Path determination device, path determination method, path determination program, path determination system, and flying body device

Abstract

One embodiment relates to a determination device including an acquisition unit (231) and a determination unit (233). The acquisition unit (231) acquires position information, which is position information of a terminal device provided at an arbitrary position that is a reference of a flight path of a flight body, and which is calculated based on correction information including coordinate information of a reference station corresponding to an area where the terminal device is located and information based on a satellite signal received by the reference station. The determination unit (233) determines the flight path of the flight body based on the position information acquired by the acquisition unit.

Description

Technical Field

[0001] This invention relates to a path determination device, a path determination method, a path determination procedure, a path determination system, and a flight vehicle device. Background Technology

[0002] In recent years, the demand for high-precision positioning has been increasing.

[0003] For example, Patent Document 1 proposes a so-called car navigation assistance technology that uses location information obtained by RTK (Real Time Kinematic) to search for a path that matches the user's conditions and enables the moving body (car) to drive automatically along the searched path.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 2019-190975 Summary of the Invention

[0007] One embodiment of the determining device may include an acquisition unit and a determining unit. The acquisition unit can acquire position information, which is the position information of a terminal device set at an arbitrary position that serves as a reference for the flight path of the aircraft, and position information calculated based on correction information, which is correction information generated as coordinates of a reference station corresponding to the area where the terminal device is located. The determining unit can determine the flight path of the aircraft based on the position information acquired by the acquisition unit. Attached Figure Description

[0008] Figure 1 This is a diagram illustrating an example of the overall process of path control handling corresponding to edge services.

[0009] Figure 2 This is a diagram illustrating the overall process of path control processing corresponding to cloud services, as a variation.

[0010] Figure 3 This is a diagram illustrating an example of the configuration of a terminal device according to an implementation method.

[0011] Figure 4 This is a diagram illustrating an example of the configuration of a distribution device according to an embodiment.

[0012] Figure 5 This is a diagram illustrating an example of the configuration of the determining device involved in the implementation method.

[0013] Figure 6 This is a diagram illustrating an example of the configuration of the flight vehicle device according to the embodiment.

[0014] Figure 7 Figure (1) illustrates an example of the path determination process involved in the implementation method.

[0015] Figure 8 Figure (2) shows an example of the path determination process involved in the implementation method.

[0016] Figure 9 Figure (3) shows an example of the path determination process involved in the implementation method.

[0017] Figure 10 Figure (4) shows an example of the path determination process involved in the implementation method.

[0018] Figure 11 Figure (5) shows an example of the path determination process involved in the implementation method.

[0019] Figure 12 Figure (6) shows an example of the path determination process involved in the implementation method.

[0020] Figure 13 Figure (7) shows an example of the path determination process involved in the implementation method.

[0021] Figure 14 Figure (8) illustrates an example of the path determination process involved in the implementation method.

[0022] Figure 15 Figure (9) illustrates an example of the path determination process involved in the implementation method.

[0023] Figure 16 Figure (10) illustrates an example of the path determination process involved in the implementation method.

[0024] Figure 17 This is a timing diagram (1) representing the path control processing of the path determination system involved in the implementation.

[0025] Figure 18 This is a timing diagram (2) representing the path control processing of the path determination system involved in the implementation.

[0026] Figure 19 This is a hardware configuration diagram of an example of a computer that performs the functions of a specific device. Detailed Implementation

[0027] Hereinafter, with reference to appropriate accompanying drawings, the determining device, path determining method, path determining procedure, path determining system, and one embodiment (hereinafter referred to as "Embodiment") relating to this application will be described. Furthermore, the determining device, path determining method, path determining procedure, path determining system, and flight device relating to this application are not limited to this Embodiment. In the following Embodiment, the same reference numerals will be used for the same parts, and repeated descriptions will be omitted. Additionally, in the following description, the situation where position information is obtained through calculation, etc., will sometimes be referred to as "positioning".

[0028] [Implementation Method]

[0029] [1. Overview of the path control processing involved in the implementation]

[0030] First, an overview of the path control processing involved in the implementation method will be provided. For example, there is a growing demand for solutions and services that flexibly utilize location information from drones, construction equipment, agricultural equipment, and vehicles. Taking drones as an example, their use is expanding beyond aerial photography to include industrial and civilian applications such as the inspection and repair of roofs, walls, solar panels, and power lines. Furthermore, drones are also being used in disaster relief and search and rescue operations by police and fire departments.

[0031] On the other hand, for example, GNSS (or GPS) positioning is typically used in drones, but the location information obtained through GNSS (Global Navigation Satellite System) sometimes has an error of several meters compared to the actual location. In such cases, there is a possibility that the risk of accidents (e.g., damage to property due to collisions with walls or power lines, dangers to residents, etc.) is increased due to the error in location information.

[0032] Therefore, for example, the flexible use of drones for positioning via RTK (Real-Time Kinematics) is underway. Furthermore, efforts are being made to improve the usability of flight path setting.

[0033] Previously, for example, when wanting a drone to fly to a target location, users needed to input location information representing the target location's position. This input method sometimes involved specifying a waypoint on a map displayed on the screen. However, in this case, only a general target location could be specified, and the drone might not be able to accurately reach the target location. If the drone cannot accurately reach the target location, the aforementioned risk of accidents increases. Therefore, users need to input location information based on a uniquely determined, absolute value to represent the target location's position.

[0034] However, it is sometimes difficult to obtain location information based on absolute values. For example, in designing flight paths for drones intended to inspect the walls of a specific building, absolute location information can be obtained through dedicated programming and manual input tailored to that purpose, but there is a possibility that programming and manual input require excessive labor. In addition, the program in this case may not be applicable to other purposes (e.g., wall inspection of a different building than the one in question), lacking versatility.

[0035] Therefore, the path control processing described in this embodiment improves the usability of path setting for flying vehicles. For example, in the path control processing described in this embodiment, location information can be automatically calculated on the system side. That is, according to the path control processing described in this embodiment, users can easily set accurate target locations. In addition, according to the path control processing described in this embodiment, there is no longer a need to prepare programs matching the purpose or to manually input data. In other words, the path control processing described in this embodiment increases the freedom of path setting.

[0036] Specifically, the path control processing described in the embodiments can acquire the position information of a terminal device installed at any location that serves as a reference for the flight path of the aircraft. The path control processing described in the embodiments can generate correction information using the coordinates of a reference station corresponding to the area where the terminal device is located as a reference. The path control processing described in the embodiments can acquire the position information of the terminal device based on the correction information. The path control processing described in the embodiments can determine the flight path of the aircraft based on the acquired position information of the terminal device.

[0037] More specifically, the path control processing involved in the implementation can, for example, receive definition information from a user defining a flight path (e.g., a target location on the flight path). The path control processing involved in the implementation can, for example, determine the flight path of an aircraft based on position information and definition information, wherein the position information is calculated based on correction information. For example, the path control processing involved in the implementation can calculate the position of the target location as a relative position based on the position shown by the position information calculated based on the correction information, and a position that satisfies the definition information. Furthermore, the path control processing involved in the implementation can, for example, determine the flight path of an aircraft as the trajectory of the aircraft flying with the calculated position as the target.

[0038] [2. Overall picture of path control processing involved in the implementation method]

[0039] The overall flow of the path control processing according to the embodiment will now be described using the accompanying drawings. Furthermore, in the path control processing according to the embodiment, a service (edge ​​service) can be provided on the terminal device 10-x side (described later) to calculate location information representing the location of the terminal based on correction information. Additionally, in the path control processing according to the embodiment, a service (cloud service) can be provided on the distribution device 100 side (described later) to calculate the location information of the terminal device 10-x based on correction information. According to the edge service, information can be processed at the edge (i.e., the terminal device 10-x side), thus enabling faster positioning. That is, more real-time positioning can be achieved. Furthermore, according to the cloud service, computing functions do not need to be installed on the terminal at the edge, thus enabling terminal miniaturization, power saving, and reduced data communication volume.

[0040] Figure 1 This represents an example of the overall process of path control handling for edge services. Figure 2 This is a variation illustrating the overall process of path control processing corresponding to cloud services.

[0041] The path determination system 1 may include a terminal device 10-x, a reference station 30, a flight vehicle 60, a distribution device 100, and a determination device 200. The terminal device 10-x, the reference station 30, the flight vehicle 60, the distribution device 100, and the determination device 200 may be connected in a wired or wireless manner via a network N.

[0042] Network N may include the Internet. Network N may include mobile communication networks. Mobile communication networks may be based on, for example, 3G (3rd Generation) communication technology. Mobile communication networks may be based on, for example, LTE (Long Term Evolution) communication technology. Mobile communication networks may be based on, for example, 5G (5th Generation) communication technology. Mobile communication networks may be based on, for example, 6G (6th Generation) communication technology or higher. Network N may include satellite communication. Network N may include wireless communication such as LPWA (Low Power Wide Area) and Bluetooth (registered trademark). Furthermore, terminal devices 10-x, base station 30, flying vehicle 60, distribution device 100, and determining device 200 are not specifically limited to network N as long as they can each connect to the server via wired or wireless means.

[0043] Figure 1This example illustrates a scenario where user U1 uses terminal device 10-x to set a path for determining device 200, the path setting being used to match the intended purpose for flying vehicle 60. Terminal device 10-x can be a portable information processing terminal that can be installed at any location serving as a reference point for the flight path. Terminal device 10-x can also be a fixed information processing terminal that is fixedly installed at any location serving as a reference point for the flight path. Terminal device 10-x can be owned by user U1. Terminal device 10-x can also be used by user U1 who has been granted usage rights. Furthermore, terminal device 10-x can be installed at any location corresponding to the intended purpose. For example, if user U1 is inspecting the exterior wall of a predetermined floor in building BD (e.g., a building), the flight vehicle 60 can be made to fly along the exterior wall of that floor. In this case, user U1 can, for example, install terminal device 10-x at each end of the building's ground surface corresponding to that wall. Moreover, the ends of the building's ground surface are an example of any location serving as a reference point for the flight path, and the locations for installing terminal device 10-x are not limited to this. In addition, there are various variations of the setup method, the details of which will be described later.

[0044] Terminal device 10-x can receive satellite signals. Specifically, terminal device 10-x can, for example, receive GNSS signals. That is, terminal device 10-x can, for example, carry a GNSS module (positioning module) including a GNSS receiver corresponding to RTK and an antenna. In addition, terminal device 10-x can carry a communication module for communicating with distribution device 100 and determining device 200.

[0045] Terminal device 10-x can perform positioning based on calibration information. Specifically, firstly, terminal device 10-x can acquire its own location information based on satellite signals. Then, terminal device 10-x can receive calibration information distributed from the distribution device 100 (described later). Terminal device 10-x can correct the location information acquired via satellite signals based on the calibration information. More specifically, terminal device 10-x can, for example, use the calibration information to correct its own location information through RTK calculation. That is, terminal device 10-x can acquire corrected location information through RTK calculation using the calibration information. Terminal device 10-x can carry a program capable of performing RTK calculation. Furthermore, RTK calculation can be performed using conventionally known methods.

[0046] Hereinafter, when distinguishing between terminal devices 10-x, any value will be substituted into "x" to describe them as terminal device 10-1, terminal device 10-2, etc. Terminal devices 10-x are sometimes simply referred to as terminal device 10.

[0047] The reference station 30 can function as a reference station in RTK calculations. That is, the reference station 30 can determine the known coordinates (known coordinates) representing its position. Furthermore, in the case of multiple reference stations 30, known coordinates can be determined for each of them. The reference station 30 can have the function of receiving satellite signals. Specifically, the reference station 30 can, for example, have the function of receiving GNSS signals. That is, the reference station 30 can receive GNSS signals. The reference station 30 can transmit known coordinate information and GNSS signal-based information to the distribution device 100. The GNSS signal-based information can include information indicating the satellite receiving the GNSS signal, information indicating the phase of the carrier wave, etc. Specifically, the reference station 30 can, for example, transmit various information to the distribution device 100 based on the RTCM (Radio Technical Commission for Maritime Services) standard. Additionally, the reference station 30 can, for example, transmit an ephemeris to the distribution device 100. Furthermore, the reference station 30 can be appropriately set up at any location by any company personnel, etc. Alternatively, the reference station 30 can also be set up by personnel within the management path determination system 1. Furthermore, the reference station 30 can also receive signals from satellites other than GNSS. For example, the reference station 30 can also receive signals from any other satellite, such as RNSS (Regional Navigation Satellite System).

[0048] The flying body 60 may be, for example, a drone. The flying body 60 can be used by the user U1. Furthermore, the flying body 60 may be equipped with a positioning module for positioning itself. The flying body 60 may, for example, be equipped with a terminal device 10-x as a device including the positioning module. That is, the flying body 60 can obtain calibrated position information representing its position by using RTK calculations with calibration information. Moreover, RTK calculations can be performed using conventionally known methods. Alternatively, the flying body 60 and the terminal device 10-x may be separate devices. That is, the user U1 may also position the flying body 60 by retrofitting the terminal device 10-x onto the existing flying body 60. Alternatively, the flying body 60 and the terminal device 10-x may be an integrated device. That is, the user U1 may, for example, use the flying body 60, which has the same functions as the terminal device 10-x, to position the flying body 60.

[0049] Furthermore, the aircraft 60 may be equipped with an aircraft device capable of automatically controlling the aircraft. The aircraft device can automatically control the aircraft 60 based on path information obtained from the determining device 200. For example, the aircraft device can automatically control the aircraft 60 to fly along a flight path determined by the determining device 200. Alternatively, the aircraft device can be considered as the aircraft 60 itself. That is, the aircraft device mounted on the aircraft 60 can also be referred to as the aircraft device 60.

[0050] The distribution device 100 may be, for example, a server device. The distribution device 100 can receive information about the known coordinates of the reference station 30 and information about satellite signals received by the reference station 30. The distribution device 100 can generate information (correction information) for correcting positioning errors of the terminal device 10-x based on the known coordinates of the reference station 30 (the object of processing) and the satellite signal information. The correction information may include, for example, information about the known coordinates of the reference station 30 and phase information of the carrier wave from the satellite. The distribution device 100 can send the generated correction information to the terminal device 10-x. Furthermore, the information included in the correction information is not limited to the examples described above. The correction information may arbitrarily include information required for RTK calculations by the terminal device 10-x.

