the mobile body moves along the path, the path including a plurality of positions, and the state parameter being associated with each position of the path.

[0037] The connecting unit connects the first path included in the acquired first path information and the second path included in the acquired second path information to each other.

[0038] The smoothing unit smoothes a difference between a first state parameter associated with a first smoothing point on the first path and a second state parameter associated with a second smoothing point on the second path.

[0039] The generating unit generates path information in which a path and a state parameter are associated with each other, the path including a first path and a second path connected to each other, and the state parameter including a smoothed result.

[0040] The mobile body can move based on the path information generated by the generation unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 is a schematic diagram showing a configuration example of a path editing system according to the first embodiment.

[0042] Figure 2 is a block diagram showing a functional configuration example of a path editing system.

[0043] Figure 3 is a schematic diagram showing the configuration of the path information DB.

[0044] Figure 4 is a schematic diagram showing the configuration of the airframe performance DB.

[0045] Figure 5 is a flowchart illustrating an example of connection and smoothing of path information.

[0046] Figure 6 is a schematic diagram illustrating an example of a path editing GUI.

[0047] Figure 7 This is a diagram showing an example of inputting instructions for cutting and copying a portion of a path.

[0048] Figure 8 FIG. 1 is a diagram showing a display example of a copied partial route.

[0049] Figure 9 is a diagram showing a display example of two partial routes to be connected to each other.

[0050] Figure 10 is a schematic diagram showing the connection path.

[0051] Figure 11 is a schematic diagram showing an input example when setting a smoothing area.

[0052] Figure 12 is a schematic diagram showing the regenerated path.

[0053] Figure 13 is a schematic diagram of a path editing GUI according to the second embodiment.

[0054] Figure 14 is a block diagram showing a hardware configuration example of a server device. DETAILED DESCRIPTION

[0055] Embodiments according to the present technology will be described below with reference to the drawings.

[0056] <First embodiment>

[0057] [Path Editing System]

[0058] Figure 1 1 is a schematic diagram showing a configuration example of a path editing system 100 according to a first embodiment of the present technology. The path editing system 100 corresponds to one embodiment of an information processing system according to the present technology.

[0059] The route editing system 100 includes a drone 10, a user terminal 20, and a server device 30. The drone 10, the user terminal 20, and the server device 30 are communicably connected to each other via a network 5.

[0060] The network 5 is constituted by, for example, the Internet or a wide area communication network. In addition, any wide area network (WAN), any local area network (LAN), etc. can be used, and the protocol used to construct the network 5 is not limited.

[0061] The drone 10 is a mobile object that includes an autonomous movement control unit (not shown) and a drive system including propellers. The autonomous movement control unit performs various types of control related to the autonomous movement (autonomous flight) of the drone 10. For example, the autonomous movement control unit performs self-position estimation, surrounding situation analysis, action planning using a cost map, etc., and control of the drive system. Note that in this embodiment, the drone 10 corresponds to the mobile object.

[0062] The user terminal 20 includes various devices that can be used by the user 1. For example, a personal computer (PC), a smartphone, etc. are used as the user terminal 20. The user 1 can use the path editing system 100 via the user terminal 20.

[0063] The server device 30 can provide application services related to the route editing system 100. For example, in this embodiment, the server device 30 can edit the route information of the drone 10 based on the instruction of the user 1 to generate new route information.

[0064] The path information is information including a path and state parameters related to the movement state of the drone 10 when the drone 10 moves along the path. The path includes a plurality of locations, and the state parameters are associated with each location of the path. The server device 30 serves as an embodiment of the information processing device according to the present technology.

[0065] The server device 30 includes the database 25 and allows the database 25 to store various types of information about the path editing system 100. The server device 30 is also capable of reading various types of information from the database 25 and outputting them to the user terminal 20 or the like.

[0066] In this embodiment, the autonomous flight of the drone 10 is performed based on the path information generated by the server device 30. The configuration, method, etc. for realizing the autonomous flight of the drone 10 are not limited, and any technology may be used.

[0067] In this embodiment, a so-called cloud service is provided by the network 5, the database 25, and the server device 30. Therefore, it can also be said that the user terminal 20 is connected to the cloud network.

[0068] Note that the method of communicably connecting the user terminal 20 and the server device 30 to each other is not limited. For example, the user terminal 20 and the server device 30 may be connected to each other using near field communication such as Bluetooth (registered trademark) without building a cloud network.

[0069] Despite Figure 1A single user 1 is shown in the example shown in FIG, but there is no limit to the number of users 1 that can use the route editing system 100. For example, route information generated by other users can be acquired and edited by the user 1.

[0070] Figure 2 is a block diagram showing a functional configuration example of the path editing system 100 .

[0071] The drone 10 includes a power unit 11 , a sensor group 12 , a body control unit 13 , an obstacle detection unit 14 , a moving body information calculation unit 15 , a path information recording unit 16 , an action planning unit 17 , a cost map generation unit 18 , and a communication control unit 19 .

[0072] The power unit 11 includes various devices related to the drive system for moving the drone 10. For example, the power unit 11 includes a servo motor capable of specifying torque, a motion controller that decomposes and replaces the motion of the drone 10, and a feedback controller using sensors in each motor.

[0073] For example, the power unit 11 further includes a motor including four to six propellers facing upwards of the fuselage, and a motion controller that decomposes and replaces the motion of the movement of the drone 10 into the amount of rotation of each motor.

[0074] The sensor group 12 includes various sensors for detecting external and internal information of the drone 10 and the position of the drone 10. Specifically, for example, the sensor group 12 includes a global positioning system (GPS) for detecting the drone's position, a magnetic sensor for measuring the attitude of the drone 10, an inertial measurement unit (IMU), and the like.

[0075] For example, the sensor group 12 also includes a laser ranging sensor for detecting obstacles, a contact sensor, an ultrasonic sensor, a radar, LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging), a barometer for measuring air pressure, and the like.

[0076] The body control unit 13 performs control of the operation of the drone 10 based on the motion plan supplied from the motion planning unit 17. For example, when the power unit 11 operates based on the control signal, the drone 10 moves.

[0077] The obstacle detection unit 14 detects an obstacle that hinders the movement of the drone 10 based on data or signals from the sensor group 12. For example, the obstacle corresponds to a building or the like that blocks the path included in the path information of the drone 10.

[0078] The mobile body information calculation unit 15 calculates various types of information related to the drone 10 as mobile body information based on the data or signals from the sensor group 12. For example, state parameters related to the mobile state of the drone 10 are calculated as information included in the mobile body information. The state parameters related to the mobile state of the drone 10 are parameters that indicate how the drone 10 moves along the path. In this embodiment, the state parameters related to the mobile state include the speed of the drone 10, the posture of the drone 10, and the like. For example, the state parameters of the drone 10 are associated with each position on the path (positions at predetermined time intervals), such as the speed and posture of the drone 10 at position A on the path, the speed and posture of the drone 10 at position B on the path, and the like.

[0079] Furthermore, the drone 10's own position and acceleration, the presence and content of abnormalities, the status of other devices mounted on the drone 10, and the like are calculated as mobile object information.

[0080] Note that, in this embodiment, the state parameter related to the movement state of the drone 10 corresponds to a state parameter related to the movement state of the mobile body when the mobile body moves along the path, and the state parameter is associated with each position of the path.

[0081] The path information recording unit 16 records the path information calculated by the moving body information calculation unit 15 , the path information including the path along which the drone 10 moves and state parameters related to the movement state of the drone 10 .

[0082] In the present disclosure, a path includes both a path (trajectory) along which the drone 10 is to move or a path (trajectory) along which the drone 10 has already moved.

[0083] For example, the path information is calculated based on the position information of the drone 10 at each time from the start of movement to the end of movement. In this case, the path includes the position information at each time from the position information of the location where the drone 10 starts moving to the position information of the location where the drone 10 completes the movement. In other words, the path can be said to be the trajectory of the drone 10, which integrates multiple position information (waypoints) of the drone 10 that has moved.

[0084] In this embodiment, a state parameter related to the movement state of the drone 10 is associated with each piece of position information included in the path. For example, the coordinates of the drone 10 at a certain time and its speed or posture at those coordinates are associated with each other. This information is recorded as path information.

[0085] The path also includes information such as the flight mode of the drone 10. In other words, the path also includes a trajectory defined as a mode, such as turning or flying in a figure-eight pattern. For example, as state parameters related to the movement state of the drone 10, the speed, attitude, etc. of the drone 10 when performing a figure-eight turn or flying in a figure-eight pattern are associated with flight modes such as turning or flying in a figure-eight pattern, and these are recorded as path information.

[0086] The state parameters associated with the flight mode can be set by default. In other words, how to move in a predetermined flight mode can be set by default.

[0087] Note that in this embodiment, the path along which the drone 10 moves corresponds to a path including a plurality of locations.

[0088] The motion planning unit 17 formulates a motion plan for the drone 10 based on the information provided by the cost map generation unit 18 and the communication control unit 19. For example, the motion planning unit 17 performs planning such as starting, stopping, travel direction (e.g., forward, backward, left, right, or direction change), and movement speed. The motion plan also includes path information. In other words, the motion plan includes autonomous flight of the drone 10 (such as avoiding obstacles) and flight of the drone 10 according to a path including multiple locations and state parameters related to the movement state of the drone 10 included in the path information.

[0089] The communication control unit 19 communicates with the communication control unit 31, which allows communication with the server device 30. Note that the method of connecting the communication control units 19 (31) to each other so that they can communicate is not limited. For example, any network such as a WAN or a LAN can be used. The communication control unit 19 (31) can send and receive various types of information (data) by controlling a communication device such as a module or a router for establishing communication.

[0090] The user terminal 20 includes a UI unit 21 , a PC processing unit 22 , and a communication control unit 23 .

[0091] The UI unit 21 includes any UI device, such as an image display device (such as a display), a sound output device (such as a speaker), or an operating device (such as a keyboard, a switch, a pointing device, or a remote controller). Of course, it also includes a device having both the functions of an image display device and an operating device, such as a touch panel.

[0092] In addition, various GUIs displayed on a display, a touch panel, or the like may be regarded as elements included in the UI unit 21 .

[0093] The PC processing unit 22 can perform various types of processing based on instructions input by the user 1, control signals from the server device 30, etc. For example, various types of processing including display of path information and display of a GUI for inputting instructions regarding path connection are performed.

[0094] The communication control unit 23 communicates with the communication control unit 31, which allows communication with the server device 30. Note that the method of connecting the communication control units 23 (31) to each other so that they can communicate is not limited. For example, any network such as a WAN or a LAN can be used. The communication control unit 23 (31) can send and receive various types of information (data) by controlling a communication device such as a module or a router for establishing communication.

[0095] The server device 30 includes hardware necessary to configure a computer, such as a CPU, ROM, RAM, and HDD (see Figure 14 ). The CPU loads the program according to the present technology recorded in advance in the ROM or the like into the RAM and executes the program, thereby realizing Figure 2 Each functional block shown in , and executes the information processing method according to the present technology.

[0096] For example, the server device 30 can be implemented by any computer such as a PC. Of course, hardware such as an FPGA or an ASIC can be used. In addition, in order to implement Figure 2 For each block shown in , dedicated hardware such as an integrated circuit (IC) may be used.

[0097] The program is installed via various recording media in, for example, the server device 30. Alternatively, the program may be installed via the Internet or the like.

[0098] The server device 30 includes a communication control unit 31 and a path control unit 32. In this embodiment, the path control unit corresponds to a GUI generating unit.

[0099] The communication control unit 31 controls communication with the drone 10 and the user terminal 20. For example, the communication control unit 31 receives a connection instruction for path information input via the user terminal 20 and provides the received connection instruction to the path control unit 32. Furthermore, the path information generated by the path control unit 32 is transmitted to the drone 10.

[0100] The path control unit 32 includes an instruction determination unit 33, a GUI output unit 34, a path editing unit 35, a path analysis unit 36, a path information generation unit 37, and a management unit 38. Note that the airframe performance DB 39 and the path information DB 40 are constructed in Figure 1 In the database 25 shown in .

[0101] The blocks included in the path control unit 32 cooperate with each other, and perform display of the path editing GUI, generation of edited path information, and the like.

[0102] The instruction determination unit 33 determines instruction information related to various instructions input by the user 1. For example, an instruction (instruction information) for acquiring path information input by the user 1 through the path editing GUI is output to the management unit 38. In addition, for example, an instruction for connecting a path is output to the path editing unit 35.

[0103] The GUI output unit 34 generates and outputs a path editing GUI. For example, various types of information included in the path editing GUI are updated in response to instructions from the user 1, etc. The GUI output unit 34 can appropriately generate and output an image of the updated information. For example, in this embodiment, the GUI output unit 34 outputs the path included in the path information, information related to the edited path, the result of determining the path, etc.

[0104] Hereinafter, output of an image or GUI containing predetermined information may be expressed as display of the image or GUI containing predetermined information.

[0105] The path editing unit 35 can edit the path based on the instructions related to path connection determined by the instruction determination unit 33. In this embodiment, the instructions related to path connection include instructions for cutting off a portion of the path included in the path information, instructions for copying a path or a portion of a path, instructions for connecting a first path and a second path, instructions for setting a first smoothing point and a second smoothing point, instructions for setting a smoothing area, instructions for performing smoothing, and the like.

[0106] In other words, based on the instruction determined by the instruction determination unit 33, the path editing unit 35 cuts a portion of the path included in the acquired path information, copies a path or a portion of the path, connects the acquired paths to each other, sets a first smoothing point and a second smoothing point, sets a smoothing area, and performs smoothing.

[0107] Hereinafter, in order to make the description easy to understand, the path whose end point is to be connected to the other path is referred to as the first path of the two paths indicated to be connected. In addition, the path whose starting point is to be connected is referred to as the second path.

[0108] For example, suppose you input information indicating that two paths will be connected. For each of the two paths, you set a starting point (the endpoint where movement begins) and an ending point (the endpoint where movement ends). Typically, the ending point of one path and the starting point of the other path are connected, and this location is the location of the connection point. In other words, the path with the ending point as the connection point is the "first path," while the path with the starting point as the connection point is the "second path."

[0109] Of course, the present technology is applicable without being limited to the case where the “first path” and the “second path” are defined in this manner.

[0110] In addition, path information including a first path and a state parameter associated with each position of the first path is defined as first path information. In addition, path information including a second path and a state parameter associated with each position of the second path is defined as second path information.

[0111] The path editing unit 35 can connect the first path included in the acquired first path information and the second path included in the acquired second path information. In this embodiment, the end point of the first path and the starting point of the second path are connected to each other. Therefore, the end point of the first path and the starting point of the second path become the connection point of the two paths.

[0112] Furthermore, the path editing unit 35 can smooth the first and second paths connected to each other, specifically, smoothing the difference between a first state parameter associated with a first smoothing point on the first path and a second state parameter associated with a second smoothing point on the second path.

[0113] Note that, in this embodiment, the path editing unit 35 functions as a connecting unit and a smoothing unit.

[0114] The determination regarding the connection of the path is made by the path analysis unit 36. In this embodiment, a determination is made as to whether or not to smooth the difference between a first state parameter associated with a first smoothing point and a second state parameter associated with a second smoothing point.

[0115] For example, the end point of the first path and the starting point of the second path are connected to each other, and based on the difference between the state parameter associated with the end point of the first path and the state parameter associated with the starting point of the second path, it is determined whether to smooth the difference between the first state parameter and the second state parameter. Of course, the present technology is not limited to the above.

[0116] In addition, the path analysis unit 36 ​​determines the ease of connection with other paths for each position of the path included in the acquired path information. The determination result determined by the path analysis unit 36 ​​is displayed in the path editing GUI through the GUI output unit 34.

[0117] In this embodiment, the path analysis unit 36 ​​functions as a smoothing determination unit and a connection determination unit.

[0118] The path information generation unit 37 generates new path information based on the connection of paths, duplication of paths, or cutting of paths. For example, if paths are connected, a state parameter related to the movement state of the mobile object is associated with the connection path connecting the first path and the second path. The state parameter associated with the connection path is generated based on the state parameter associated with each position of the first path and the state parameter associated with each position of the second path.