[0051] Here, the positioning based on RTK calculation using correction information will be explained. First, the terminal device 10-x can obtain approximate location information (approximate location information) based on satellite signal positioning. Additionally, the distribution device 100 can generate correction information including known coordinates of the reference station 30 and information based on satellite signals. The distribution device 100 can send the correction information to the terminal device 10-x. The terminal device 10-x can use the correction information to correct the approximate location information using RTK calculation. That is, the terminal device 10-x calculates information (corrected location information) by correcting the approximate location information using the correction information via RTK calculation. Therefore, the path control processing according to this embodiment can obtain relatively high-precision location information for the terminal device 10-x. Furthermore, RTK calculation can be performed using methods known in the past.

[0052] Terminal device 10-x can send the corrected location information to distribution device 100. Additionally, distribution device 100 can send the corrected location information to determining device 200.

[0053] The determining device 200 may be, for example, a server device. The determining device 200 can determine the flight path of the flying body 60 through the path control processing involved in the embodiment. The determining device 200 can receive calibrated position information of the terminal device 10-x from the distribution device 100. For example, the determining device 200 can acquire position information of the terminal device 10-x calculated based on the known coordinates of the reference station 30. The determining device 200 can determine the flight path of the flying body 60 based on the acquired calibrated position information. Furthermore, the path control processing can be implemented by executing the path determination program involved in the embodiment within the determining device 200.

[0054] The following describes an example of the overall flow of the path control processing involved in the implementation method. Furthermore, in the path control processing, the case where GNSS signals are used as satellite signals will be described as an example. Figure 1 The diagram illustrates an example where the terminal device 10-x is installed at any location in accordance with the intended use of the user U1. Furthermore, the satellite signal used in the path control process is not particularly limited, as long as the terminal device 10-x can be located. For example, satellite signals received from any other satellite, such as RNSS, can also be used.

[0055] First, user U1 turns on the power to terminal device 10-x. Terminal device 10-x can receive GNSS signals when powered on. Terminal device 10-x can calculate location information representing its position (the set position) using GNSS positioning based on the GNSS signals. This location information can be approximate location information (approximate location information) representing a range of several meters around the actual location of the terminal. Terminal device 10-x can send the approximate location information to distribution device 100 (step S11). That is, terminal device 10-x can use the approximate location information to notify path determination system 1 of its approximate location when powered on.

[0056] The distribution device 100 can select the reference station 30 located in various locations as the target of processing based on the approximate location information received from the terminal device 10-x. For example, the distribution device 100 can select the reference station 30 located in the area corresponding to the location shown in the approximate location information as the target of processing.

[0057] Then, the distribution device 100 can send a distribution request to the selected reference station 30, requesting the distribution of GNSS signals (step S12). The reference station 30 can always receive GNSS signals. That is, the reference station 30, as the object of processing, can send information based on the received GNSS signals to the distribution device 100 when it receives the distribution request (step S13).

[0058] Furthermore, the reference station 30, as the processing target, can continuously transmit GNSS signals to the distribution device 100 after receiving a distribution request. Alternatively, the reference station 30 can continuously push GNSS signals to the distribution device 100. That is, the reference station 30 can transmit GNSS signals to the distribution device 100 even if it has not received a distribution request from the distribution device 100. In this case, the distribution device 100 can also store the received GNSS signals.

[0059] Additionally, the reference station 30, which is the object of processing, can also send information representing the known coordinates of its device to the distribution device 100 upon receiving a distribution request. The reference station 30, as the object of processing, can also send information representing the known coordinates of its device together with GNSS signal-based information to the distribution device 100. The distribution device 100 can also pre-store information representing the known coordinates of the reference station 30.

[0060] The distribution device 100 can generate correction information based on the known coordinates of the reference station 30 representing the object of processing and information based on the GNSS signal. The distribution device 100 can generate correction information when it receives a GNSS signal from the reference station 30, which is the object of processing (step S14). Then, the distribution device 100 can send the generated correction information to the terminal device 10-x, which is the source of approximate location information (step S15).

[0061] Terminal device 10-x can perform a correction calculation to correct the approximate location information based on the received correction information (step S16). Specifically, for example, terminal device 10-x can correct the approximate location information using RTK calculation with the correction information, thereby calculating the corrected location information.

[0062] Terminal device 10-x can send the corrected location information to distribution device 100 (step S17). Distribution device 100 can send the received corrected location information to determining device 200 if it receives the corrected location information from terminal device 10-x (step S18). Determining device 200 can obtain (receive) the corrected location information from distribution device 100.

[0063] The determining device 200 can store the acquired calibrated location information in the storage unit 220. For example, the determining device 200 can establish a correspondence between the identification information used to identify the terminal device 10-x and the calibrated location information obtained by the terminal device 10-x through RTK calculation, and store them in the storage unit 220.

[0064] Furthermore, the terminal device 10-x sends approximate location information to the distribution device 100 when the power is turned on, but may not send approximate location information thereafter. In this case, the distribution device 100 can continuously repeat steps S12 to S15 each time it receives approximate location information. Moreover, the distribution device 100 can continuously send correction information to the terminal device 10-x, which is the source of the approximate location information. Therefore, the terminal device 10-x can repeat steps S16 to S17 each time it continuously receives correction information. In addition, the distribution device 100 can repeat step S18 each time it receives corrected location information. That is, after the terminal device 10-x sends approximate location information once, steps S12 to S18 can be repeated continuously (for example, once per second). In addition, the storage unit 220 of the determining device 200 can store the corrected location information obtained each time steps S12 to S18 are repeated. Furthermore, "continuously" can be any frequency and is not particularly limited. For example, "continuously" can be once per second, five times, ten times, etc.

[0065] Furthermore, the determining device 200 can acquire information (definition information) defining the flight path of the flying body 60. Additionally, the determining device 200 can determine whether the definition information has been received. The definition information may include, for example, information indicating the target location (starting target) that initiates the flight of the flying body 60 and information indicating the target location that the flying body 60 reaches (arrival target). For example, the definition information may include information indicating direction, distance, altitude, angle, etc., starting from the terminal device 10-x. That is, the definition information can, for example, define the starting target and the arrival target using information such as direction, distance, altitude, and angle starting from the terminal device 10-x.

[0066] Additionally, the definition information may include information specifying a virtual region within the space where the flying body 60 can fly, defining the virtual region that enables the flying body 60 to fly. The virtual region can be three-dimensional or two-dimensional, without particular limitation. That is, the definition information can also define virtual planar and spatial regions that enable the flying body 60 to fly.

[0067] The definition information, for example, when defining a polygonal region, may include information indicating the locations of each vertex of the region (vertices). Additionally, when defining a circular or spherical region, the definition information may include information indicating the location of the center of the region (center location) and information indicating the radius. Furthermore, when defining a region combining polygonal and circular or spherical shapes, the definition information may also include information that appropriately combines the information used to define these shapes. Additionally, the definition information may also include, for example, information indicating the position of the terminal device 10-x, information indicating the height from which the terminal device 10-x originates, and information indicating the height of the terminal device 10-x, etc.

[0068] The determining device 200 may, for example, obtain the definition information via a terminal device T capable of inputting definition information. Figure 1 As illustrated, user U1 can use terminal device T to input definition information (step S31). Terminal device T can be, for example, an information processing terminal such as a smartphone. Terminal device T can import an application program (hereinafter, "application AP") for performing various control settings related to the aircraft 60. That is, determination device 200 can obtain the definition information input by user U1 via application AP. In other words, terminal device T can, for example, send the definition information to determination device 200 either gradually during the input of the definition information or after the input is completed, when definition information is input via application AP.

[0069] The determining device 200 can determine that it has received definition information if it receives definition information from the terminal device T. Then, the determining device 200 can calculate the target location to which the flying body 60 flies and arrives based on the definition information and the corrected position information. That is, the determining device 200 can perform path determination processing (step S32) to determine the flight path of the flying body 60 based on the definition information and the corrected position information obtained in step S18. In addition, the user U1 can, for example, input the starting target location (starting target) and the arriving target location (arriving target) of the flying body 60 as definition information into the terminal device T.

[0070] Here, the corrected position information acquired by the determining device 200 is obtained by correcting the approximate position information based on the known coordinates of the reference station 30, which is the object of processing. Therefore, the corrected position information acquired by the determining device 200 is position information with higher precision than the approximate position information. Thus, the determining device 200 can calculate the relative position based on the corrected position information. The determining device 200 can calculate the position of the target location based on the relative position that satisfies the defined information. Furthermore, the determining device 200 can calculate the trajectory of the flying body 60 with the calculated position as the target and determine it as the flight path of the flying body 60. That is, the determining device 200 can calculate the starting target and the arrival target positions based on the corrected position information and the defined information, and determine the trajectory for the flying body 60 to fly from the starting target to the arrival target as the flight path. In addition, the flight path may also include, for example, the trajectory for the flying body 60 to reach the starting target from the current position. Furthermore, the flight path may also include, for example, the trajectory for the flying body 60 to detach from the arrival target.

[0071] The determining device 200 can calculate the position of the starting target based on the latest calibrated position information in the stored calibrated position information. For example, the determining device 200 can calculate the position of the starting target as a position relative to the position shown in the latest calibrated position information and satisfying the defined information. In addition, the determining device 200 can calculate the position of reaching the target as a position relative to the position shown in the latest calibrated position information in the stored calibrated position information and satisfying the defined information. Moreover, the determining device 200 can determine the trajectory for the flight body 60 to fly from the starting target toward the reaching target as the flight path of the flight body 60.

[0072] The determining device 200 can send information representing the flight path (path information) to the flight body 60. That is, the determining device 200 can instruct the flight body 60 to fly along the flight path shown by the path information (step S33).

[0073] The flying body 60 can fly based on path information. For example, the flying body 60 can automatically control its flight and begin flying toward a starting target based on the path information after obtaining path information from the determining device 200. In addition, the flying body 60 can automatically control its flight and fly toward the target according to the path shown in the path information after reaching the starting target.

[0074] As described above, the flying body 60 can be equipped with a terminal device 10-x as a positioning module to continuously acquire calibrated position information representing the body's position. In this case, the flying body 60 can fly while comparing its current position, represented by the latest calibrated position information, with the trajectory represented by the acquired path information. Specifically, the flying body 60 can compare its current position with the trajectory position and fly while adjusting its current position to ensure it follows the trajectory. For example, the flying body 60 can adjust its position while flying towards the target, preventing it from deviating from its trajectory position. Furthermore, the flying body 60 can continuously acquire calibrated position information.

[0075] Previously, it was sometimes difficult for flying objects such as drones to obtain accurate position information. To address this, according to the flight control processing involved in the implementation, the user can provide relatively accurate position information to the flying object 60, for example, by setting up the terminal device 10-x at any location that serves as a reference for the flight path. Specifically, the user can provide relatively accurate position information to the flying object 60 by defining a target location, etc., with the terminal device 10-x as the starting point. That is, the determining device 200 can determine the most suitable flight path based on the corrected position information obtained by the terminal device 10-x.

[0076] Therefore, according to the flight control processing described in the embodiment, the user can easily set an accurate target location. Furthermore, the user can perform route setting with a high degree of freedom using a portable terminal device 10-x. Thus, the usability of route setting is improved according to the flight control processing described in the embodiment.

[0077] In addition, Figure 1 In the example shown, the calibrated location information obtained by the terminal device 10-x is transmitted to the determining device 200 via the distribution device 100 (steps S17-S18). However, the calibrated location information obtained by the terminal device 10-x can also be transmitted directly from the terminal device 10-x to the determining device 200 (dashed arrow).

[0078] In addition, Figure 1 and Figure 2 The example shown illustrates a configuration where the distribution device 100 and the determining device 200 are separate and configured. However, the distribution device 100 and the determining device 200 can also be integrated into a single server device. In this case, for example, the determining device 200 can be configured to include the functions of the distribution device 100.

[0079] [3. Variations of the path control processing involved in the implementation]

[0080] In the above embodiment, an example of a service (edge ​​service) that uses RTK calculation performed by the terminal device 10-x for positioning was described. Here, a service (cloud service) that uses RTK calculation performed by the distribution device 100 for positioning can also be described. That is, the path control processing in the modified example differs from the path control processing in the above embodiment in that it uses RTK calculation performed by the distribution device 100 to obtain corrected location information. Specifically, for example, the approximate location information of the terminal device 10-x can be corrected by performing RTK calculation using correction information in the distribution device 100. Hereinafter, the overall flow of the path control processing corresponding to this cloud service will be described as a modified example. Figure 2 This indicates variations of the path control processing involved in the implementation. Furthermore, sometimes content that overlaps with the content of the above-described implementation in the variations is appropriately omitted or simplified. That is, in the variations, the configuration using the same reference numerals as the above-described implementation may also include the same configuration as the above-described implementation.

[0081] First, the terminal device 10-x in the modified example may not need to carry a program for positioning via RTK calculation. That is, the terminal device 10-x in the modified example only needs to carry a GNSS receiver corresponding to RTK, an antenna, and a communication module for communicating with the distribution device 100 and the determining device 200. Therefore, the terminal device 10-x in the modified example only needs to send the detected GNSS signal to the distribution device 100, which can achieve power saving and further miniaturization of the terminal device 10-x.

[0082] Terminal device 10-x can be installed at any location, matching the intended use of user U1. Furthermore, when terminal device 10-x is powered on, it can begin detecting GNSS signals and transmit the detected GNSS signals to distribution device 100 (step S21). Additionally, although not shown, distribution device 100 can also calculate approximate location information of terminal device 10-x based on GNSS positioning of the GNSS signals received from terminal device 10-x.

[0083] The distribution device 100 can select a reference station 30 located in various locations as the target for processing based on the approximate location information. For example, the distribution device 100 can select a reference station 30 located in the area corresponding to the location shown in the approximate location information as the target for processing.

[0084] The distribution device 100 may send a distribution request to the selected reference station 30 requesting the distribution of GNSS signals (step S22). The reference station 30, as the target of processing, may send the received GNSS signal to the distribution device 100 upon receiving the distribution request (step S23). The distribution device 100 may generate correction information upon receiving GNSS signals from the reference station 30 as the target of processing (step S24).

[0085] The distribution device 100 can perform a correction calculation of the approximate position information based on the correction information (step S25). That is, the distribution device 100 can correct the approximate position information using RTK calculation with the correction information. In other words, the distribution device 100 can correct the approximate position information using RTK calculation, thereby calculating the corrected position information. Therefore, the path control processing involved in the modified example can achieve relatively high-precision positioning. Furthermore, the RTK calculation can be performed using conventionally known methods.