[0119] For example, if smoothing is performed, a state parameter including the smoothed result is associated. In other words, in this embodiment, path information is generated in which a path including a first path and a second path connected to each other is associated with a state parameter including the smoothed result.

[0120] For example, if smoothing is not performed, the state parameter associated with each position of the first path and the state parameter associated with each position of the second path are directly associated with each position except the connection point. For example, the state parameter associated with the end point of the first path or the state parameter associated with the starting point of the second path is associated with the position of the connection point.

[0121] As for the copying of the path, the state parameters are also copied and the path information is generated.

[0122] As for the clipping of the path, the state parameter related to the movement state of the mobile object associated with each position of the clipped path is used as it is.

[0123] The new path information generated by the path information generating unit 37 is displayed on the path editing GUI through the GUI output unit 34 .

[0124] In this embodiment, the path information generating unit 37 serves as a generating unit.

[0125] Management unit 38 manages aircraft performance DB 39 and route information DB 40. In this embodiment, management unit 38 performs addition and storage of route information stored in route information DB 40. For example, management unit 38 stores route information acquired through instructions from user 1, etc. in route information DB 40. Furthermore, management unit 38 stores new route information generated by route information generation unit 37 in route information DB 40.

[0126] Furthermore, the management unit 38 performs addition and storage of performance information related to the drone 10's airframe performance stored in the airframe performance DB 39. For example, the management unit 38 acquires performance information from the drone 10 used by the user 1. Note that the method for acquiring the performance information of the drone 10 is not limited. For example, the performance information of the drone 10 can be acquired from the manufacturer of the drone 10.

[0127] In this embodiment, the acquisition unit is implemented by the path editing unit 35, the management unit 38, and the like.

[0128] Figure 3 : is a schematic diagram showing the configuration of the path information DB 40. The path information DB 40 is a DB commonly used in the entire path editing system 100. Note that the present technology is applicable even when the path information DB 40 is constructed for each user.

[0129] Aircraft body information, movement date, and time series data are stored in the route information DB 40 for each route.

[0130] The body information is an ID that can identify the drone 10 moving along the route. For example, a number that can be used to identify the drone 10 moving along the route is assigned.

[0131] The movement date is the date when the UAV moves along the path. Figure 3 As shown in , when the airframe 1 moves along the path A, time series data is stored for each date.

[0132] The time series data includes the position, speed, and the like of the drone 10 at each time point when the drone 10 moves along the path A.

[0133] For example, information such as "time 0.000, position [x, y, z] = [100, 200, 300], speed [vx, vy, vz] = [0, 0, 0] (m / s)" and "time 0.100, position [x, y, z] = [101, 201, 300], speed [vx, vy, vz] = [0.1, 0.2, 0] (m / s)" is stored as time series data for body 1 moving along path A on February 3. Similarly, time series data for February 4 is stored.

[0134] In addition, for example, information such as “time 0.000, position [x, y, z] = [200, 200, 300], speed [vx, vy, vz] = [0, 0, 0] (m / s)” is stored as time series data of the body 1 moving along the path B on February 3.

[0135] As the time, information of absolute time may be stored, or information of relative time may be stored based on a predetermined timing. For example, relative time from the timing when the drone 10 starts moving may be stored.

[0136] As the position (coordinate), absolute coordinates (world coordinates) or relative coordinates based on a predetermined position (predetermined coordinate system) may be stored. For example, relative coordinates using the point where the drone 10 starts moving as the origin may be stored.

[0137] Note that the information regarding path information is not limited to the above. For example, path information may include information such as weather or wind conditions on the date of travel. Furthermore, if the drone has an imaging function, path information may include location information used for imaging, camera orientation information, and the like.

[0138] Figure 4 is a schematic diagram showing the configuration of the airframe performance DB 39 .

[0139] In the airframe performance DB 39, performance information related to the performance of the drone is stored for each drone.

[0140] The performance information is information indicating performance related to the movement of the drone 10, etc. In this embodiment, the maximum speed of the drone 10, the maximum acceleration of the drone 10, the maximum deceleration of the drone 10, and the maximum angular velocity of the drone 10 are stored. A configuration for storing at least one of these parameters may also be provided.

[0141] like Figure 5 As shown in , information such as "maximum speed [x,y,z] = [20,20,5] (m / s), maximum acceleration [x,y,z] = [5,5,2] (m / s^2), maximum deceleration [x,y,z] = [5,5,2] (m / s^2), and maximum angular velocity [x,y,z] = [3,3,1] (rad / s)" is stored in the body performance DB 39 as performance information of the body 1.

[0142] In addition, information such as "maximum speed [x,y,z] = [30,30,8] (m / s), maximum acceleration [x,y,z] = [7,7,4] (m / s^2), maximum deceleration [x,y,z] = [5,5,2] (m / s^2), and maximum angular velocity [x,y,z] = [3,3,1] (rad / s)" is stored in the body performance DB 39 as performance information of the body 2.

[0143] Note that the type of performance information stored in the airframe performance DB 39 is not limited. For example, the maximum flight time and maximum communication distance of the drone 10 may be stored. For example, if the drone has an imaging function, the shutter speed, imaging angle of view, etc. may be stored as performance information.

[0144] [Path Editing System Operation]

[0145] Figure 5 is a flowchart illustrating an example of connection and smoothing of path information. Figures 6 to 12 are schematic diagrams each showing an example of a path editing GUI before generating new path information. Figures 6 to 12 The path editing GUI to describe Figure 5 Flowchart of the process.

[0146] The user 1 uses the path editing system 100 to set the path along which the drone 10 moves and state parameters (such as speed or attitude) of the drone 10 when moving along the path. For example, the user 1 starts an application related to the path editing system 100 through the user terminal 20.

[0147] The GUI output unit 34 generates a path editing graphical user interface (GUI) for inputting instructions on connection of paths included in the path information and outputs the GUI to the user terminal 20 (step 101). The transmitted path editing GUI is displayed on the display of the user terminal 20.

[0148] User 1 specifies the desired route information. For example, the route information stored in route information DB 40 is displayed in a list. For example, the route information may be listed together with information related to the route information. Examples of information related to the route information include information such as the creator of the route information, the time the route information was created, and the model of the drone that moves based on the route information.

[0149] Of course, the path included in the path information and the state parameter related to the moving state of the mobile body may be displayed to be distinguishable.

[0150] The user 1 specifies path information including a path to be connected to another path or path information including a path to be copied or cut or the like.

[0151] The management unit 38 acquires the designated path information from the path information DB and displays the acquired path information on the path editing GUI via the GUI output unit 34 .

[0152] Note that the GUI for selecting path information can also be regarded as a GUI included in the path editing GUI.

[0153] like Figure 6As shown in FIG, the path editing GUI 50 includes a path display portion 51 and a display selection portion 52.

[0154] The path included in the path information designated by the user 1 is displayed in the path display section 51. Figure 6 In the example shown in , display of path A 43 is selected.

[0155] In this embodiment, a starting point 54 of path A 43 (which is the point where the drone 10 begins to move), an ending point 55 (which is the point where the drone 10 completes the movement), and a trajectory of the moving object along which the moving object moves are shown. For example, the starting point 54 corresponds to the position of the drone 10 at time 0.

[0156] Furthermore, in this embodiment, orthogonal coordinate axes indicating x-axis, y-axis, and z-axis directions are displayed in the path display portion 51. Each path is displayed in the path display portion 51 based on position information (xyz coordinate values) of the path included in the path information.

[0157] The display selection portion 52 is a GUI for selecting a route (route information) displayed in the route display portion 51 .

[0158] exist Figure 6 In the example shown in , the path B 44 is designated in addition to the path A 43 , and the display of the path A 43 is selected from the path A 43 and the path B 44 .

[0159] Note that a new path can be added and displayed by selecting the add button 53 in the display selection portion 52. In other words, new path information can be additionally specified and the path included in the path information can be displayed.

[0160] Note that the number of paths selectable by the display selection section 52 is not limited, and an arbitrary number of paths may be displayed in the path display section 51. In this case, each path may be displayed in a discernible manner by changing its color, thickness, etc.

[0161] Figure 7 This is a diagram showing an example of inputting instructions for cutting and copying a portion of a path.