[0086] The distribution device 100 can send the corrected location information to the determining device 200 (step S26). The determining device 200 can obtain (receive) the corrected location information from the distribution device 100.

[0087] Furthermore, after the distribution device 100 calculates the approximate location information, steps S21 (or, steps S22) to S26 can be repeated continuously (e.g., once per second). That is, the corrected location information can be stored in the determining device 200. Furthermore, the series of path determination processes performed in the determining device 200 after step S26 are the same as in the embodiment described above, and therefore, their description is omitted.

[0088] [4. Composition of each device]

[0089] Next, use Figures 3-6 The configuration of each device included in the path determination system 1 according to the implementation method will be described.

[0090] [4-1. Composition of the terminal device]

[0091] Figure 3 This illustrates a configuration example of the terminal device 10-x according to the embodiment. The terminal device 10-x may include a communication unit 11, a GNSS module M, a storage unit 12, and a control unit 13.

[0092] (Regarding Communications Section 11 and GNSS Module M)

[0093] The communication unit 11 can be implemented, for example, through a NIC (Network Interface Card). The communication unit 11 can be connected to the network N via wired or wireless means. For example, the communication unit 11 can send and receive information between the distribution device 100 and the determining device 200 via the network N. The GNSS module M is capable of receiving GNSS signals. That is, the GNSS module M can be composed of any component used for receiving GNSS signals.

[0094] (Regarding Storage Department 12)

[0095] The storage unit 12 can be implemented, for example, by a semiconductor memory element such as RAM (Random Access Memory) or flash memory, or a storage device such as a hard disk or optical disk. The storage unit 12 can store, for example, approximate location information calculated by the approximate location calculation unit 13b, correction information received from the distribution device 100, and corrected location information calculated based on the RTK using the correction information.

[0096] (Regarding Control Department 13)

[0097] The control unit 13 can be implemented by using a CPU (Central Processing Unit), GPU (Graphics Processing Unit), MPU (Micro Processing Unit), or similar device to execute various programs stored in the internal storage device of the terminal device 10-x using RAM as the working area. Alternatively, the control unit 13 can be implemented using integrated circuits such as ASIC (Application Specific Integrated Circuit) or FPGA (Field Programmable Gate Array).

[0098] The control unit 13 may include a first receiving unit 13a, a rough position calculation unit 13b, a first transmitting unit 13c, a second receiving unit 13d, a correction unit 13e, and a second transmitting unit 13f. Furthermore, the internal configuration of the control unit 13 is not limited to... Figure 3 The configuration shown can be any other configuration as long as it involves the information processing described later. Furthermore, the connection relationships between the various processing units within the control unit 13 are not limited to... Figure 3 The connection relationship shown can also be other connection relationships.

[0099] (Regarding the first receiving unit 13a)

[0100] The first receiving unit 13a corresponds to a GNSS receiver and antenna associated with an RTK and can receive GNSS signals. Furthermore, the first receiving unit 13a can output the received GNSS signals to the approximate position calculation unit 13b.

[0101] (Regarding the approximate location calculation section 13b)

[0102] The approximate location calculation unit 13b can calculate location information representing the location (set location) of the device based on GNSS positioning of the GNSS signal received by the first receiving unit 13a. That is, the approximate location calculation unit 13b can calculate approximate location information based on GNSS positioning of the GNSS signal. For example, the approximate location calculation unit 13b can calculate the approximate location information when power is detected. The approximate location calculation unit 13b can store the approximate location information in the storage unit 12.

[0103] (Regarding the first transmission unit 13c)

[0104] The first transmitting unit 13c can transmit the approximate location information calculated by the approximate location calculation unit 13b to the distribution device 100.

[0105] (Regarding the second receiving unit 13d)

[0106] The second receiving unit 13d can receive correction information sent from the distributing device 100. Furthermore, the second receiving unit 13d can store the correction information in the storage unit 12.

[0107] (Regarding the calibration department 13e)

[0108] The correction unit 13e can perform a correction calculation to correct the approximate position information calculated by the approximate position calculation unit 13b based on the correction information received by the second receiving unit 13d. That is, the correction unit 13e can correct the approximate position information by using RTK calculation with correction information. In addition, the correction unit 13e can store the corrected position information (corrected position information) obtained by the correction calculation in the storage unit 12.

[0109] (Regarding the second transmission unit 13f)

[0110] The second transmitting unit 13f can transmit the corrected position information obtained by the RTK calculation of the correction unit 13e. For example, the second transmitting unit 13f can send the corrected position information to the distribution device 100. Alternatively, the second transmitting unit 13f can also send the corrected position information directly to the determining device 200.

[0111] [4-2. Composition of the dispensing device]

[0112] Figure 4 This illustrates a configuration example of the distribution device 100 according to the embodiment. The distribution device 100 may include a communication unit 110, a storage unit 120, and a control unit 130.

[0113] (Regarding the Ministry of Communications' 110)

[0114] The communication unit 110 can be implemented, for example, by a NIC. Furthermore, the communication unit 110 can be connected to the network N via wired or wireless means. For example, the communication unit 110 can send and receive information with the terminal device 10-x, the reference station 30, and the determining device 200 via the network N.

[0115] (Regarding Storage Department 120)

[0116] The storage unit 120 may be implemented, for example, by a semiconductor memory element such as RAM or flash memory, or a storage device such as a hard disk or optical disk. The storage unit 120 may store, for example, the correction information generated by the generation unit 133 and the correction position information acquired by the correction position information acquisition unit 134.

[0117] (Regarding Control Department 130)

[0118] The control unit 130 can be implemented by using a CPU, GPU, MPU, or similar device to execute various programs stored in the memory device inside the distribution device 100 using RAM as the working area. Alternatively, the control unit 130 can be implemented using integrated circuits such as ASICs or FPGAs.

[0119] The control unit 130 may include a preliminary location acquisition unit 131, a request unit 132, a generation unit 133, a calibrated location information acquisition unit 134, and a transmission unit 135. Furthermore, the internal configuration of the control unit 130 is not limited to... Figure 4 The configuration shown can be any other configuration as long as it involves the information processing described later. Furthermore, the connection relationships between the various processing units within the control unit 130 are not limited to... Figure 4 The connection relationship shown can also be other connection relationships.

[0120] (Regarding the approximate location acquisition section 131)

[0121] The approximate location acquisition unit 131 can acquire (receive) approximate location information sent by the first transmission unit 13c of the terminal device 10-x.

[0122] (Regarding Request Section 132)

[0123] The request unit 132 can send a GNSS signal distribution request to the reference station 30 when the approximate location information is obtained by the approximate location acquisition unit 131. For example, when the approximate location information is obtained by the approximate location acquisition unit 131, the request unit 132 can select the reference station 30 located in various places as the target for processing based on the obtained approximate location information. For example, the request unit 132 can select the reference station 30 located in the area corresponding to the location shown in the approximate location information as the target reference station 30 for processing. Then, the request unit 132 can send a GNSS signal distribution request to the selected reference station 30. In addition, the request unit 132 can also receive GNSS signals transmitted from the reference station corresponding to the distribution request.

[0124] (Regarding Generation Department 133)

[0125] The generation unit 133 can generate correction information. For example, when the request unit 132 receives a GNSS signal transmitted from the reference station 30, which is the target of processing, the generation unit 133 can generate correction information based on the known coordinates of the reference station 30 and the GNSS signal received by the request unit 132. For example, the generation unit 133 can generate correction information including information on the known coordinates of the reference station 30 and information based on the GNSS signal. In addition, the generation unit 133 can store the generated correction information in the storage unit 120. Furthermore, the generation unit 133 can also transmit the generated correction information to the terminal device 10-x, which is a source of approximate location information.

[0126] (Regarding the calibrated location information acquisition unit 134)

[0127] The calibrated location information acquisition unit 134 can acquire calibrated location information. For example, the calibrated location information acquisition unit 134 can acquire calibrated location information obtained by RTK calculation on the terminal device 10-x side using the calibration information generated by the generation unit 133. The RTK calculation can be performed by the calibration unit 13e. In addition, the calibrated location information acquisition unit 134 can store the acquired calibrated location information in the storage unit 120.

[0128] (Regarding the dispatch department 135)

[0129] The transmitting unit 135 can transmit the corrected position information acquired by the corrected position information acquisition unit 134 to the determining device 200.

[0130] [4-3. Determine the configuration of the device]

[0131] Figure 5 This is a diagram illustrating an example configuration of the determination device 200 according to the embodiment. The determination device 200 may include a communication unit 210, a storage unit 220, and a control unit 230.

[0132] (Regarding Ministry of Communications 210)

[0133] The communication unit 210 can be implemented, for example, by a NIC. Furthermore, the communication unit 210 can be connected to the network N via wired or wireless means. For example, the communication unit 210 can send and receive information with the terminal device 10-x and the distribution device 100 via the network N.

[0134] (Regarding Storage Department 220)

[0135] The storage unit 220 can be implemented, for example, by a semiconductor memory element such as RAM or flash memory, or a storage device such as a hard disk or optical disk. The storage unit 220 can store, for example, the calibrated position information acquired by the calibrated position information acquisition unit 231 and the path information indicating the flight path determined by the determination unit 233.

[0136] (Regarding Control Department 230)

[0137] The control unit 230 can be implemented by using a CPU, GPU, MPU, or other similar device to execute various programs (e.g., the path determination program according to the embodiment) stored in the memory device inside the determination device 200, with RAM as the working area. Alternatively, the control unit 230 can be implemented by an integrated circuit such as an ASIC or FPGA.

[0138] The control unit 230 may include a calibrated position information acquisition unit 231, a receiving unit 232, a determining unit 233, an indicating unit 234, and an output unit 235. Furthermore, the internal configuration of the control unit 230 is not limited to... Figure 5 The configuration shown can be any other configuration as long as it involves the information processing described later. Furthermore, the connection relationships between the various processing units within the control unit 230 are not limited to... Figure 5 The connection relationship shown can also be other connection relationships.

[0139] (Regarding the calibrated location information acquisition unit 231)

[0140] The calibrated position information acquisition unit 231 can acquire the position information of the terminal device 10-x, which is set at any location that serves as a reference for the path of the flight vehicle. The calibrated position information acquisition unit 231 can acquire the position information of the terminal device 10-x based on calibration information generated using known coordinates of a reference station 30 corresponding to the area where the terminal device 10-x is located. The calibrated position information acquisition unit 231 can be an example of an acquisition unit. Furthermore, the calibrated position information acquisition unit 231 can acquire (receive) calibrated position information transmitted by the transmission unit 136. Additionally, the calibrated position information acquisition unit 231 can store the acquired calibrated position information in the storage unit 220.

[0141] (Regarding Receiving Department 232)

[0142] The receiving unit 232 can receive definition information that defines the flight path from the user. For example, the receiving unit 232 can receive the definition information via an application AP. Figure 1 ( Figure 2 Similarly, this illustrates the case where the receiving unit 232 receives definition information from the user U1.

[0143] For example, receiving unit 232 can receive definition information defining the target locations (e.g., start target, arrival target) that the flying body will reach when a predetermined terminal device 10-x in the terminal device 10-x is used. For example, when the "straight line mode" for setting a straight flight path is selected on the application AP, receiving unit 232 can receive definition information defining the target locations (e.g., start target, arrival target) that the flying body 60 will reach. That is, user U1 can make the flying body 60 fly along a straight line connecting the target locations.

[0144] Furthermore, the receiving unit 232 can receive definition information of a planar region defining the flight area of ​​the flying body 60 within the space where the flying body 60 can fly, when a predetermined terminal device 10-x among the terminal devices 10-x is being used. For example, the receiving unit 232 can receive definition information of the vertex locations of each vertex defining the planar region. For example, when the receiving unit 232 selects the mode for generating the planar region, i.e., "planar mode," on the application AP, it can receive the definition information of the vertex locations of each vertex defining the planar region. That is, the user U1 can make the flying body 60 fly within the planar region.

[0145] Furthermore, the receiving unit 232 can receive the definition information of the vertex locations of each vertex of the three-dimensional region in the defined space when a predetermined terminal device 10-x in the terminal device 10-x is used as the target. For example, when the receiving unit 232 selects the mode for generating the three-dimensional region, i.e., "three-dimensional mode," in the application AP, it can receive the definition information of the vertex locations of each vertex of the three-dimensional region. That is, the user U1 can make the flying body 60 fly in the three-dimensional region.

[0146] Furthermore, in the above examples, the modes for inputting definition information to the application AP were described as "straight-line mode," "planar mode," and "three-dimensional mode," but the application AP's modes are not limited to these. For example, the application AP could be capable of inputting definition information for a straight-line flight path, a planar region, and a three-dimensional region in one mode. That is, the receiving unit 232 can receive definition information including the definition of a target location that arbitrarily contains at least two points, the definition of each vertex of the planar region, and the definition of each vertex of the three-dimensional region. In other words, the user U1 can input definition information for enabling the flying body 60 to fly arbitrarily in the space where the flying body 60 can fly. For example, the user U1 can appropriately input definition information corresponding to the actions of the flying body 60, such as moving the flying body 60 in a straight line from a target location to another target location, moving it three-dimensionally in a space, or moving it horizontally on a plane, into the application AP.

[0147] (Regarding the determination of Section 233)

[0148] The determining unit 233 can determine the flight path of the aircraft based on the position information acquired by the calibrated position information acquisition unit 231. Specifically, the determining unit 233 can determine the flight path of the aircraft based on the calibrated position information acquired by the calibrated position information acquisition unit 231 and the definition information received by the receiving unit 232.

[0149] For example, when the receiving unit 232 receives the definition information of the defined target location, the determining unit 233 can determine the flight path of the flying body based on the corrected position information and definition information corresponding to the terminal device 10-x that is the target of use.

[0150] For example, when a terminal device 10-x is used, the case of receiving definition information for a defined target location will be described. In this case, the determination unit 233 can calculate the position of the target location as a relative position based on the position shown in the calibrated position information corresponding to the terminal device 10-x, and a position that satisfies the definition information. For example, the determination unit 233 can determine the trajectory of the aircraft flying with the calculated position as the target location as the flight path. Details of this will be explained later. Figure 7 Let me explain.

[0151] Furthermore, when using two terminal devices 10-x as the target, the case where definition information is received defining a start location corresponding to one terminal device and an arrival location corresponding to the other terminal device as the target location will be explained. In this case, the determination unit 233 can calculate the position of the target location as the relative position based on the position shown in the corrected position information corresponding to these terminal devices and satisfying the definition information. For example, the determination unit 233 can determine the trajectory that causes the flying body to fly from the position corresponding to the start location in the calculated position toward the position corresponding to the arrival location as the flight path. For details, it will be explained later. Figure 8 Let me explain.

[0152] Furthermore, the case where definition information of the vertex locations of each vertex of the defined planar region is received will be explained. In this case, the determination unit 233 can, for example, generate a planar region that satisfies the definition information based on the corrected position information corresponding to the terminal device 10-x that is currently being used. The determination unit 233 can, for example, determine the flight path of the flying body based on the generated planar region. For example, the determination unit 233 can calculate the vertex location as the relative position based on the position shown in the corrected position information corresponding to the terminal device 10-x that is being used, and the position that satisfies the definition information. The determination unit 233 can generate a planar region with the calculated vertex locations as vertices. In addition, the determination unit 233 can determine the trajectory that causes the flying body to move along the generated planar region as the flight path based on the definition information. For details, it will be explained later. Figure 10 Let me explain.

[0153] Furthermore, the case where definition information of the vertex locations of each vertex of a defined three-dimensional region is received will be explained. In this case, the determination unit 233 can generate a three-dimensional region that satisfies the definition information based on the corrected position information corresponding to at least two terminal devices that are currently being used, and then determine the flight path of the flying body based on the generated three-dimensional region. For example, the determination unit 233 can calculate the vertex location as the relative position based on the position shown in the corrected position information corresponding to the two terminal devices that are being used, and the position that satisfies the definition information. The determination unit 233 can, for example, generate a three-dimensional region with the calculated vertex location as the vertex. In addition, the determination unit 233 can determine the trajectory that moves the flying body along a predetermined planar region in the planar region constituting the generated three-dimensional region as the flight path based on the definition information. In addition, the determination unit 233 can determine the trajectory that moves the flying body inside the three-dimensional region without leaving the interior of the three-dimensional region based on the definition information as the flight path. In addition, the determination unit 233 can determine the trajectory that moves the flying body outside the three-dimensional region without entering the interior of the three-dimensional region based on the definition information as the flight path. For details, the following will be used Figures 11-16 Let me explain.

[0154] In addition, the determination unit 233 can store path information representing the determined flight path in the storage unit 220.

[0155] (Regarding Instruction Section 234)

[0156] The instruction unit 234 can instruct the flight body 60, which is the object of processing, to fly along the flight path determined by the determination unit 233. That is, the instruction unit 234 can, for example, send path information indicating the flight path determined by the determination unit 233 to the flight body 60.

[0157] (Regarding the output section 235)

[0158] The output unit 235 can output predetermined information to the user of the aircraft 60 based on whether the aircraft 60 being processed is flying along the path determined by the determination unit 233. For example, if it is determined that the aircraft 60 being processed is flying off the flight path determined by the determination unit 233, the output unit 235 can output information about the deviation of the aircraft 60 from the flight path.

[0159] [4-4. Composition of the flight body device]

[0160] Figure 6 This is a diagram illustrating an example configuration of the flight device 60 according to the embodiment. The flight device 60 may include a terminal device 10, a communication unit 61, a power supply 62, a motor 63, and a camera 64.

[0161] (Regarding terminal device 10)

[0162] The aircraft 60 may be equipped with a positioning module that performs localization using RTK calculations based on correction information distributed from the distribution device 100. For example, the aircraft 60 may be equipped with a terminal device 10-x (terminal device 10) as the positioning module.

[0163] (Regarding the Ministry of Communications, 61)

[0164] The communication unit 61 can be implemented, for example, by a NIC. Furthermore, the communication unit 61 can be connected to the network N via wired or wireless means. For example, the communication unit 61 can transmit and receive information with the user's terminal device T (such as a smartphone) and the determining device 200 via the network N. The communication unit 61 can also replace the communication unit 11 of the terminal devices 10-x to transmit and receive information with the distribution device 100 and the determining device 200.

[0165] (Regarding power supply 62)

[0166] The power source 62 can be a lithium-ion battery or the like. The power source 62 is capable of supplying power to various parts of the aircraft 60.

[0167] (Regarding electric motors 63)

[0168] The electric motor 63 is capable of rotating the various propellers (not shown) on the flight body 60. Additionally, the flight body device 60 may include an electric motor controller that controls the rotation of the electric motor 63.

[0169] (Regarding camera 64)

[0170] The camera 64 may include, for example, an imaging element and an illumination unit. The imaging element may be a light sensor that outputs a signal corresponding to the projected light. The imaging element may be, for example, a light sensor using CMOS (Complementary Metal Oxide Semiconductor) or CCD (Charge Coupled Device). The illumination unit is capable of emitting light toward the imaging area.

[0171] (Regarding Control Department 65)

[0172] The control unit 65 can be implemented by using a CPU, GPU, MPU, or similar device to execute various programs stored in the internal storage device of the flight vehicle device 60, with RAM as the working area. Alternatively, the control unit 65 can be implemented using integrated circuits such as ASICs or FPGAs.

[0173] The control unit 65 may include a calibrated position information acquisition unit 65a, a path information acquisition unit 65b, and a flight control unit 65c. Furthermore, the internal configuration of the control unit 65 is not limited to... Figure 6 The configuration shown can be any other configuration as long as it involves the information processing described later. Furthermore, the connection relationships between the various processing units in the control unit 65 are not limited to... Figure 6 The connection relationship shown can also be other connection relationships.

[0174] (Regarding the calibrated location information acquisition unit 65a)

[0175] The calibrated position information acquisition unit 65a can acquire the calibrated position information obtained by RTK calculation performed by the calibration unit 13e of the terminal device 10.

[0176] (Regarding the route information acquisition section 65b)

[0177] The path information acquisition unit 65b can acquire (receive) the path information sent by the instruction unit 234 of the determination device 200.

[0178] (Regarding Flight Control Unit 65c)

[0179] The flight control unit 65c is capable of controlling the flight of the flying body 60. For example, the flight control unit 65c can control the flight of the flying body 60 based on the path information acquired by the path information acquisition unit 65b. For example, the flight control unit 65c can control the flight of the flying body 60 based on the corrected position information acquired by the corrected position information acquisition unit 65a and the path information acquired by the path information acquisition unit 65b. For example, the flight control unit 65c controls the flight of the flying body 60 while comparing the current position shown by the latest corrected position information with the position of the trajectory shown by the acquired path information, so as to adjust it so that it does not deviate from the position of the trajectory and flies towards the target location.

[0180] [5. Regarding path determination processing]

[0181] The path determination process performed by the determining device 200 (specifically, the determining unit 233) will be described. The user can install the terminal devices 10-x at any location. The user can utilize the installed terminal devices 10-x. For example, the user can set the flight path of the aircraft according to their purpose. The user can install any number of terminal devices 10-x at any location according to their purpose. Furthermore, the user can input the definition information for defining the flight path of the aircraft into the determining device 200. Figures 7 to 16 The text shows an example of a modified method (setting mode) for setting the terminal device 10-x and an example of definition information that can be input based on this modified method. Additionally, in... Figures 7 to 16 The image shows an example of path determination processing based on the input definition information.

[0182] Furthermore, the variations of the setting method and definition information shown in the following examples are merely examples, and users can perform various settings and inputs according to their purposes. Additionally, the path determination processing involved in the implementation is not limited to the examples below. Furthermore, in Figures 7 to 16 In this document, values ​​representing direction, distance, and altitude are indicated using the designations "N71" to "N141," but any value can be applied to match the situation and purpose. That is, the path determination process involved in this implementation can apply any value based on the content of the defined information. Furthermore, in the following description, for ease of explanation, the directions, distances, and altitudes indicated by the designations "N71" to "N141" are described as specific, such as "10m directly above," but the definition information defined by user U1 is not limited to this. That is, user U1 can use any direction, distance, and altitude to define the target location.

[0183] [5-1. Path Determination Processing (1)]

[0184] Figure 7Figure (1) illustrates an example of the path determination process involved in the implementation method. Figure 7 The example illustrates the case where a terminal device 10-1 is placed at the destination location and used as the target. That is, user U1 can input definition information to the determining device 200 to define a straight flight path starting from the terminal device 10-1 while the terminal device 10-1 is placed at the destination location and used as the target.

[0185] User U1 can, for example, input definition information of target locations on the flight path using direction, distance, and altitude, with terminal device 10-1 as the starting point, into determining device 200. Specifically, user U1 can, for example, input definition information of target locations on the flight path using direction, distance, and altitude in the manner of ["a location 10m directly above (corresponding to N71)" (target location M11), "a location 3m east (corresponding to N72)" (target location M12) from target location M11, and "a location 5m north (corresponding to N73)" (target location M13) from target location M12], to determining device 200. The receiving unit 232 of determining device 200 can receive this definition information.

[0186] Furthermore, users might envision inputting such definition information when they have purposes such as wanting to photograph a specific area from above using a specific trajectory, or wanting to disperse pesticides from above using a specific trajectory.

[0187] Furthermore, here, corresponding to the user U1 setting the terminal device 10-1 at the target location, the calibrated location information acquisition unit 231 can acquire the calibrated location information corresponding to the terminal device 10-1 from the distribution device 100.

[0188] Furthermore, the determining unit 233 can, for example, calculate the position of the target location M11 based on the position shown in the calibrated position information corresponding to the terminal device 10-1 (reference coordinate P10-1) and satisfying the condition that the position is "10m directly above" the terminal device 10-1. For example, the determining unit 233 can calculate the relative coordinate m11 based on the reference coordinates P10-1 (x1, y1, z1) and the height "10m", thereby determining the relative coordinate m11 as the position of the target location M11.

[0189] Furthermore, the determining unit 233 can, for example, calculate the position of the target location M12 based on the position shown by the calibrated position information corresponding to the terminal device 10-1 (reference coordinate P10-1) and satisfying the condition that the target location is located at a position "10m directly above" and "3m east" relative to the terminal device 10-1. For example, the determining unit 233 can calculate the relative coordinate m12 based on the reference coordinates P10-1 (x1, y1, z1), the altitude "10m", and "3m east", thereby determining the relative coordinate m11 as the position of the target location M12.

[0190] Furthermore, the determining unit 233 can, for example, calculate the position of the target location M13 based on the position shown by the calibrated position information corresponding to the terminal device 10-1 (reference coordinate P10-1) and satisfying the following conditions: [a location 10m directly above the terminal device 10-1, then 3m east, then 5m north]. For example, the determining unit 233 can calculate the relative coordinates m13 based on the reference coordinates P10-1 (x1, y1, z1), the altitude "10m", "3m east", and "5m north", thereby determining the relative coordinates m13 as the position of the target location M13.

[0191] Furthermore, the determination unit 233 can, for example, determine a straight track K1, which is a combination of a straight track from target location M11 towards target location M12 and a straight track from target location M12 towards target location M13, as the flight path. Moreover, the determination unit 233 can instruct the flight body 60 to fly in a straight line from target location M11 (starting target) to target location M13 (reaching target) via target location M12 by inputting path information representing track K1.

[0192] Furthermore, users can also set a flight path that is both straight and angled from the location where the terminal device 10-1 is installed to the target location M12 by defining the starting target as the location where the terminal device 10-1 is installed (reference coordinate P10-1) and the target location M12 as the destination target. Additionally, users can also set a flight path that is both straight and angled from the location where the terminal device 10-1 is installed to, for example, the target location M12 by defining the direction, distance, and angle relative to the location where the terminal device 10-1 is installed (reference coordinate P10-1).

[0193] Additionally, users can define a circular flight path by specifying the center point and radius. Figure 7For example, a user can define a circular flight path by defining the target location M11 as the center of the circle and the distance between the target locations M11 and M12 as the radius. Alternatively, a user can define the target location M13 as the starting target, and then define the direction and altitude relative to the target location M13, thereby setting a flight path that temporarily flies towards the target location M13 and then moves in a straight line from there while maintaining a specific direction and altitude.

[0194] Here, the user can make the flying body 60 take off from the location where the terminal device 10-x is installed. That is, the flying body 60 can, for example, take off from the location where the terminal device 10-1 is installed and fly towards the target location M11. Moreover, the flying body 60 can fly from the target location M11 to the target location M13.

[0195] Alternatively, the user can also launch the aircraft 60 from a predetermined distance away from the location where the terminal device 10-x is located. In this case, the receiving unit 232 can, for example, receive definition information defining the takeoff location. For example, the receiving unit 232 can receive definition information that uses the terminal device 10-1 as the starting point, such as "taking a location 100m away from the terminal device 10-1 as the takeoff location". That is, the aircraft 60 can take off from the takeoff location and fly towards the target location M11. Moreover, the aircraft 60 can fly from the target location M11 to the target location M13. Furthermore, after reaching the target location M13, the aircraft 60 can return to the takeoff location and land.

[0196] Furthermore, the flying body 60 can land at any location after reaching the target location M13. For example, the flying body 60 can land at the takeoff location. For example, the flying body 60 can land at the location where the terminal device 10-1 is installed. For example, the flying body 60 can land at a dedicated station that houses the flying body 60. For example, the flying body 60 can land at any location specified by the user.

[0197] Furthermore, the determination unit 233 can determine the takeoff point for the aircraft 60 to take off toward the flight path based on the corrected position information corresponding to the terminal device 10-x that is the target of use.

[0198] For example, the determination unit 233 can calculate the position of the takeoff point as the relative position based on the position shown by the calibrated position information corresponding to the terminal device 10-x and the position that satisfies the definition information of the defined takeoff point. The determination unit 233 can instruct the takeoff from the calculated position toward the flight path. In this case, the flight body 60 can, for example, temporarily fly toward the takeoff point from the current position and land at the takeoff point. Thereafter, the flight body 60 can take off toward the target location (e.g., the starting target) included in the flight path.

[0199] [5-2. Path Determination Processing (2)]

[0200] Figure 8 Figure (2) illustrates an example of the path determination process involved in the implementation method. Figure 8 An example is given below: For purposes such as inspecting the wall corresponding to a predetermined floor of building BD, user U1 installs terminal device 10-1 at one end of the ground of building BD corresponding to that wall, and terminal device 10-2 at the other end. For example, user U1 can install terminal device 10-1 at a location 3m away from one end of the ground of building BD (corresponding to N81), and terminal device 10-2 at a location 3m away from the other end of the ground of building BD (corresponding to N82). That is, user U1 can, for example, input definition information defining a straight flight path originating from these terminal devices into the determination device 200 while using terminal devices 10-1 and 10-2.