[0162] For example, user 1 selects two points on path A 43 as cutting points 56 and 57. Partial path A 45 sandwiched between cutting points 56 and 57 is displayed in a recognizable manner. For example, partial path A 45 may be displayed thicker than other parts of the path, or may be displayed in a different color than other parts of the path.

[0163] Notification information 58 is displayed that allows selection of whether to copy the cut partial path A 45. When the user 1 selects copy via notification information 58, the partial path A 45 is copied. The present technology is not limited to the above, and the partial path A 45 can be copied by inputting a specific instruction such as a hot key.

[0164] In this embodiment, the instruction of the user 1 to perform the copying of the partial route A 45 corresponds to an instruction to copy the route or a portion of the route.

[0165] Figure 8 4 is a diagram showing a display example of the copied partial route 45 .

[0166] like Figure 8 As shown in FIG. 4 , when the partial path A 45 is copied, the partial path A 45 is displayed in the path display portion 51. In addition, Figure 2 The path information generating unit 37 shown in FIG4 regenerates path information including the partial path A 45 and the state parameter. As the state parameter, the state parameter at each position of the original path A is used as it is.

[0167] For example, for the starting point 59 and the ending point 60 of the partial route A 45 , the times associated with the positions of the starting point 59 and the ending point 60 are compared, and the earlier one is set as the starting point 59 .

[0168] Figure 9 is a diagram showing a display example of two partial routes to be connected.

[0169] like Figure 9 As shown in FIG, it is assumed that a portion of the path is cut and copied also for the designated path B 44. Both the copied partial path A 45 and the copied partial path B 46 are displayed in the path display portion 51.

[0170] like Figure 9 As shown in , the path editing unit 35 may be able to move and rotate parts of the path according to instructions from the user 1 .

[0171] For example, for Figure 9 As schematically shown in FIG. 4 , the path may be rotatable about the z-axis. Path information including the rotated partial path B 46 is generated as new path information by the path information generation unit 37. For example, position information (coordinates) indicating the path of the rotated partial path B 46 is set based on the position displayed in the path display portion 51.

[0172] The axis of rotation about which the path can be rotated is not limited and can be set arbitrarily. For example, the path can be rotated about the x-axis or y-axis. In this case, the path information can be generated by changing only the path (position coordinates) without changing the attitude of the drone 10.

[0173] Assume that Figure 9 The partial path A 45 and the partial path B 46 shown in FIG are input as connection instructions. In other words, Figure 9 The partial route A 45 and the partial route B 46 shown in FIG are displayed as two routes to be connected to each other (step 102 ).

[0174] Of course, two paths to be connected to each other are not limited to paths on which cutting, copying, etc. have been performed. When the user 1 selects two pieces of path information desired to be connected to each other, the two paths included in the path information are displayed as the two paths to be connected to each other.

[0175] Figure 10 is a schematic diagram showing the connection path.

[0176] like Figure 10 As shown in FIG, in response to an instruction to connect the partial path A 45 and the partial path B 46, the partial path A 45 and the partial path B 46 are connected to each other (step 103).

[0177] For example, the end point of partial path B 46 is superimposed on the position of the starting point of partial path A 45 by user 1. The position where the end point of partial path B 46 and the starting point of partial path A 45 are superimposed becomes connection point 61. In addition, the starting point of partial path B 46 is set as the starting point of connection path 47 where partial paths A 45 and partial paths B 46 are connected to each other. The end point of partial path A 45 is set as the end point of connection path 47.

[0178] The path analysis unit 36 ​​determines whether smoothing is required for the connection path 47 (step 104). Generally, whether smoothing is required is determined based on whether the drone 10 can fly over the connection point 61.

[0179] If the drone 10 can fly along the connection path 47, smoothing is determined not to be necessary. If the drone 10 cannot fly along the connection path, smoothing is determined to be necessary. Of course, the present technology is not limited to the above, and any judgment criteria can be adopted, such as whether smooth flight can be achieved, whether highly safe flight can be achieved, etc.

[0180] In this embodiment, the starting point of partial path B 46 is connected to the ending point of partial path A 45, and whether to smooth the difference between the first state parameter and the second state parameter is determined based on the difference between the state parameter B associated with the starting point of partial path B 46 and the state parameter A associated with the starting point of partial path A 45.

[0181] Information about a connection point includes state parameters associated with the start or end points of the two paths serving as the connection point, as well as the path directions of the two paths at the connection point. For example, information about a connection point includes information about state parameters associated with the endpoint of partial path A 45 and state parameters associated with the endpoint of partial path B 46. Information about a connection point also includes position (coordinate) information about the endpoints of partial path A 45 and partial path B 46 that are connected to each other.

[0182] In this embodiment, as information about the connection point 61, the difference between the state parameter B of the partial route B 46 at the end point of the partial route B 46 and the state parameter A of the partial route A 45 at the starting point of the partial route A 45 is referenced. Alternatively, the difference between the path direction of the partial route B at the end point of the partial route B 46 and the path direction of the partial route A 45 at the starting point of the partial route A 45 may be referenced.

[0183] In this embodiment, Figure 10 As shown in , when it is determined that the connection path 47 needs to be smoothed (“Yes” in step 104 ), notification information 64 indicating that flying is not possible is displayed to the user 1 .

[0184] Figure 11 is a schematic diagram showing an input example when setting a smoothing area.

[0185] If it is determined that the connection path 47 needs to be smoothed ("Yes" in step 104), two positions on the connection path 47 are set as a smoothing start point 65 and a smoothing end point 66 according to the instruction of the user 1 (step 105).

[0186] The path editing unit 35 smoothes the path in the smoothing area 67 (step 106). Specifically, the difference between the state parameter associated with the smoothing start point 65 (state parameter B) and the state parameter associated with the smoothing end point 66 (state parameter A) is smoothed.

[0187] Note that in this embodiment, the method of setting the smoothing region 67 is not limited. For example, the smoothing region 67 may be set without an instruction from the user 1 to select the smoothing start point 65 and the smoothing end point 66. For example, the smoothing start point 65 and the smoothing end point 66 may be set with reference to the connection point 61 where the partial path B 46 and the partial path A 45 are connected to each other. In this case, the path editing unit 35 smoothes the difference between the state parameter associated with the smoothing start point 65 on the partial path B 46 in the set smoothing region 67 and the state parameter associated with the smoothing end point 66 of the partial path A 45 in the smoothing region 67.

[0188] Note that in this embodiment, the smoothing start point 65 corresponds to the first smoothing point on the first path. In addition, the smoothing end point 66 corresponds to the second smoothing point on the second path. The connection point 61 corresponds to the connection point where the first path and the second path are connected to each other.

[0189] [Smooth calculation]

[0190] Now refer to Figure 11 An example of smoothing in step 206 is described.

[0191] When the user 1 selects the smoothing start point 65 and the smoothing end point 66 , the path editing unit 35 acquires positions (coordinates) indicating the smoothing start point 65 and the smoothing end point 66 and speeds (state parameters) associated with the positions.

[0192] In addition, the management unit 38 obtains performance information of the drone 10 moving along the connection path 47. In this embodiment, the maximum acceleration and maximum deceleration of the drone 10 are obtained.

[0193] The speed of the drone 10 at the smoothing start point 65 is expressed by the following equation (1).

[0194] [Mathematical formula 1]

[0195] V(start)=[vx1,vy1,vz1]

[0196] Here, vx1 represents the x-axis velocity of drone 10. vy1 represents the y-axis velocity. vz1 represents the z-axis velocity. Hereinafter, in parameters described as [A, B, C], etc., A corresponds to the x-axis component, B corresponds to the y-axis component, and C corresponds to the z-axis component.

[0197] The speed of the drone 10 at the smoothing end point 66 is expressed by the following equation (2).

[0198] [Mathematical formula 2]

[0199] V(end)=[vx2,vy2,vz2]

[0200] The maximum acceleration of the drone 10 moving along the connection path 47 is expressed by the following equation (3).

[0201] [Mathematical formula 3]

[0202] A=[ax,ay,az]

[0203] The maximum deceleration of the drone 10 moving along the connection path 47 is expressed by the following equation (4).

[0204] [Formula 4]

[0205] D=[dx,dy,dz]

[0206] Here, the speed difference between the smoothing start point 65 and the smoothing end point 66 is given by the following equation (5).