[0201] Specifically, user U1 can, for example, input definition information of the target location on the flight path, such as "from a location 10m above (corresponding to N83) relative to terminal device 10-1" (target location M21) to a location 10m above (corresponding to N84) relative to terminal device 10-2" (target location M23), using direction and altitude, into the determining device 200. In this case, the receiving unit 232 of the determining device 200 can receive the definition information.

[0202] Furthermore, in the case where user U1 sets terminal device 10-1 at the destination location, the calibrated location information acquisition unit 231 can acquire the calibrated location information corresponding to terminal device 10-1 from the distribution device 100. Similarly, in the case where user U1 sets terminal device 10-2 at the destination location, the calibrated location information acquisition unit 231 can acquire the calibrated location information corresponding to terminal device 10-2 from the distribution device 100.

[0203] Furthermore, the determining unit 233 can calculate the position of the target location based on the relative positions (reference coordinates) of the two terminal devices 10-x, which satisfy the defined information. Specifically, the determining unit 233 can calculate the relative coordinates m21 based on the reference coordinates P10-1 (x3, y3, z3) corresponding to terminal device 10-1 and the height "10m". Moreover, the determining unit 233 can determine the calculated relative coordinates m21 as the position of the target location M21. Additionally, the determining unit 233 can calculate the relative coordinates m22 based on the reference coordinates P10-2 (x4, y4, z4) corresponding to terminal device 10-2 and the height "10m". Moreover, the determining unit 233 can determine the calculated relative coordinates m22 as the position of the target location M22.

[0204] Furthermore, the determination unit 233 can determine a straight-line trajectory K2, which is a vector from target location M21 toward target location M22, as the flight path. Moreover, the determination unit 233 can input path information representing trajectory K2 into the flight body 60. That is, the determination unit 233 can instruct the flight body 60 to fly in a straight line from target location M21 (starting target) to target location M22 (reaching target).

[0205] [5-3. Path Determination Processing (3)]

[0206] exist Figure 8 The example shown is an example of inputting definition information to set a flight path by defining a line segment connecting the respective airspace locations of the two terminal devices 10-x. However, the user U1 can input definition information by further extending the line segment connecting the respective airspace locations of the two terminal devices 10-x by a predetermined distance to set the flight path. Figure 9 An example of such definition information and an example of path determination processing based on this definition information are shown below. Figure 8 Corresponding variations. Figure 9 Figure (3) shows an example of the path determination process involved in the implementation method.

[0207] As definition information for setting a flight path that further extends the predetermined distance, user U1 can, for example, input definition information such as "extending from a location 10m above terminal device 10-2 (target location M22) to a location 5m (corresponding to N91) (target location M23)" into determining device 200. In this case, receiving unit 232 of determining device 200 can receive the definition information.

[0208] Furthermore, the determination unit 233 can calculate position information based on the vector (direction) from the target location M21 towards M22 and the reference coordinates P10-2 (x4, y4, z4). For example, the determination unit 233 can calculate the relative coordinates m23 based on the position information representing the location of the target location M21 and an extended distance "5m". Moreover, the determination unit 233 can determine the relative coordinates m23 as the position of the target location M23.

[0209] Furthermore, the determination unit 233 can determine the flight path as a straight track K21 that vectors from target location M21 toward target location M23. Moreover, the determination unit 233 can input path information representing track K21 into the flight body 60. That is, the determination unit 233 can instruct the flight body 60 to fly in a straight line from target location M21 (starting target) via target location M22 to target location M23 (reaching target).

[0210] [5-4. Path Determination Processing (4)]

[0211] Figure 10 Figure (4) illustrates an example of the path determination process involved in the implementation method. Figure 10 An example is illustrated below: For the purpose of inspecting, for instance, the walls corresponding to floors 2 through 5 of building BD, user U1 installs terminal device 10-1 at one end of the ground of building BD corresponding to the affected walls, and terminal device 10-2 at the other end. For example, user U1 can install terminal device 10-1 at a location 3m away from one end of the ground of building BD (corresponding to N101), and terminal device 10-2 at a location 3m away from the other end of the ground of building BD (corresponding to N102). That is, user U1, for example, can input definition information of the vertex locations of each vertex of the planar area, using these terminal devices as starting points, into the determining device 200 while using terminal devices 10-1 and 10-2 as the target.

[0212] Specifically, user U1 can input definition information 1 to the determining device 200, such as: [a vertex (vertex location T11) is located 5m above N103 relative to terminal device 10-1, and a vertex (vertex location T12) is located 15m above N104 relative to terminal device 10-1]. Additionally, user U1 can input definition information 2 to the determining device 200, such as: [a vertex (vertex location T21) is located 5m above N105 relative to terminal device 10-2, and a vertex (vertex location T21) is located 15m above N106 relative to terminal device 10-2]. Furthermore, user U1 can input definition information 3 to the determining device 200, such as: [a planar region is formed by connecting the four vertex locations determined by definition information 1 and 2]. The receiving unit 232 of the determining device 200 can receive this series of definition information.

[0213] Furthermore, in the case where user U1 sets terminal device 10-1 at the destination location, the calibrated location information acquisition unit 231 can acquire the calibrated location information corresponding to terminal device 10-1 from the distribution device 100. Similarly, in the case where user U1 sets terminal device 10-2 at the destination location, the calibrated location information acquisition unit 231 can acquire the calibrated location information corresponding to terminal device 10-2 from the distribution device 100.

[0214] In addition, the determining unit 233 can calculate the position of the vertex location based on the relative position (reference coordinates) of the two terminal devices 10-x and satisfying the definition information 1 to 3.

[0215] Specifically, the determining unit 233 can, for example, calculate the relative coordinate t11 based on the reference coordinates P10-1 (x3, y3, z3) corresponding to the terminal device 10-1 and the height "5m". Furthermore, the determining unit 233 can determine the relative coordinate t11 as the position of the vertex location T11. Additionally, the determining unit 233 can, for example, calculate the relative coordinate t12 based on the reference coordinates P10-1 (x3, y3, z3) corresponding to the terminal device 10-1 and the height "15m". Furthermore, the determining unit 233 can determine the relative coordinate t12 as the position of the vertex location T12. Furthermore, the determining unit 233 can, for example, calculate the relative coordinate t21 based on the reference coordinates P10-2 (x4, y4, z4) corresponding to the terminal device 10-2 and the height "5m". Furthermore, the determining unit 233 can determine the relative coordinate t21 as the position of the vertex location T21. Furthermore, the determining unit 233 can calculate the relative coordinate t22, for example, based on the reference coordinates P10-2 (x4, y4, z4) corresponding to the terminal device 10-2 and the height "15m". Moreover, the determining unit 233 can determine the relative coordinate t22 as the position of the vertex location T22.

[0216] Furthermore, the determination unit 233 can connect the four determined vertex locations T11, T12, T21, and T22 to generate a planar region AR11. For example, the determination unit 233 can determine a trajectory such as moving along the planar region AR11 within the planar region AR11 as a flight path. Additionally, the determination unit 233 can input path information representing the determined flight path into the flying body 60. That is, the determination unit 233 can instruct the flying body 60 to move entirely within the planar region AR11. Moreover, when the flying body 60 is flying while capturing a flight path, the determination unit 233 can also determine the flight path using the overlap rate of the captured images. For example, the determination unit 233 can calculate the overlap rate for the direction of travel, the overlap rate for adjacent images, and determine the captured image as a flight path with the calculated overlap rate.

[0217] [5-5. Path Determination Processing (5)]

[0218] Figure 11 Figure (5) illustrates an example of the path determination process involved in the implementation method. Figure 11An example is illustrated below: To achieve the goal of making the flying object 60 fly around a three-dimensional area such as a building BD in a predetermined manner, the user U1 installs terminal device 10-1 at one end of the ground of building BD and terminal device 10-2 at the other end. For example, the user U1 can install terminal device 10-1 at a distance of 3m from one end of the ground of building BD and terminal device 10-2 at a distance of 3m from the other end of the ground of building BD. That is, the user U1 can, for example, input the definition information of the vertex locations of each vertex of the three-dimensional area, defined from these terminal devices, into the determining device 200 while using terminal devices 10-1 and 10-2 as the target.

[0219] Specifically, user U1 can input definition information 1, such as [a vertex (vertex location T31) with the position of terminal device 10-1 as a vertex and a vertex (vertex location T34) with a depth of 10m (corresponding to N111) relative to terminal device 10-1], into the determining device 200. Additionally, user U1 can input definition information 2, such as [a vertex (vertex location T32) with the position of terminal device 10-2 as a vertex and a vertex (vertex location T33) with a depth of 10m (corresponding to N112) relative to terminal device 10-2], into the determining device 200. Furthermore, user U1 can input definition information 3, such as [a three-dimensional region with a height of 30m (corresponding to N113) as the base of the surface connecting vertex locations T31 to T34], into the determining device 200. The receiving unit 232 of the determining device 200 can receive this series of definition information.

[0220] Furthermore, in the case where user U1 sets terminal device 10-1 at the destination location, the calibrated location information acquisition unit 231 can acquire the calibrated location information corresponding to terminal device 10-1 from the distribution device 100. Similarly, in the case where user U1 sets terminal device 10-2 at the destination location, the calibrated location information acquisition unit 231 can acquire the calibrated location information corresponding to terminal device 10-2 from the distribution device 100.

[0221] In addition, the determining unit 233 can calculate the position of the vertex location based on the corrected position information corresponding to each of the two terminal devices 10-x (reference coordinates) and satisfying the definition information 1 and 2.

[0222] Specifically, the determining unit 233 can, for example, determine the reference coordinates P10-1 (x3, y3, z3) corresponding to the terminal device 10-1 as the position of vertex location T31. Furthermore, the determining unit 233 can, for example, calculate the relative coordinate t34 based on the reference coordinates P10-1 (x3, y3, z3) corresponding to the terminal device 10-1 and the depth "10m". Moreover, the determining unit 233 can determine the relative coordinate t34 as the position of vertex location T34. Additionally, the determining unit 233 can, for example, determine the reference coordinates P10-2 (x4, y4, z4) corresponding to the terminal device 10-2 as the position of vertex location T32. Furthermore, the determining unit 233 can, for example, calculate the relative coordinate t33 based on the reference coordinates P10-2 (x4, y4, z4) corresponding to the terminal device 10-2 and the depth "10m", thereby determining the relative coordinate t33 as the position of vertex location T33.

[0223] Furthermore, the determining unit 233 can calculate the position of the vertex location based on the relative position (reference coordinates) of the two terminal devices 10-x, which satisfies the definition information 3. For example, the determining unit 233 can calculate the remaining four vertex locations (vertex locations T35 to T38) corresponding to the height "30m" when the surface connecting vertex locations T31 to T34 is the base.

[0224] For example, the determination unit 233 can calculate relative coordinates t35 and t38 based on the reference coordinates P10-1 (x3, y3, z3), depth "10m", and height "30m" corresponding to the terminal device 10-1. Furthermore, the determination unit 233 can determine the relative coordinate t35 as the position of vertex location T35, and the relative coordinate t38 as the position of vertex location T38. Additionally, for example, the determination unit 233 can calculate relative coordinates t36 and t37 based on the reference coordinates P10-2 (x4, y4, z4), depth "10m", and height "30m" corresponding to the terminal device 10-2. Moreover, the determination unit 233 can, for example, determine the relative coordinate t36 as the position of vertex location T36, and the relative coordinate t37 as the position of vertex location T37.

[0225] In addition, the determining unit 233 can connect the eight determined vertex locations T31 to T38 to generate a three-dimensional region AR12.

[0226] Furthermore, the determining unit 233 can determine the flight path based on the three-dimensional region AR12. For example, the determining unit 233 can determine the trajectory of the flying body moving along a predetermined planar region (e.g., a planar region connecting vertex points T31, T32, T35, and T36) within the planar region constituting the three-dimensional region AR12 as the flight path. Additionally, for example, the determining unit 233 can determine the trajectory of the flying body 60 moving outside the three-dimensional region AR12 without entering its interior as the flight path. Furthermore, for example, the determining unit 233 can determine the trajectory of the flying body moving inside the three-dimensional region AR12 without leaving its interior as the flight path.

[0227] In addition, Figure 11 In the example, the determining unit 233 generates a so-called cubic three-dimensional region in space based on the definition information determined by the user U1. However, the user can define a three-dimensional region of arbitrary shape according to the definition information. That is, the user can, for example, determine the determining unit 233 to generate three-dimensional regions of various shapes based on the positional relationship of the terminal devices 10-x or the height. In other words, the determining unit 233 can generate a three-dimensional region of arbitrary shape based on the definition information. For example, in Figure 11 In the example, the determination unit 233 can generate a cubic solid region in space based on the height. Alternatively, for example, when the determination unit 233 defines a total of six vertex locations using three vertex locations T31, T32, and T33 (or possibly vertex location T34) and a height, it can generate a triangular prism solid region in space.

[0228] [5-6. Path determination processing (6)]

[0229] Figure 12 Figure (6) illustrates an example of the path determination process involved in the implementation method. Figure 12 The following example illustrates a scenario where, for the purpose of making the flying object 60 fly around a three-dimensional area such as a building BD in a predetermined manner, the user U1 installs terminal devices 10-1, 10-2, and 10-3 at three points on the ground of the building BD. Figure 11 Compared to the examples, Figure 12 The example differs in that a terminal device 10-3 is further installed at another end of the ground of the building BD. That is, the user U1 can, for example, input the definition information of the vertex locations of each vertex of the three-dimensional region defined from these terminal devices into the determining device 200 while using the terminal devices 10-1 to 10-3 as the target.

[0230] Specifically, user U1 can input definition information 1, such as "[the position of terminal device 10-1 is a vertex (vertex location T31)]", into the determining device 200. Additionally, user U1 can input definition information 2, such as "[the position of terminal device 10-2 is a vertex (vertex location T32)]", into the determining device 200. Furthermore, user U1 can input definition information 3, such as "[the position of terminal device 10-3 is a vertex (vertex location T33)]", into the determining device 200. Additionally, user U1 can input definition information 4, such as "[a vertex is set at a position on the diagonal based on definition information 1-3 (vertex location T34)]", into the determining device 200. Finally, user U1 can input definition information 5, such as "[a three-dimensional region with a height of "30m" (corresponding to N121) as the base of the surface connecting vertex locations T31-T34]", into the determining device 200.