[0207] [Formula 5]

[0208] DiffV=[diffX,diffY,diffZ]=[vx2-vx1,vy2-vy1,vz2-vz1]

[0209] In each of the x-, y-, and z-axis directions, if the speed difference is positive, the speed difference is divided by the maximum acceleration. If the speed difference is negative, the speed difference is divided by the maximum deceleration. Thus, when the drone 10 moves between the smoothing start point 65 and the smoothing end point 66, the time required for the speed of the drone 10 in each of the x-, y-, and z-axes at the smoothing start point 65 to reach the speed of the drone 10 in each of the x-, y-, and z-axes at the smoothing end point 66 is obtained.

[0210] Here, the time until the speed on each of the x-axis, y-axis and z-axis at the smoothing start point 65 reaches the speed on each of the x-axis, y-axis and z-axis at the smoothing end point 66 is given by the following equation (6).

[0211] [Formula 6]

[0212] TimeDiff=Max(diffX / (ax(if diffX>=0)or dx(if diffX<0),diffY / (ax(ifdiffY>=0)or dy(if diffY<0),diffZ / (ax(if diffZ>=0)or dz(if diffZ<0),)

[0213] Therefore, among the x-axis, y-axis, and z-axis directions, the time of each axis component where the maximum value is calculated indicates the time taken for the drone 10 to move from the smoothing start point 65 to the smoothing end point 66 .

[0214] The time difference is obtained, and thus the speed is determined for the time between the smoothing start point 65 and the smoothing end point 66 .

[0215] Here, the specific coordinates at a specific time (t) when the drone 10 moves along the path between the smoothing start point 65 and the smoothing end point 66 are given by the following equation (7).

[0216] [Formula 7]

[0217] P(time=t)=[x(t),y(t),z(t)]

[0218] Furthermore, the speed of the drone 10 at a specific time when it moves between the smoothing start point 65 and the smoothing end point 66 is given by the following equation (8).

[0219] [Formula 8]

[0220] V(time=t)=[vx(t),vy(t),vz(t)]

[0221] By multiplying the speed at a specific time by the unit time, the distance traveled by the drone 10 after the unit time is given by the following equation (9). In other words, the coordinates of the drone 10 at time t are obtained by adding the coordinates of the drone 10 at time (t-1) and the speed multiplied by the unit time.

[0222] [Formula 9]

[0223] [xt, yt, zt]=[x(t-1)+vx(t-1), y(t-1)+vy(t-1), z(t-1)+vz(t-1)]

[0224] The coordinates between a specific time and the next time are obtained by the above formula, and thus a path that fills the gap between the smoothed coordinates of the specific time and the next time is calculated.

[0225] Figure 12 is a schematic diagram showing the regenerated path.

[0226] Results, such as Figure 12 As shown in , route information is generated in which a route including a partial route A 45 and a partial route B 46 connected to each other and state parameters including a smoothing result are associated with each other.

[0227] Note that the calculation method used for smoothing is not limited. For example, in the calculation method for smoothing described above, smoothing is performed to obtain the shortest time difference using the maximum acceleration or maximum deceleration. Alternatively, the acceleration of the drone 10 itself can be smoothly varied. In this case, the movement time of the drone 10 is extended, and the distance of the path (the flight distance of the drone 10) is increased.

[0228] In addition to the above, whether to perform smoothing can be determined based on the difference between the path directions of the connected partial path A 45 and partial path B 46. For example, it is assumed that the path direction of the partial path A 45 is oriented toward the x-axis direction ([1, 0, 0]). If the path direction of the partial path B 46 is oriented toward the same x-axis direction ([1, 0, 0]), the path analysis unit 36 ​​can determine that smoothing is not required at the connection point 61.

[0229] On the contrary, if the path direction of the partial path B 46 is greatly different from the path direction of the partial path A 45, such as [-1, 0, 0.5], for example, the path analysis unit 36 ​​may determine that smoothing is required at the connection point 61. In other words, smoothing may be performed when the path direction at the connection point of one of the paths to be connected is set as a reference and the angle of the path with the reference direction is equal to or greater than a predetermined threshold.

[0230] In addition, in the above description, the same smoothing calculation method is used for all x-directions, y-directions, and z-directions. The present technology is not limited to the above, and a different smoothing calculation method can be performed for each axis (direction). These smoothing methods can also be presented to the user 1 in a selectable manner.

[0231] like Figure 11 As shown in FIG, when the user 1 selects the smoothing start point 65 and the smoothing end point 66, the path editing unit 35 presents the user 1 with notification information 68 indicating whether smoothing is to be performed. If the user 1 selects the notification information 68 or inputs a specific instruction such as a hot key, the path information generation unit 37 generates path information in which the path 48 including the partial path A 45 and the partial path B 46 connected to each other and the state parameter including the smoothing result are associated with each other.

[0232] like Figure 12 As shown in FIG, the path 48 included in the new path information generated by the path information generation unit 37 is displayed in the path display section 51 (step 107). If the generated path 48 is the path desired by the user 1 ("Yes" in step 108), the path information including the path 48 is sent to the drone 10 by the user 1. As a result, the drone 1 performs autonomous flight according to the path information desired by the user 1. If the generated path 48 is not the path desired by the user 1, the process returns to the Figure 11 The process of selecting the smoothing start point 65 and the smoothing end point 66 (step 105) shown in FIG. 1 (No in step 108).

[0233] Note that in this embodiment, the smoothing method is not limited. For example, smoothing can be performed at the connection point 61. For example, the path editing unit 35 smoothes the difference between the state parameter associated with the end point of the partial path B 46 and the state parameter associated with the starting point of the partial path A 45.

[0234] This smoothing corresponds to the smoothing in the case where the end point of partial path B 46 is set as smoothing start point 65 and the start point of partial path A 45 is set as smoothing end point 66. In such smoothing, there is a possibility that when the drone moves through connection point 61, state parameters (such as speed) may suddenly change.

[0235] On the other hand, the smoothing start point 65 is set at a position different from the connection point 61 on the partial path B 46. Furthermore, the smoothing end point 66 is set at a position different from the connection point 61 on the partial path A 45. In other words, the smoothing area 67 is set as a range for predetermined smoothing.

[0236] This makes it possible to suppress a sudden change in a state parameter such as speed and to move smoothly from the partial route B 46 to the partial route A 45 .

[0237] Note that if the smoothing start point 65 and the smoothing end point 66 are set at positions different from the connection point 61 , a connection path 47 that does not pass through the connection point 61 may be generated as a result of smoothing.

[0238] On the other hand, if the connection point 61 is set as at least one of the smoothing start point 65 or the smoothing end point 66, the connection path 47 passing through the connection point 61 can be generated. The smoothing start point 65 and the smoothing end point 66 can be set based on such a viewpoint.

[0239] As described above, in the path editing system 100 according to this embodiment, path information is acquired, which includes a path including multiple locations and state parameters related to the movement state of the drone 10 when moving along the path associated with each location. The first path (partial path B 46) included in the acquired first path information and the second path (partial path A 45) included in the acquired second path information are connected to each other. The difference between the first state parameter associated with the first smoothing point on the first path and the second state parameter associated with the second smoothing point on the second path is smoothed. As a result, a path for a mobile object capable of autonomous movement can be easily created.

[0240] In drones, rather than operating the drone using joysticks on a remote controller, users can specify a flight path that includes timestamps, location, speed, and more, enabling precise flight control. This type of flight path allows the drone to fly the same path multiple times and frees the user from operating the drone. This offers the advantage of allowing the user to focus on other operations, such as imaging.

[0241] Furthermore, flight paths include more detailed information than routes that specify via points called waypoints, making it possible to achieve elaborate and complex flight routes, which can be used for professional acrobatic performances rather than simple and monotonous flights. Flight paths can be created by actually flying the drone and storing the flight data from that time.

[0242] If you wish to use the flight path thus created to cause the drone to fly a different path than the original, you will need to edit the flight path. However, simply cutting and pasting the path may create a path that the drone does not follow. For example, if the endpoints of a path are connected, and the drone's speed at one endpoint is 10 m / s, while the speed at the other endpoint is 30 m / s, such an acceleration at the connection point is not practically possible, and what happens at that point depends on how the drone's error handling is implemented.