[0231] Furthermore, when user U1 sets terminal device 10-1 at the destination location, the calibrated location information acquisition unit 231 can acquire the calibrated location information corresponding to terminal device 10-1 from the distribution device 100. Similarly, when user U1 sets terminal device 10-2 at the destination location, the calibrated location information acquisition unit 231 can acquire the calibrated location information corresponding to terminal device 10-2 from the distribution device 100. And when user U1 sets terminal device 10-3 at the destination location, the calibrated location information acquisition unit 231 can acquire the calibrated location information corresponding to terminal device 10-3 from the distribution device 100.

[0232] In addition, the determination unit 233 can calculate the position of the vertex location based on the corrected position information corresponding to each of the three ground terminal devices 10-x (reference coordinates) and satisfying the definition information 1 to 4.

[0233] Specifically, the determining unit 233 can, for example, determine the reference coordinates P10-1 (x3, y3, z3) corresponding to the terminal device 10-1 as the position of vertex location T31. Furthermore, the determining unit 233 can, for example, determine the reference coordinates P10-2 (x4, y4, z4) corresponding to the terminal device 10-2 as the position of vertex location T32. Additionally, the determining unit 233 can, for example, determine the reference coordinates P10-3 (x5, y5, z5) corresponding to the terminal device 10-3 as the position of vertex location T33. Furthermore, the determining unit 233 can, for example, calculate the relative coordinate t34 based on these three reference coordinates, thereby determining the relative coordinate t34 as the position of vertex location T34.

[0234] Furthermore, the determination unit 233 can calculate the position of the vertex location based on the relative position information (reference coordinates) corresponding to each of the three ground terminal devices 10-x and satisfying the definition information 5. For example, the determination unit 233 can calculate the remaining four vertex locations (vertex locations T35 to T38) corresponding to the height "30m" when the surface connecting vertex locations T31 to T34 is the base.

[0235] For example, the determining unit 233 can calculate the relative coordinate t35 based on the reference coordinates P10-1 (x3, y3, z3) corresponding to the terminal device 10-1 and the height "30m", thereby determining the relative coordinate t35 as the position of the vertex location T35. Alternatively, for example, the determining unit 233 can calculate the relative coordinate t36 based on the reference coordinates P10-2 (x4, y4, z4) corresponding to the terminal device 10-2 and the height "30m". Furthermore, the determining unit 233 can determine the relative coordinate t36 as the position of the vertex location T36. Additionally, for example, the determining unit 233 can calculate the relative coordinate t37 based on the reference coordinates P10-1 (x5, y5, z5) corresponding to the terminal device 10-3 and the height "30m". Furthermore, the determining unit 233 can determine the relative coordinate t37 as the position of the vertex location T37. Additionally, for example, the determining unit 233 can calculate the remaining relative coordinate t38 based on the correlation between the relative coordinates t35 to t37. Furthermore, the determining unit 233 can determine the relative coordinate t38 as the position of the vertex location T38.

[0236] Furthermore, the determination unit 233 can connect the eight determined vertex locations T31 to T38 to generate a three-dimensional region AR12. Additionally, the determination unit 233 can determine the flight path of the flying object based on the definition information determined by the user U1. Moreover, the flight path can be the same trajectory described in the path determination process (5). Furthermore, the determination unit 233 can input path information representing the determined flight path into the flying object 60.

[0237] [5-7. Path Determination Processing (7)]

[0238] Figure 13 Figure (7) illustrates an example of the path determination process involved in the implementation method. Figure 13 An example is given below: For a purpose such as making the flying vehicle 60 fly around a three-dimensional area like a building BD in a predetermined manner, the user U1 installs terminal devices 10-1 and 10-2 at opposite ends of the ground of the building BD, and terminal device 10-3 on the roof of the building BD. Figure 12 Compared to the examples, Figure 13 The examples differ in the location of the terminal device 10-3 on building BD. Specifically, in Figure 12 In the example, a terminal device 10-3 is installed at one end of the ground of building BD in a manner that specifies one of the vertex locations, unlike in... Figure 13 In the example, it is installed on the roof of building BD at a specified height. That is, user U1 can, for example, input the definition information of the vertex locations of each vertex of the three-dimensional region defined from these terminal devices into the determining device 200 while using terminal devices 10-1 to 10-3 as the target.

[0239] Specifically, user U1 can input definition information 1, such as "[a vertex is defined as the position of terminal device 10-1 (vertex location T31) and a vertex is defined as the location with a depth of 10m (corresponding to N131) relative to terminal device 10-1 (vertex location T34)]", into the determining device 200. Additionally, user U1 can input definition information 2, such as "a vertex is defined as the position of terminal device 10-2 (vertex location T32) and a vertex is defined as the location with a depth of 10m (corresponding to N132) relative to terminal device 10-2 (vertex location T33)", into the determining device 200. Furthermore, user U1 can input definition information 3, such as "a three-dimensional region with the surface connecting vertex locations T31 to T34 as its base and the position of terminal device 10-3 as its height", into the determining device 200.

[0240] In this case, the determining unit 233 can calculate the position of the vertex location based on the corrected position information corresponding to the two ground terminal devices 10-x (reference coordinates) and satisfying the definition information 1 and 2.

[0241] Specifically, the determining unit 233 can, for example, determine the reference coordinates P10-1 (x3, y3, z3) corresponding to the terminal device 10-1 as the position of vertex location T31. Furthermore, the determining unit 233 can, for example, calculate the relative coordinate t34 based on the reference coordinates P10-1 (x3, y3, z3) corresponding to the terminal device 10-1 and the depth "10m". Moreover, the determining unit 233 can determine the relative coordinate t34 as the position of vertex location T34. Additionally, the determining unit 233 can, for example, determine the reference coordinates P10-2 (x4, y4, z4) corresponding to the terminal device 10-2 as the position of vertex location T32. Furthermore, the determining unit 233 can, for example, calculate the relative coordinate t33 based on the reference coordinates P10-2 (x4, y4, z4) corresponding to the terminal device 10-2 and the depth "10m". Moreover, the determining unit 233 can determine the relative coordinate t33 as the position of vertex location T33.

[0242] Furthermore, the determining unit 233 can calculate the position of the vertex location based on the coordinates (reference coordinates) of the position shown by the calibrated position information corresponding to each of the terminal devices 10-x, and the position that satisfies definition information 3. For example, the determining unit 233 can calculate the remaining four vertex locations (vertex locations T35 to T38) by applying the height represented by the reference coordinates P10-3 (x6, y6, z6) corresponding to the terminal device 10-3 to the surface formed by connecting vertex locations T31 to T34.

[0243] For example, the determination unit 233 can calculate relative coordinates t35 and t38 based on the reference coordinates P10-1 (x3, y3, z3), depth "10m", and reference coordinate P10-3 corresponding to the terminal device 10-1. Furthermore, the determination unit 233 can determine the relative coordinate t35 as the position of vertex location T35 and the relative coordinate t38 as the position of vertex location T38. Alternatively, for example, the determination unit 233 can calculate relative coordinates t36 and t37 based on the reference coordinates P10-2 (x4, y4, z4), depth "10m", and reference coordinate P10-3 corresponding to the terminal device 10-2. Furthermore, the determination unit 233 can determine the relative coordinate t36 as the position of vertex location T36 and the relative coordinate t37 as the position of vertex location T37.

[0244] Furthermore, the determination unit 233 can connect the eight determined vertex locations T31 to T38 to generate a three-dimensional region AR12. Additionally, the determination unit 233 can determine the flight path based on the definition information provided by the user U1. Moreover, the flight path can be the same trajectory described in the path determination process (5). Furthermore, the determination unit 233 can input path information representing the determined flight path into the flight body 60.

[0245] [5-8. Path Determination Processing (8)]

[0246] Figure 14 Figure (8) illustrates an example of the path determination process involved in the implementation method. Figure 14 The following example illustrates a scenario where, for the purpose of making the flying object 60 fly around a three-dimensional area such as a building BD in a predetermined manner, the user U1 installs terminal devices 10-1, 10-2, 10-3, and 10-4 at the four ends of the ground of the building BD. Figure 12 In comparison, Figure 14 The example also adds a terminal device 10-x (a total of four). Additionally, with... Figure 12 In comparison, Figure 14 In the example, an additional terminal device 10-x is also installed at the remaining end of building BD. Specifically, in Figure 14In the example, the added terminal device 10-4 is located at the remaining end of the building BD. That is, the user U1 can, for example, input the definition information of the vertex locations of each vertex of the three-dimensional region defined from these terminal devices into the determining device 200 while using the terminal devices 10-1 to 10-4 as the objects of use.

[0247] Specifically, user U1 can input definition information 1, such as "[the position of terminal device 10-1 is a vertex (vertex location T31)]", into the determining device 200. Additionally, user U1 can input definition information 2, such as "[the position of terminal device 10-2 is a vertex (vertex location T32)]", and so on. Furthermore, user U1 can input definition information 3, such as "[the position of terminal device 10-3 is a vertex (vertex location T33)]", and so on. Additionally, user U1 can input definition information 4, such as "[the position of terminal device 10-4 is a vertex (vertex location T34)]", into the determining device 200. Finally, user U1 can input definition information 5, such as "[a three-dimensional region with a height of "30m" (corresponding to N141) as the base of the surface connecting vertex locations T31 to T34]", into the determining device 200.

[0248] In this case, the determination unit 233 can calculate the position of the vertex location based on the corrected position information corresponding to each of the four ground terminal devices 10-x (reference coordinates) and satisfying the definition information 1 to 4.

[0249] Specifically, the determining unit 233 can, for example, determine the reference coordinates P10-1 (x3, y3, z3) corresponding to the terminal device 10-1 as the position of vertex location T31. Furthermore, the determining unit 233 can, for example, determine the reference coordinates P10-2 (x4, y4, z4) corresponding to the terminal device 10-2 as the position of vertex location T32. Additionally, the determining unit 233 can, for example, determine the reference coordinates P10-3 (x5, y5, z5) corresponding to the terminal device 10-3 as the position of vertex location T33. Furthermore, the determining unit 233 can, for example, determine the reference coordinates P10-3 (x7, y7, z7) corresponding to the terminal device 10-4 as the position of vertex location T34.

[0250] Furthermore, the determining unit 233 can calculate the position of the vertex location based on the relative position (reference coordinates) of the four terminal devices 10-x and satisfying the definition information 5. For example, the determining unit 233 can calculate the remaining four vertex locations (vertex locations T35 to T38) corresponding to the height "30m" when the surface connecting vertex locations T31 to T34 is the base.

[0251] For example, the determining unit 233 can calculate the relative coordinate t35 based on the reference coordinates P10-1 (x3, y3, z3) corresponding to the terminal device 10-1 and the height "30m". Furthermore, the determining unit 233 can determine the relative coordinate t35 as the position of the vertex location T35. Additionally, the determining unit 233 can calculate the relative coordinate t36 based on the reference coordinates P10-2 (x4, y4, z4) corresponding to the terminal device 10-2 and the height "30m". Furthermore, the determining unit 233 can determine the relative coordinate t36 as the position of the vertex location T36. Furthermore, the determining unit 233 can calculate the relative coordinate t37 based on the reference coordinates P10-1 (x5, y5, z5) corresponding to the terminal device 10-3 and the height "30m". Furthermore, the determining unit 233 can determine the relative coordinate t37 as the position of the vertex location T37. Furthermore, the determining unit 233 can calculate the relative coordinate t38, for example, based on the reference coordinates P10-4 (x7, y7, z7) corresponding to the terminal device 10-4 and the height "30m". Moreover, the determining unit 233 can determine the relative coordinate t38 as the position of the vertex location T38.

[0252] Furthermore, the determination unit 233 can connect the eight determined vertex locations T31 to T38 to generate a three-dimensional region AR12. Additionally, the determination unit 233 can determine the flight path based on the definition information provided by the user U1. Moreover, the flight path can be the same trajectory described in the path determination process (5). Furthermore, the determination unit 233 can input path information representing the determined flight path into the flight body 60.

[0253] [5-9. Path Determination Processing (9)]

[0254] Figure 15 Figure (9) illustrates an example of the path determination process involved in the implementation method. Figure 15 The following example illustrates a scenario where, for the purpose of making the flying object 60 fly around a three-dimensional area such as a building BD in a predetermined manner, the user U1 installs terminal devices 10-1, 10-2, and 10-3 at three ends of the ground of the building BD, and terminal device 10-4 on the roof of the building BD. Figure 12 Compared to the examples, Figure 15 The example also adds a terminal device 10-x (four in total). Additionally, with Figure 12 Compared to the examples, Figure 15 The example also includes the addition of a terminal device 10-x, which is installed on the roof of building BD. Specifically, in Figure 15In the example, the added terminal device 10-4 is installed on the roof of building BD. That is, user U1 can, for example, input the definition information of the vertex locations of each vertex of the three-dimensional region defined from these terminal devices into the determining device 200 while using terminal devices 10-1 to 10-4 as the target.

[0255] Specifically, user U1 can input definition information 1, such as "[the position of terminal device 10-1 is a vertex (vertex location T31)]", into the determining device 200. Additionally, user U1 can input definition information 2, such as "[the position of terminal device 10-2 is a vertex (vertex location T32)]", into the determining device 200. Furthermore, user U1 can input definition information 3, such as "[the position of terminal device 10-3 is a vertex (vertex location T33)]", into the determining device 200. Additionally, user U1 can input definition information 4, such as "[the position on the diagonal based on definition information 1-3 is further taken as a vertex (vertex location T34)]", into the determining device 200. Finally, user U1 can input definition information 5, such as "[a three-dimensional region with the surface connecting vertex locations T31-T34 as its base and the position of terminal device 10-4 as its height]", into the determining device 200.

[0256] In this case, the determination unit 233 can calculate the position of the vertex location based on the corrected position information corresponding to each of the three ground terminal devices 10-x (reference coordinates) and satisfying the definition information 1 to 4.

[0257] Specifically, the determining unit 233 can, for example, determine the reference coordinates P10-1 (x3, y3, z3) corresponding to the terminal device 10-1 as the position of vertex location T31. Furthermore, the determining unit 233 can, for example, determine the reference coordinates P10-2 (x4, y4, z4) corresponding to the terminal device 10-2 as the position of vertex location T32. Additionally, the determining unit 233 can, for example, determine the reference coordinates P10-3 (x5, y5, z5) corresponding to the terminal device 10-3 as the position of vertex location T33. Furthermore, the determining unit 233 can calculate the relative coordinate t34 based on these three reference coordinates. The determining unit 233 can, for example, determine the relative coordinate t34 as the position of vertex location T34.