[0243] In this regard, in this technology, when two paths are connected, the path information around the connection point is smoothed, allowing the drone to fly realistically. As a result, various flight paths can be combined to connect as many paths as possible, and detailed flight paths can be reused.

[0244] <Second embodiment>

[0245] A path editing system 200 according to a second embodiment of the present technology will be described. In the following description, descriptions of configurations and operations similar to those of the path editing system 100 described in the above embodiment will be omitted or simplified.

[0246] In the first embodiment, the path analysis unit 36 ​​determines whether smoothing is required for a connection path including a first path and a second path connected to each other. In the second embodiment, the ease of connection to other paths is determined for each position of a path included in the path information acquired by the user 1.

[0247] Figure 13 is a schematic diagram of a path editing GUI 50 according to a second embodiment of the present technology.

[0248] like Figure 13As shown in FIG, a route 70 included in the route information acquired by the user 1 is displayed in the route display section 51. Furthermore, the route editing GUI 50 includes the route display section 51 and a determination display section 71.

[0249] The determination display portion 71 displays the determination result determined by the path analyzing unit 36. In this embodiment, the ease of connection of the paths 70 is divided into three types "difficult (path 72)", "slightly difficult (path 73)" and "easy (path 74)".

[0250] The path analysis unit 36 ​​determines the ease of connection to other paths for each position of the path 70 included in the path information acquired by the user 1. In this embodiment, the ease of connection to other paths is determined by the path analysis unit 36 ​​based on the state parameters included in the acquired path information.

[0251] Typically, the ease of connection is determined to be “difficult” at a location where the speed of the drone 10 is high. Furthermore, the ease of connection is determined to be “easy” at a location where the speed of the drone 10 is slow. Needless to say, the method of determining the ease of connection is not limited.

[0252] For example, if there are many locations where the speed of the drone 10 is fast, it is possible to determine that the connection is easy even at the points where the speed is fast. In addition, for example, the speed distribution of the drone 10 in the xy axis (horizontal) direction and the z axis (vertical) direction can be analyzed to determine the average speed and deviation at each location. If the deviation is equal to or greater than the threshold, the ease of connection can be determined as "difficult". Conversely, if the deviation is equal to or less than the threshold, the ease of connection can be determined as "easy". In addition, the present technology is not limited to speed, and the ease of connection can be determined using the posture of the drone, etc.

[0253] Furthermore, the ease of connection at each position of the path 70 is displayed in the path display section 51 so that the user 1 can discern the ease. In this embodiment, the ease of connection is displayed in different colors for each position of the path 70 corresponding to "difficult," "slightly difficult," and "easy," respectively. Note that the discernible display method is not limited, and any method can be used, such as a method of adding other images such as the thickness of each position of the path 70, an arrow, or a frame, or a method of providing a highlighted display.

[0254] <Other embodiments>

[0255] The present technology is not limited to the above-described embodiments, and various other embodiments can be implemented.

[0256] In the first embodiment described above, the path and the orthogonal coordinate axes are displayed in the path display portion 51. The present technology is not limited to this, and any display that indicates environmental information such as the environment surrounding the path may be output to the path display portion 51. For example, map information, obstacles, and the like surrounding the path may be displayed in the path display portion 51. The server device 30 may further include an environmental information database for storing environmental information for such purposes. Furthermore, the environmental information database may be managed by the management unit 38.

[0257] If the server device 30 includes an environment information DB, the path analyzing unit 36 ​​can also determine that flying is impossible due to obstacles when moving along the path or editing the path. In addition, when the connection path is smoothed, the path editing unit 35 can also provide a path that avoids obstacles as a candidate.

[0258] Furthermore, if the path analysis unit 36 ​​has set the position coordinates of the imaging target as environmental information, it may be determined whether an obstacle interfering with imaging is located between the position where imaging of the drone 10 is performed and the position coordinates of the imaging target.

[0259] For example, suppose user 1 is flying drone 10 along a path to image an artist at a certain concert venue A. Furthermore, suppose user 1 is flying drone 10 along a path that is approximately the same as the path used at concert venue A at another concert venue B. However, the ceiling of concert venue B is lower than that of concert venue A, and if drone 10 were to fly along the same path, it would collide with the ceiling. In this case, user 1 performs path editing, in which a portion of the path used at concert venue A is cut, the path's height is lowered, and the path is connected to another return path. At this point, because the speed variation between the endpoints of the path may be unrealistic, user 1 uses path editing system 100 to smooth the path.

[0260] In the first embodiment described above, path information is generated before the drone 10 begins flight. This technology is not limited to this, and a new path can be selected during the flight of the drone 10. In this case, the path currently flown by the drone 10 and the newly selected path are smoothed to achieve flight.

[0261] In the first embodiment described above, the smoothing start point 65 and the smoothing end point 66 are selected, and the smoothing area is set. The present technology is not limited to the above, and the smoothing area 67 may be set without the user 1 selecting the smoothing start point 65 and the smoothing end point 66. In this case, for example, the smoothing area is set using a predetermined width including the connection point 61.

[0262] In the first and second embodiments described above, smoothing is performed for each position of the smoothing area 67 or the path 70. The present technology is not limited to the above, and smoothing of an endpoint for connecting to another path may be performed on at least one of a start point or an end point of a path.

[0263] For example, the server device 30 may include an endpoint smoothing unit that performs endpoint smoothing. The endpoint smoothing unit performs smoothing on at least one of the starting point or the ending point. For example, the endpoint smoothing unit may smooth the difference between a state parameter at an endpoint serving as the starting point or the ending point and a state parameter at a location set as a reference endpoint. Furthermore, the path editing unit 35 may perform endpoint smoothing.

[0264] Since the endpoints are smoothed in advance, it is easy to connect paths to each other. In addition, it is possible to connect paths without performing smoothing.

[0265] Endpoint smoothing performed on an endpoint also includes connecting a connection path to the endpoint. A connection path is a path that can be easily connected to another path or another connection path. For example, a connection path can be a straight path, a path that flies along a circular path with a certain radius, etc. Alternatively, a connection path can be a path where a state parameter of the drone 10 (such as a constant speed) gradually changes.

[0266] In the first and second embodiments described above, the difference between the state parameters of the two paths included in the path information is smoothed based on the information about the connection point 61 at which the partial path A 45 and the partial path B 46 are connected to each other. The present technology is not limited to the above, and the difference between the state parameters of the starting point and the ending point of the connecting path 47 can be smoothed. In other words, the starting point can be selected as the smoothing starting point 65, and the ending point can be selected as the smoothing ending point 66.

[0267] In the first and second embodiments described above, the smoothing calculation method is calculated based on the speed difference. This technology is not limited to the above, and the smoothing calculation can be performed based on the posture of the drone 10, the angular velocity of the airframe performance, etc.

[0268] Furthermore, the smoothing method is not limited. For example, smoothing can also include generating path information that flies in a straight line at a constant speed around an endpoint. For example, smoothing can also include providing a flight path on a circle radius at a certain distance. In other words, smoothing can make the difference (change) in the state parameters included in the path information constant. Smoothing can also be a process that makes it easier to connect a path with other paths. In addition, multiple methods are provided for the above-mentioned smoothing candidates, so that user 1 can select a smoothing candidate.

[0269] Note that when smoothing is performed, connection point 61 may deviate from path 48. In this case, smoothing can be performed so as to pass through connection point 61 without fail. For example, connection point 61 can be set as smoothing start point 65 or smoothing end point 66. As a result, path 48 is generated so as to pass through connection point 61 without fail. Alternatively, path 48 can be generated that does not pass through connection point 61.

[0270] Furthermore, when smoothing is performed, the distance of path 48 (the flight distance of drone 10) may be longer than connecting path 47. In this case, smoothing may be performed so that path 48 does not exceed a predetermined distance, such as the maximum flight time of drone 10.

[0271] In the first and second embodiments described above, the two paths included in the two pieces of path information are connected and smoothed. This technology is not limited to this, and smoothing can be performed when two flight modes of the drone 10 are connected. For example, if the drone 10 turns at a predetermined location and then moves to form a figure eight, a smoothed path can be generated so that the drone 10 can fly from the "turn" to the "figure eight." In other words, smoothing involves editing the path so that the drone 10 can fly when the paths of the flight modes are connected, or when a predetermined path and flight mode are connected.