[0258] Furthermore, the determining unit 233 can calculate the position of the vertex location based on the relative position (reference coordinates) of each of the terminal devices 10-x and satisfying the definition information 5. For example, the determining unit 233 can calculate the remaining four vertex locations (vertex locations T35 to T38) by applying the height represented by the reference coordinates P10-4 (x6, y6, z6) corresponding to the terminal device 10-4 to the surface formed by connecting vertex locations T31 to T34.

[0259] For example, the determining unit 233 can calculate the relative coordinate t35 based on the reference coordinates P10-1 (x3, y3, z3) and reference coordinates P10-4 corresponding to the terminal device 10-1. Furthermore, the determining unit 233 can determine the relative coordinate t35 as the position of the vertex location T35. Additionally, the determining unit 233 can calculate the relative coordinate t36 based on the reference coordinates P10-2 (x4, y4, z4) and reference coordinates P10-4 corresponding to the terminal device 10-2. Furthermore, the determining unit 233 can determine the relative coordinate t36 as the position of the vertex location T36. Furthermore, the determining unit 233 can calculate the relative coordinate t37 based on the reference coordinates P10-3 (x5, y5, z5) and reference coordinates P10-4 corresponding to the terminal device 10-3. Furthermore, the determining unit 233 can determine the relative coordinate t37 as the position of the vertex location T37. Furthermore, the determining unit 233 can calculate the remaining relative coordinate t38 based on the correlation between the relative coordinates t35 to t37. Moreover, the determining unit 233 can determine the relative coordinate t38 as the position of the vertex location T38.

[0260] Furthermore, the determination unit 233 can connect the eight determined vertex locations T31 to T38 to generate a three-dimensional region AR12. Additionally, the determination unit 233 can determine the flight path based on the definition information provided by the user U1. Moreover, the flight path can be the same trajectory described in the path determination process (5). Furthermore, the determination unit 233 can input path information representing the determined flight path into the flight body 60.

[0261] [5-10. Path determination processing (10)]

[0262] Figure 16 Figure (10) illustrates an example of the path determination process involved in the implementation method. Figure 16 The following example illustrates a scenario where, for the purpose of making the flying object 60 fly around a three-dimensional area such as a building BD in a predetermined manner, the user U1 installs terminal devices 10-1, 10-2, 10-3, and 10-4 at each of the four ends of the ground of the building BD, and installs terminal device 10-5 on the roof of the building BD. Compared to example 14, Figure 16The example also adds a terminal device 10-x (a total of five). Furthermore, compared to example 14, in Figure 16 In the example, an additional terminal device 10-x is installed on the roof of building BD. Specifically, in Figure 16 In the example, the added terminal device 10-5 is installed on the roof of building BD. That is, user U1 can, for example, input the definition information of the vertex locations of each vertex of the three-dimensional region defined from these terminal devices into the determining device 200 while using terminal devices 10-1 to 10-5 as the target.

[0263] Specifically, user U1 can input definition information 1, such as "[the position of terminal device 10-1 is a vertex (vertex location T31)]", into the determining device 200. Additionally, user U1 can input definition information 2, such as "[the position of terminal device 10-2 is a vertex (vertex location T32)]", "[the position of terminal device 10-3 is a vertex (vertex location T33)]", "[the position of terminal device 10-4 is a vertex (vertex location T34)]", and "[a three-dimensional region with the surface connecting vertex locations T31 to T34 as its base and the position of terminal device 10-5 as its height]", into the determining device 200.

[0264] In this case, the determination unit 233 can calculate the position of the vertex location based on the corrected position information corresponding to each of the four ground terminal devices 10-x (reference coordinates) and satisfying the definition information 1 to 4.

[0265] Specifically, the determining unit 233 can, for example, determine the reference coordinates P10-1 (x3, y3, z3) corresponding to the terminal device 10-1 as the position of vertex location T31. Furthermore, the determining unit 233 can, for example, determine the reference coordinates P10-2 (x4, y4, z4) corresponding to the terminal device 10-2 as the position of vertex location T32. Additionally, the determining unit 233 can, for example, determine the reference coordinates P10-3 (x5, y5, z5) corresponding to the terminal device 10-3 as the position of vertex location T33. Furthermore, the determining unit 233 can, for example, determine the reference coordinates P10-4 (x7, y7, z7) corresponding to the terminal device 10-4 as the position of vertex location T34.

[0266] Furthermore, the determining unit 233 can calculate the position of the vertex location based on the coordinates (reference coordinates) of the position shown by the calibrated position information corresponding to each of the terminal devices 10-x, and the position that satisfies definition information 5. For example, the determining unit 233 can calculate the remaining four vertex locations (vertex locations T35 to T38) by applying the height represented by the reference coordinates P10-5 (x6, y6, z6) corresponding to the terminal device 10-5 to the surface formed by connecting vertex locations T31 to T34.

[0267] For example, the determining unit 233 can calculate the relative coordinate t35 based on the reference coordinates P10-1 (x3, y3, z3) and reference coordinates P10-5 corresponding to the terminal device 10-1. Furthermore, the determining unit 233 can determine the relative coordinate t35 as the position of the vertex location T35. Additionally, the determining unit 233 can calculate the relative coordinate t36 based on the reference coordinates P10-2 (x4, y4, z4) and reference coordinates P10-5 corresponding to the terminal device 10-2. Furthermore, the determining unit 233 can determine the relative coordinate t36 as the position of the vertex location T36. Furthermore, the determining unit 233 can calculate the relative coordinate t37 based on the reference coordinates P10-3 (x5, y5, z5) and reference coordinates P10-5 corresponding to the terminal device 10-3. Furthermore, the determining unit 233 can determine the relative coordinate t37 as the position of the vertex location T37. Furthermore, the determining unit 233 can calculate the relative coordinate t38 based, for example, on the reference coordinates P10-4 (x7, y7, z7) and reference coordinates P10-5 corresponding to the terminal device 10-4. Moreover, the determining unit 233 can determine the relative coordinate t38 as the position of the vertex location T38.

[0268] Furthermore, the determination unit 233 can connect the eight determined vertex locations T31 to T38 to generate a three-dimensional region AR12. Additionally, the determination unit 233 can determine the flight path based on the definition information provided by the user U1. Moreover, the flight path can be the same trajectory described in the path determination process (5). Furthermore, the determination unit 233 can input path information representing the determined flight path into the flight body 60.

[0269] [6. Processing Steps]

[0270] Next use Figure 17 and Figure 18 The steps of the path control processing in the path determination system 1 according to the implementation method will be described. Figure 17 This section primarily describes the steps involved in path control processing on the server side. Figure 18 The main focus is on explaining the path control processing steps on the 60 side of the flight body.

[0271] [6-1. Processing Steps (1)]

[0272] Figure 17 This is a timing diagram (1) representing the path control processing of the path determination system 1 involved in the implementation.

[0273] First, the terminal device 10-x, which is to be used at any location on the reference path of the aircraft, is powered on. Then, the first receiving unit 13a of the terminal device 10-x begins to receive GNSS signals (step S101). Next, the approximate position calculation unit 13b of the terminal device 10-x calculates position information representing the location (setting position) of the device based on GNSS positioning of the GNSS signals received by the first receiving unit 13a (step S102). That is, the approximate position calculation unit 13b calculates approximate position information based on GNSS signals.

[0274] The first transmitting unit 13c of the terminal device 10-x sends the approximate location information calculated by the approximate location calculation unit 13b to the distribution device 100 (step S103). In this way, the approximate location acquisition unit 131 of the distribution device 100 acquires (receives) the approximate location information sent by the first transmitting unit 13c (step S104).

[0275] When the approximate location information is obtained by the approximate location acquisition unit 131, the request unit 132 of the distribution device 100 sends a distribution request for distributing GNSS signals to the reference station 30 (step S105). For example, the request unit 132 selects the reference station 30 as the processing target based on the approximate location information and sends a distribution request to the selected reference station 30 as the processing target.

[0276] When the reference station 30 receives a distribution request from the request unit 132 (step S106), it sends the GNSS signal detected at the moment the distribution request is received to the distribution device 100 (step S107). The request unit 132 receives the GNSS signal sent from the reference station 30 (step S108).

[0277] The generation unit 133 of the distribution device 100 generates correction information based on the GNSS signal received by the request unit 132, and sends the correction information to the terminal device 10-x (step S109). For example, the generation unit 133 generates correction information based on the known coordinates of the reference station 30 and the GNSS signal.

[0278] The second receiving unit 13d of the terminal device 10-x receives correction information sent from the distribution device 100 (step S110). Furthermore, the correction unit 13e of the terminal device 10-x performs correction calculations based on the correction information received by the second receiving unit 13d to correct the approximate location information calculated by the approximate location calculation unit 13b (step S111). For example, the correction unit 13e corrects the approximate location information using RTK calculations based on the correction information.

[0279] Additionally, the second transmitting unit 13f of the terminal device 10-x transmits the corrected position information obtained by the correction unit 13e using RTK in step S111 to the distribution device 100 (step S112). The corrected position information acquisition unit 134 of the distribution device 100 receives (acquires) the corrected position information transmitted by the second transmitting unit 13f, and the transmitting unit 135 transmits the corrected position information to the determining device 200 (step S113).

[0280] The calibrated position information acquisition unit 231 of the determination device 200 acquires (receives) the calibrated position information sent by the transmission unit 135 (step S114).

[0281] Here, for example, by repeating steps S105 to S114, the latest corrected position information at the current moment is stored in the determining device 200. While the determining device 200 stores the corrected position information, the receiving unit 232 determines whether it has received the definition information for the defined flight path from the user (step S115). During the period when it is determined that the definition information has not been received (step S115; no), the receiving unit 232 remains on standby until it can be determined that the definition information has been received.

[0282] On the other hand, when the determining unit 233 determines that the receiving unit 232 has received the definition information (step S115; Yes), it determines the flight path based on the corrected position information and the definition information (step S116). The path determination process performed here is omitted as it has been described using path determination processes (1) to (10) as examples. Furthermore, the path determination process is not limited to the examples of path determination processes (1) to (10).

[0283] The determining device 200's instruction unit 234 sends path information indicating the flight path, determined by the determining unit 233, to the flight body 60. That is, the determining device 200 instructs the flight body 60 to fly along the flight path shown by the path information (step S117). The flight body device 60's path information acquisition unit 65b acquires (receives) the path information sent by the instruction unit 234 (step S118).

[0284] [6-2. Processing Steps (2)]

[0285] Figure 18 This is a timing diagram (2) illustrating the path control processing of the path determination system 1 involved in the implementation method. Figure 18 In the example, the flight control steps performed on the side of the flying body 60 are explained mainly following step S118.

[0286] The path information acquisition unit 65b determines whether path information can be acquired from the determining device 200 (step S201). If the path information acquisition unit 65b determines that path information cannot be acquired (step S201; No), it remains idle until it can be determined that path information has been acquired. On the other hand, if the flight control unit 65c determines that path information can be acquired (step S201; Yes), it begins automatic flight based on the path information (step S202).

[0287] When automatic flight is initiated via flight control unit 65c, the flight body 60 can fly along the flight path indicated by the path information. Specifically, for example, by repeating the following process until the flight body 60 reaches the destination indicated by the path information, the flight body 60 can fly along the flight path indicated by the path information. Furthermore, the following describes an example of terminal devices 10-x mounted on the flight body 60 (flight body device 60).

[0288] For example, the first receiving unit 13a of the terminal device 10-x continuously receives GNSS signals after the automatic flight of the aircraft 60 begins (step S203). Therefore, the approximate position calculation unit 13b of the terminal device 10-x calculates position information representing the current position of the aircraft 60 based on GNSS positioning of the GNSS signals received by the first receiving unit 13a (step S204). That is, the approximate position calculation unit 13b calculates approximate position information based on GNSS signals.

[0289] The first transmitting unit 13c of the terminal device 10-x sends the approximate location information calculated by the approximate location calculation unit 13b to the distribution device 100 (step S205). Then, the approximate location acquisition unit 131 of the distribution device 100 acquires (receives) the approximate location information sent by the first transmitting unit 13c (step S206).

[0290] When the approximate location information is obtained by the approximate location acquisition unit 131, the request unit 132 of the distribution device 100 sends a distribution request for distributing GNSS signals to the reference station 30 (step S207). For example, the request unit 132 selects the reference station 30 as the target of processing based on the approximate location information and sends a distribution request to the selected reference station 30 as the target of processing.

[0291] When the reference station 30 receives a distribution request from the request unit 132 (step S208), it sends the GNSS signal detected at the moment the distribution request is received to the distribution device 100 (step S209). The request unit 132 receives the GNSS signal sent from the reference station 30 (step S210).

[0292] The generation unit 133 of the distribution device 100 generates correction information based on the GNSS signal received by the request unit 132, and sends the generated correction information to the terminal device 10-x (step S211). For example, the generation unit 133 generates correction information based on the coordinates of the reference station 30.

[0293] The second receiving unit 13d of the terminal device 10-x receives the correction information sent from the distribution device 100 (step S212). Furthermore, the correction unit 13e of the terminal device 10-x performs a correction calculation based on the correction information received by the second receiving unit 13d to correct the approximate position information calculated in step S204 (step S213). For example, the correction unit 13e corrects the approximate position information using RTK calculation with the correction information. Here, the corrected position information acquisition unit 65a of the flight unit 60 acquires the corrected position information obtained by the correction unit 13e using RTK calculation in step S213 and outputs it to the flight control unit 65c.

[0294] Additionally, the second transmitting unit 13f of the terminal device 10-x transmits the corrected position information obtained by the correction unit 13e using RTK in step S213 to the distribution device 100 (step S214). The corrected position information acquisition unit 134 of the distribution device 100 receives (acquires) the corrected position information transmitted by the second transmitting unit 13f (step S215). Furthermore, although in Figure 18 Not shown in the figure, the transmitting unit 135 of the distributing device 100 sends the corrected position information to the determining device 200.

[0295] The flight control unit 65c can control the flight of the aircraft 60 based on the corrected position information output from the corrected position information acquisition unit 65a and the path information acquired by the path information acquisition unit 65b. Specifically, the flight control unit 65c controls the flight of the aircraft 60, for example, so that the aircraft 60 flies along the flight path shown by the path information (step S216). The flight control unit 65c can control the flight of the aircraft 60 while comparing the current position shown by the corrected position information with the position of the track shown by the path information. Specifically, the aircraft 60 can fly while comparing the current position with the position of the track and adjusting the current position to fly along the track. For example, the aircraft 60 can fly towards the target while adjusting its position so as not to deviate from the position of the track.