[0272] The drone 10 may also have a mobile mechanism that can fly on the ground, on or under water, and in the air. In other words, in addition to the drone 10, the present technology can also be applied to mobile objects that can move in various spaces, such as cars, ships, and submarines.

[0273] Figure 14 2 is a block diagram showing a hardware configuration example of the server device 30 .

[0274] The server device 30 includes a CPU 201, a read-only memory (ROM) 202, a RAM 203, an input / output interface 205, and a bus 204 connecting them. A display unit 206, an input unit 207, a storage unit 208, a communication unit 209, a drive unit 210, and the like are connected to the input / output interface 205.

[0275] The display unit 206 is a display device using liquid crystal, electroluminescence (EL), etc. The input unit 207 is, for example, a keyboard, a pointing device, a touch panel, or other operating devices. If the input unit 207 includes a touch panel, the touch panel can be integrated with the display unit 206.

[0276] The storage unit 208 is a nonvolatile storage device and is, for example, an HDD, a flash memory, or other solid-state memory. The drive unit 210 is, for example, a device capable of driving a removable recording medium 211 such as an optical recording medium or a magnetic recording tape.

[0277] The communication unit 209 is a modem, router, or other communication device that can be connected to a LAN, WAN, or the like to communicate with other devices. The communication unit 209 can communicate using wired or wireless communication. The communication unit 209 is usually used separately from the server device 30.

[0278] In this embodiment, the communication unit 209 allows for communication with other devices via a network.

[0279] The information processing performed by the server device 30 having the above-described hardware configuration is implemented in cooperation with the software stored in the storage unit 208, ROM 202, etc. and the hardware resources of the server device 30. Specifically, when a program configured as the software and stored in the ROM 202, etc. is loaded into the RAM 203 and then executed, the information processing method according to the present technology is implemented.

[0280] The program is installed in the server device 30, for example, through the recording medium 211. Alternatively, the program may be installed in the server device 30 via a global network or the like. In addition, any non-transitory computer-readable storage medium may be used.

[0281] By linking a computer installed on a communication terminal with other computers capable of communicating via a network, etc., an information processing device, information processing method, program, and information processing system according to the present technology can be executed, and an information processing device according to the present technology can be constructed.

[0282] In other words, the information processing device, information processing method, program, and information processing system according to the present technology can be executed not only in a computer system formed by a single computer, but also in a computer system in which multiple computers operate in collaboration. Note that in the present disclosure, a system refers to a collection of components (such as devices and modules (components)), and it does not matter whether all components are in a single housing. Therefore, multiple devices housed in different housings and connected to each other via a network, as well as a single device in which multiple modules are housed in a single housing, are both systems.

[0283] Execution of the information processing apparatus, information processing method, program, and information processing system according to the present technology by a computer system includes both cases where, for example, path editing, smoothing determination, and path information generation are performed by a single computer, and cases where each process is performed by a different computer. Furthermore, execution of each process by a predetermined computer includes causing another computer to execute part or all of the process and obtain the result thereof.

[0284] In other words, the information processing device, information processing method, program, and information processing system according to the present technology are also applicable to a configuration of cloud computing in which a single function is shared and cooperatively processed by a plurality of devices via a network.

[0285] The various configurations of the GUI generation unit, path editing unit, path analysis unit, path information generation unit, and the control flow of the communication system described with reference to the various figures are merely examples and may be modified without departing from the spirit of the present technology. In other words, for example, any other configuration or algorithm for practicing the present technology may be employed.

[0286] Note that the effects described in this disclosure are merely illustrative and non-restrictive, and other effects may be achieved. The description of multiple effects above does not necessarily mean that these effects are achieved simultaneously. This means that at least one of the above effects may be achieved depending on the conditions, etc., and of course, there is also the possibility that effects not described in this disclosure may be achieved.

[0287] It is also possible to combine at least two of the features of the above-described embodiments. In other words, the various features described in the various embodiments can be arbitrarily combined regardless of the embodiment.

[0288] Note that the present technology can also adopt the following configurations.

[0289] (1) An information processing device comprising:

[0290] an acquisition unit configured to acquire path information, the path information including a path and a state parameter associated with a movement state of the mobile body when the mobile body moves along the path, the path including a plurality of positions, the state parameter being associated with each position of the path;

[0291] a connecting unit that connects a first path included in the acquired first path information and a second path included in the acquired second path information to each other; and

[0292] A smoothing unit smoothes a difference between a first state parameter associated with a first smoothing point on the first path and a second state parameter associated with a second smoothing point on the second path.

[0293] (2) The information processing device according to (1), wherein

[0294] The smoothing unit sets a first smoothing point and a second smoothing point with reference to a connection point at which the first path and the second path are connected to each other.

[0295] (3) The information processing device according to (2), wherein

[0296] The smoothing unit sets the connection point as at least one of a first smoothing point and a second smoothing point.

[0297] (4) The information processing device according to any one of (1) to (3), further comprising:

[0298] A generating unit generates path information in which a path and a state parameter are associated with each other, the path including a first path and a second path connected to each other, and the state parameter including a smoothed result.

[0299] (5) The information processing device according to any one of (1) to (4), wherein

[0300] The state parameters related to the movement state of the mobile object include a speed of the mobile object and a posture of the mobile object.

[0301] (6) The information processing device according to (1) or (5), wherein

[0302] The acquiring unit acquires performance information related to the performance of the mobile object, and

[0303] The smoothing unit smoothes the difference between the first state parameter and the second state parameter based on the acquired performance information.

[0304] (7) The information processing device according to (6), wherein

[0305] The performance information includes at least one of a maximum speed of the moving object, a maximum acceleration of the moving object, a maximum deceleration of the moving object, and a maximum angular velocity of the moving object.

[0306] (8) The information processing device according to any one of (1) to (7), further comprising:

[0307] A smoothing determination unit determines whether to smooth a difference between the first state parameter and the second state parameter.

[0308] (9) The information processing device according to (8), wherein

[0309] The connecting unit connects the end point of the first path and the start point of the second path to each other, and

[0310] The smoothing determination unit determines whether to smooth a difference between the first state parameter and the second state parameter based on a difference between a state parameter associated with an end point of the first path and a state parameter associated with a start point of the second path.

[0311] (10) The information processing device according to (8) or (9), wherein

[0312] The acquiring unit acquires performance information related to the moving performance of the moving object, and

[0313] The smoothing determination unit determines whether to smooth a difference between the first state parameter and the second state parameter based on the acquired performance information.

[0314] (11) The information processing device according to any one of (1) to (10), further comprising:

[0315] A connection determination unit that determines, for each position of a path included in the acquired path information, ease of connection to another path.

[0316] (12) The information processing device according to (11), wherein

[0317] The connection determination unit determines the ease of connection to the other path based on the state parameter included in the acquired path information.

[0318] (13) The information processing device according to any one of (1) to (12), further comprising:

[0319] A graphical user interface (GUI) generating unit generates a GUI for inputting instructions related to connection of paths included in the path information.

[0320] (14) The information processing device according to (13), wherein

[0321] Instructions related to connection of paths include: instructions for cutting off a portion of a path included in path information, instructions for copying a path or a portion of a path, instructions for connecting a first path and a second path to each other, instructions for setting a first smoothing point and a second smoothing point, and instructions for performing smoothing.

[0322] (15) The information processing device according to (13) or (14), further comprising:

[0323] a connection determination unit that determines, for each position of a path included in the acquired path information, an ease of connection with another path, wherein

[0324] The GUI generation unit generates a GUI including a path in which the determination result of the connection determination unit is displayed in a discernible manner.

[0325] (16) The information processing device according to any one of (1) to (15), further comprising:

[0326] An endpoint smoothing unit performs endpoint smoothing for connection with another path on at least one of a start point and an end point of a path included in the acquired path information.

[0327] (17) The information processing device according to (16), wherein

[0328] The endpoint smoothing unit smoothes a difference between a state parameter at an endpoint serving as a start point or an end point and a state parameter at a position set with reference to the endpoint.

[0329] (18) An information processing method executed by a computer system, the method comprising:

[0330] acquiring path information, the path information including a path and a state parameter related to a movement state of the mobile body when the mobile body moves along the path, the path including a plurality of positions, the state parameter being associated with each position of the path;

[0331] connecting a first path included in the acquired first path information and a second path included in the acquired second path information to each other; and

[0332] A difference between a first state parameter associated with a first smoothed point on the first path and a second state parameter associated with a second smoothed point on the second path is smoothed.

[0333] (19) A program that causes a computer system to execute the following steps:

[0334] acquiring path information, the path information including a path and a state parameter related to a movement state of the mobile body when the mobile body moves along the path, the path including a plurality of positions, the state parameter being associated with each position of the path;

[0335] connecting a first path included in the acquired first path information and a second path included in the acquired second path information to each other; and

[0336] A difference between a first state parameter associated with a first smoothed point on the first path and a second state parameter associated with a second smoothed point on the second path is smoothed.

[0337] (20) An information processing system comprising:

[0338] Information processing device, including

[0339] an acquisition unit configured to acquire path information, the path information including a path and a state parameter associated with a movement state of the mobile body when the mobile body moves along the path, the path including a plurality of positions, the state parameter being associated with each position of the path;

[0340] a connecting unit configured to connect a first path included in the acquired first path information and a second path included in the acquired second path information to each other;

[0341] a smoothing unit that smoothes a difference between a first state parameter associated with a first smoothing point on the first path and a second state parameter associated with a second smoothing point on the second path, and

[0342] a generating unit that generates path information in which a path and a state parameter are associated with each other, the path including a first path and a second path connected to each other, and the state parameter including a smoothed result; and

[0343] A mobile body capable of moving based on the path information generated by the generation unit.

[0344] Reference Mark List

[0345] 10. Drones

[0346] 30 Server Devices

[0347] 34 Graphical User Interface GUI Output Unit

[0348] 35 Path Editing Unit

[0349] 36 Path Analysis Unit

[0350] 37 Path information generation unit

[0351] 38 Management Units

[0352] 43 Path A

[0353] 44 Path B

[0354] 45 Partial Route A

[0355] 46 Partial Route B

[0356] 47 Connection Path

[0357] 50 Path Editing GUI

[0358] 61 connection points

[0359] 65 Smoothing start point

[0360] 66 Smooth end point

[0361] 100 Path Editing System

Claims

1. An information processing device, comprising: an acquisition unit configured to acquire path information, the path information including one or more paths and state parameters associated with a movement state of the mobile body when the mobile body moves along the path, each of the one or more paths including a plurality of positions, the state parameters being associated with each position of the path and including a speed of the mobile body and a posture of the mobile body in an xyz coordinate system; A connection unit, wherein the connection unit: determining, for each position of a second path, an ease of connection with a first path based on at least one of a speed of the mobile body and a posture of the mobile body, the first path and the second path being one of the one or more paths included in the path information, wherein the ease of connection between the first path and the second path is output via a graphical user interface (GUI); and connecting the first path and the second path to each other; and A smoothing unit smoothes a difference between a first state parameter associated with a first smoothing point on the first path and a second state parameter associated with a second smoothing point on the second path.

2. The information processing device according to claim 1, wherein The smoothing unit sets a first smoothing point and a second smoothing point with reference to a connection point at which the first path and the second path are connected to each other.

3. The information processing device according to claim 2, wherein: The smoothing unit sets the connection point as at least one of a first smoothing point and a second smoothing point.

4. The information processing apparatus according to claim 1, further comprising: A generating unit generates path information in which each of the one or more paths and a state parameter are associated with each other, the one or more paths including a first path and a second path connected to each other, and the state parameter including a smoothed result. The information processing device according to claim 1 , wherein: The acquiring unit acquires performance information related to the performance of the mobile object, and The smoothing unit smoothes the difference between the first state parameter and the second state parameter based on the acquired performance information. The information processing apparatus according to claim 5 , wherein: The performance information includes at least one of a maximum speed of the moving object, a maximum acceleration of the moving object, a maximum deceleration of the moving object, and a maximum angular velocity of the moving object.

7. The information processing apparatus according to claim 1, further comprising: A smoothing determination unit determines whether to smooth a difference between the first state parameter and the second state parameter.

8. The information processing apparatus according to claim 7, wherein: The connecting unit connects the end point of the first path and the start point of the second path to each other, and The smoothing determination unit determines whether to smooth a difference between the first state parameter and the second state parameter based on a difference between a state parameter associated with an end point of the first path and a state parameter associated with a start point of the second path.

9. The information processing apparatus according to claim 7, wherein: The acquiring unit acquires performance information related to the moving performance of the moving object, and The smoothing determination unit determines whether to smooth a difference between the first state parameter and the second state parameter based on the acquired performance information.

10. The information processing apparatus according to claim 1, further comprising: A graphical user interface (GUI) generating unit generates a GUI for inputting instructions related to connection of paths included in the path information. The information processing apparatus according to claim 10 , wherein: Instructions related to connection of paths include: instructions for cutting off a portion of a path included in path information, instructions for copying a path or a portion of a path, instructions for connecting a first path and a second path to each other, instructions for setting a first smoothing point and a second smoothing point, and instructions for performing smoothing.

12. The information processing apparatus according to claim 10, wherein: The GUI generation unit generates a GUI including a path in which a result of the determination of the ease of connection is displayed in a discernible manner.

13. The information processing apparatus according to claim 1, further comprising: An endpoint smoothing unit performs endpoint smoothing for connection with another path on at least one of a start point and an end point of a path included in the acquired path information. The information processing apparatus according to claim 13 , wherein: The endpoint smoothing unit smoothes a difference between a state parameter at an endpoint serving as a start point or an end point and a state parameter at a position set with reference to the endpoint.

15. An information processing method executed by a computer system, the method comprising: acquiring path information, the path information including one or more paths and state parameters related to a movement state of the mobile object when the mobile object moves along the paths, the one or more paths including a plurality of positions, the state parameters being associated with each position of the paths and including a speed of the mobile object and a posture of the mobile object in an xyz coordinate system; determining, for each position of a second path, an ease of connection with a first path based on at least one of a speed of the mobile body and a posture of the mobile body, the first path and the second path being one of the one or more paths included in the path information, wherein the ease of connection between the first path and the second path is output via a graphical user interface (GUI); connecting the first path and the second path to each other; and A difference between a first state parameter associated with a first smoothed point on the first path and a second state parameter associated with a second smoothed point on the second path is smoothed.

16. A program product, the program product causing a computer system to perform the following steps: acquiring path information, the path information including one or more paths and state parameters related to a movement state of the mobile object when the mobile object moves along the paths, the one or more paths including a plurality of positions, the state parameters being associated with each position of the paths and including a speed of the mobile object and a posture of the mobile object in an xyz coordinate system; determining, for each position of a second path, ease of connection to a first path based on at least one of a speed of the mobile body and a posture of the mobile body, the first path and the second path being one of the one or more paths included in the path information, The ease of connection between the first path and the second path is output via a graphical user interface GUI; connecting the first path and the second path to each other; and A difference between a first state parameter associated with a first smoothed point on the first path and a second state parameter associated with a second smoothed point on the second path is smoothed.

17. An information processing system comprising: Information processing device, including an acquisition unit configured to acquire path information, the path information including one or more paths and state parameters associated with a movement state of the mobile body when the mobile body moves along the paths, the one or more paths including a plurality of positions, the state parameters being associated with each position of the paths and including a speed of the mobile body and a posture of the mobile body in an xyz coordinate system; A connection unit, wherein the connection unit: determining, for each position of a second path, an ease of connection with a first path based on at least one of a speed of the mobile body and a posture of the mobile body, the first path and the second path being one of the one or more paths included in the path information, wherein the ease of connection between the first path and the second path is output via a graphical user interface (GUI); and connecting the first path and the second path to each other; a smoothing unit that smoothes a difference between a first state parameter associated with a first smoothing point on the first path and a second state parameter associated with a second smoothing point on the second path, and a generating unit that generates path information in which each of the one or more paths and a state parameter are associated with each other, the one or more paths including a first path and a second path connected to each other, and the state parameter including a smoothed result; and A mobile body capable of moving based on the path information generated by the generation unit.

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