[0296] Furthermore, by repeating steps S203 to S216, the flight control unit 65c can continuously acquire corrected position information. That is, the flight control unit 65c can continuously acquire the latest relatively high-precision current position (the current position of the flight body 60) that changes due to flight movement. Thus, in one embodiment, the flight body device 60 can achieve relatively high-precision flight along the trajectory shown in the path information. In addition, in one embodiment, the flight body device 60 can detect deviations from the flight path even if, for example, due to wind, it deviates from the flight path. In addition, in one embodiment, the flight body device 60 can return to the flight path if it deviates from it.

[0297] Furthermore, as described above, the transmitting unit 135 can continuously transmit the corrected position information representing the current position of the aircraft 60 to the determining device 200. Therefore, the determining device 200 can store the corrected position information corresponding to the aircraft 60. Accordingly, the determining device 200 can identify the current position of the aircraft 60.

[0298] In one embodiment, the determining device 200 is capable of identifying the current position of the flying body 60. Furthermore, the determining device 200 also has path information representing the determined flight path for the flying body 60. Therefore, the determining device 200 according to one embodiment can determine whether the flying body 60 is flying along the flight path (i.e., whether the flying body 60 has deviated from the flight path). Additionally, when it is determined that the flying body 60 has deviated from the flight path determined by the determining unit 233, the output unit 235 of the determining device 200 outputs information indicating that the flying body 60 has deviated from the flight path. For example, the output unit 235 outputs the information indicating deviation from the flight path from the terminal device T owned by the user of the flying body 60. Specifically, the output unit 235 can, for example, output a reminder to the terminal device T when the flying body 60 has deviated from the flight path. Furthermore, for example, the output unit 235 can also cause the terminal device T to display map information showing the overlapping of the flight path and the location of the destination that has deviated from the flight path.

[0299] [7. Other Implementation Methods]

[0300] By incorporating the path control processing shown in the above embodiments, terminal device 10-x is expected to be flexibly applied to various fields beyond the examples described above. Hereinafter, an example of a use case for terminal device 10-x is shown.

[0301] For example, after setting the terminal device 10-x to a predetermined object, definition information matching the purpose is input. In this case, the determining device 200 can also control the flying body 60 while maintaining a predetermined distance from the object, causing it to fly along a flight path that tracks the object. Accordingly, the determining device 200 according to one embodiment can take moving objects such as vehicles, railways, and drones as objects and acquire images while maintaining a constant distance from the object. In addition, for example, when taking pictures for the purpose of object inspection, the determining device 200 can improve the accuracy of inspection by acquiring images with a constant distance.

[0302] Furthermore, the determining device 200 can also determine the most suitable flight path based on the history of the location information (corrected location information) obtained from the terminal device 10-x. For example, when the terminal device 10-x is mounted on a vehicle, the determining device 200 can detect a movement trajectory indicating the path the vehicle took based on the history of the location information obtained from the terminal device 10-x. In this case, if the terminal device 10-x is mounted on more vehicles, the determining device 200 can detect statistics on the movement trajectories. That is, the determining device 200 according to one embodiment can detect lanes. In this case, the determining device 200 can also determine the trajectory deviating from the movement trajectory in the air above the detected movement trajectory (lane) as the flight path. Specifically, the determining device 200 can determine the trajectory along the movement trajectory in the air above the movement trajectory as the flight path. Accordingly, the determining device 200 according to one embodiment can reduce the risk of the flying object 60 falling towards vehicles or lanes. In addition, the determining device 200 according to one embodiment can determine a flight path that can capture images of traffic conditions.

[0303] Alternatively, the determining device 200 can also determine the most suitable flight path for line maintenance based on the history of the position information (corrected position information) obtained from the terminal device 10-x. In this case, since the terminal device 10-x is mounted on the railway, the determining device 200 according to one embodiment can detect relatively high-precision coordinates corresponding to the line. That is, the determining device 200 according to one embodiment can flexibly utilize the aircraft 60 for line maintenance by determining the trajectory shown by the coordinates corresponding to the line as the flight path.

[0304] [8. Hardware Configuration]

[0305] Furthermore, the terminal device 10-x, the flying body device 60, the distribution device 100, and the determining device 200 included in the path determination system 1 according to the above embodiments can, for example, be derived from... Figure 19The computer 1000 with the configuration shown is implemented. Hereinafter, the determination device 200 will be used as an example for explanation. Figure 19 This is a hardware configuration diagram illustrating an example of a computer 1000 that implements the functions of the determining device 200. The computer 1000 may have a CPU 1100, RAM 1200, ROM 1300, HDD 1400, communication interface (I / F) 1500, input / output interface (I / F) 1600, and media interface (I / F) 1700.

[0306] The CPU 1100 can control various parts by operating based on programs stored in the ROM 1300 or HDD 1400. The ROM 1300 can store startup programs executed by the CPU 1100 when the computer 1000 starts up, programs that depend on the hardware of the computer 1000, etc.

[0307] HDD 1400 can store programs executed by CPU 1100 and data used by those programs. Communication interface 1500 can receive data from other devices and send it to CPU 1100 via communication network 50. Communication interface 1500 can also send data generated by CPU 1100 to other devices via communication network 50.

[0308] The CPU 1100 can control output devices such as monitors and printers, and input devices such as keyboards and mice, via the input / output interface 1600. The CPU 1100 can acquire data from input devices via the input / output interface 1600. Additionally, the CPU 1100 can output generated data to output devices via the input / output interface 1600.

[0309] The media interface 1700 can read programs or data stored in the recording medium 1800 and provide them to the CPU 1100 via the RAM 1200. The CPU 1100 can load the program from the recording medium 1800 into the RAM 1200 via the media interface 1700 and execute the loaded program. The recording medium 1800 can be, for example, an optical recording medium such as a DVD (Digital Versatile Disc), a PD (Phase Change Rewritable Disk), an optical-magnetic recording medium such as an MO (Magneto-Optical Disk), magnetic tape, a magnetic recording medium, or a semiconductor memory.

[0310] For example, when the computer 1000 functions as the determining device 200 according to the embodiment, the CPU 1100 of the computer 1000 can implement the functions of the control unit 230 by executing programs loaded on the RAM 1200. Additionally, the HDD 1400 can store data in the storage unit 120. The CPU 1100 can read and execute these programs from the recording medium 1800. The CPU 1100 can also obtain these programs from other devices via the communication network 50.

[0311] [9. Other]

[0312] Furthermore, the constituent elements of each device illustrated are functional conceptual elements and do not necessarily need to be constructed as physically as illustrated. That is, the specific ways in which the devices are distributed or integrated are not limited to the content illustrated, and they can be distributed or integrated in any functional or physical manner according to various loads, usage conditions, etc., to constitute all or part of them.

[0313] For example, in the above embodiments that include multiple terminal devices 10-x, the multiple terminal devices 10-x can be different devices. That is, as long as the functions of this terminal can be realized, the multiple terminal devices 10-x do not have to be the same device. For example, depending on the situation in which the terminal devices 10-x are installed or mounted, the shape of the devices and the functions they have can be different.

[0314] The embodiments of this application have been described in detail above with reference to several accompanying drawings. However, these descriptions are illustrative, and the present invention can be implemented in various modified and improved ways based on the knowledge of those skilled in the art.

[0315] In addition, the term "department (unit, module, module)" can be replaced with "component," "circuit," etc. For example, "determine part" can be replaced with "determine component," "determine circuit," etc.

[0316] Label Explanation

[0317] 1. Path Determination System

[0318] 10 Terminal devices

[0319] 13a First Receiving Section

[0320] 13b Approximate Location Calculation Department

[0321] 13c First Sending Section

[0322] 13d Second Receiving Unit

[0323] 13e Calibration Department

[0324] 13f Second Sending Unit

[0325] 30 reference stages

[0326] 60. Flying device (flying body)

[0327] 65a Calibrated Position Information Acquisition Unit

[0328] 65b Path Information Acquisition Department

[0329] 65C Flight Control Department

[0330] 100 Dispensing Device

[0331] 131. Approximate Location Acquisition Department

[0332] 132 Request Department

[0333] 133 Generation Department

[0334] 134 Corrected location information acquisition unit

[0335] 135 Sending Department

[0336] 200 Determining Device

[0337] 232 Receiving Section

[0338] 233 Determination Department

[0339] 234 Instruction Department

[0340] 235 Output Section

Claims

1. A determining device, comprising: The acquisition unit acquires the location information of the terminal device, which is installed at any location that serves as a reference for the flight path. The location information is calculated based on correction information, which includes the coordinate information of the reference station corresponding to the area where the terminal device is located and information based on the satellite signals received by the reference station. The receiving unit receives definition information from the user. This definition information uses flight location conditions within a specified area to define a flight mode. The flight mode is based on the terminal device and serves as the basis for the flight path. as well as The determining unit determines the flight path of the aircraft based on the defined information, wherein the position is a relative position based on the position shown by the position information obtained by the acquiring unit.

2. The determining device according to claim 1, wherein, The determining part When defining a flight mode by combining multiple flight location conditions used to define the flight mode in the definition information, the path containing positions that satisfy each of the multiple flight location conditions is determined as the flight path of the aircraft. The positions satisfying the definition information are relative positions based on the positions shown by the position information acquired by the acquisition unit, or... The path that includes the position relative to the position that satisfies the defined information is determined as the flight path of the flying body; The flight location conditions are any one of the flight direction, flight distance, flight altitude, or flight angle, starting from the location of the terminal device.

3. The determining device according to claim 1, wherein, The acquisition unit acquires the location information calculated using a real-time dynamic positioning method that utilizes the correction information as the location information of the terminal device, or The location information corrected by the terminal device based on the correction information is obtained as the location information of the terminal device.

4. The determining device according to claim 2, wherein, The receiving unit receives the definition information that defines a flight mode that enables the aircraft to reach the target location based on the flight location conditions. The target location is a target location that uses a predetermined terminal device as the object of use and takes the location of the predetermined terminal as a reference. The predetermined terminal device is any number of terminal devices set at any location according to the purpose. Upon receiving definition information defining a flight mode that enables the aircraft to reach a target location, the determining unit determines a path containing a position that satisfies the definition information as the flight path of the aircraft from the predetermined terminal to the target location, wherein the position is a relative position based on the position shown in the position information of the predetermined terminal device in the position information acquired by the acquiring unit.

5. The determining device according to claim 4, wherein, When the determining unit receives definition information that defines a flight mode that enables the aircraft to reach the target location based on the flight location conditions, with a predetermined terminal device in the terminal device as the target location and the location of the predetermined terminal device as the target location, the determining unit determines the path containing the location that satisfies the definition information as the flight path for the aircraft to reach the target location. The location is the relative position of the location information acquired by the acquiring unit, with the position shown by the location information of the predetermined terminal device as the reference.

6. The determining device according to claim 4, wherein, When the determining unit receives the definition information defining a flight pattern from the starting point to the destination based on the flight location conditions, using two predetermined terminal devices as targets, it determines the path containing the position satisfying the definition information as the flight path of the aircraft from the starting point to the target location. The starting point is the location at which the aircraft begins to move toward the target based on the position of one terminal device, and the destination is the location at which the aircraft arrives based on the position of the other terminal device. The position is the relative position of the position information acquired by the acquiring unit based on the position information shown by each terminal device.

7. The determining device according to claim 2, wherein, When the receiving unit uses a predetermined terminal device as the target of its operation, it receives definition information defining a vertex location based on the flight location conditions and the predetermined terminal device. The predetermined terminal device is any number of terminal devices installed at any location according to the destination. Upon receiving definition information defining the vertex location, the determining unit generates a planar region that satisfies the definition information as the vertex location, and then determines the flight path of the flying body based on the generated planar region and the flight pattern shown by the flight location conditions, wherein the location that satisfies the definition information is the vertex location.

8. The determining device according to claim 7, wherein, The determining unit calculates the position that satisfies the defined information as the vertex location and generates a planar region with the calculated vertex location as the vertex. or Based on the defined information, the trajectory along the planar region and moving within the planar region is determined as the flight path of the flying body.

9. The determining device according to claim 2, wherein, When the receiving unit uses at least two predetermined terminal devices as the target of utilization, it receives definition information that defines the vertex location based on the positions of the two predetermined terminal devices according to the flight location conditions. Upon receiving the definition information defining the vertex location, the determining unit generates a three-dimensional region that treats the planar region as a side view, and determines the flight path of the aircraft based on the generated three-dimensional region and the flight pattern shown by the flight location conditions, wherein the planar region is used as the vertex location at the position that satisfies the definition information, and the position is the relative position of the position information obtained by the acquiring unit based on the position information shown by two predetermined terminal devices.

10. The determining device according to claim 9, wherein, The determining unit calculates the position that satisfies the defined information as the vertex location, and generates a three-dimensional region that takes the planar region as a side. The position is the relative position of the position information obtained by the acquiring unit, based on the position information shown by two predetermined terminal devices, or According to the defined information, the trajectory of the flying body is determined as the trajectory along a predetermined planar region in the planar region constituting the three-dimensional region and moving within that planar region.

11. A path determination method, performed by a determining device, comprising the following steps: The location information acquisition step is as follows: the location information is the location information of the terminal device, which is installed at any location that serves as a reference for the flight path. The location information is calculated based on correction information, which includes the coordinate information of the reference station corresponding to the area where the terminal device is located and information based on the satellite signals received by the reference station. The receiving step involves receiving definition information from the user. This definition information uses flight location conditions within a specified area to define the flight mode. The flight mode is based on the terminal device and serves as the basis for the flight path. as well as The determination step involves identifying, based on the defined information, the path containing the position that satisfies the defined information as the flight path of the flying body, where the position is a relative position based on the position shown in the position information.

12. A path determination program that causes a computer to perform the following steps: The location information acquisition step is as follows: the location information is the location information of the terminal device. The location information serves as the reference for the flight path. The location information is calculated based on correction information, which includes the coordinate information of the reference station corresponding to the area where the terminal device is located and information based on the satellite signals received by the reference station. The receiving step involves receiving definition information from the user. This definition information defines the flight mode using flight location conditions within a specified area. The flight mode is based on the terminal device and serves as the basis for the flight path. as well as The determination step involves identifying, based on the defined information, the path containing the position that satisfies the defined information as the flight path of the flying body, where the position is a relative position based on the position shown in the position information.

Images