Information processing apparatus, difficult-to-see place specifying method, and unmanned aerial vehicle

Abstract

The present application provides an information processing device, a difficult-to-see place specifying method, and an unmanned aerial vehicle capable of easily specifying a difficult-to-see place of a mountain climbing path. A management server (2) of the present application acquires sensing information obtained by sensing a scattering region in which iron oxide red is scattered on a mountain climbing path from the sky by UAV1, specifies a state of the iron oxide red based on the sensing information, and specifies a difficult-to-see place based on the state of the iron oxide red.

Description

Technical Field

[0001] This invention relates to the technical field of methods for using unmanned aerial vehicles to take aerial photographs of areas where objects are scattered along a mountain path in order to show the mountain path. Background Technology

[0002] A system is known to inform climbers and issue warnings when they deviate from the trail in mountainous areas, guiding them back to the correct path. For example, Patent Document 1 describes a technique in which multiple guidance transmitters are arranged discretely and in series along the trail, and signals transmitted from the guidance transmitters are received sequentially by the climber's mobile terminal via short-range wireless communication as the climber walks.

[0003] [Background Technical Documents]

[0004] [Patent Literature]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 2021-60426 Summary of the Invention

[0006] [The problem the invention aims to solve]

[0007] Furthermore, as described in Patent Document 1, installing communication devices such as guide transmitters along the mountain trail is not an ideal method in terms of installation and maintenance costs. On the other hand, as a way to indicate the mountain trail to climbers, there is a method of scattering a substance called iron oxide red on the mountain trail. According to this method, compared with installing communication devices along the mountain trail, costs can be suppressed, and even when the mountain trail is covered by snow, the mountain trail can be indicated to climbers by the iron oxide red scattered on the snow.

[0008] However, trail markers formed by iron oxide red can seep through or disappear due to melting snow, rain, or landslides, making them sometimes difficult to see. Therefore, it is necessary to add more iron oxide red in areas where hiking trails are difficult to see, but the problem is that it is not easy to pinpoint these locations.

[0009] Therefore, the present invention was made in view of the aforementioned problems, and one of the objectives is to provide an information processing device, a method for identifying difficult-to-discern locations, and an unmanned aerial vehicle that can easily identify locations with hard-to-discern mountain paths.

[0010] [Technical means to solve the problem]

[0011] To address the aforementioned problem, the invention described in technical solution 1 is characterized by comprising: an acquisition means for acquiring sensing information obtained by sensing an area along a mountain path marked by scattered objects from above using sensors of an unmanned aerial vehicle; a first specifying means for identifying the state of the scattered objects based on the sensing information; and a second specifying means for identifying locations where the mountain path is difficult to discern based on the state of the scattered objects. Thus, locations where the mountain path is difficult to discern can be easily identified.

[0012] The invention described in technical solution 2 is an information processing apparatus as described in technical solution 1, characterized in that: the state of the dispersed material indicates the degree of penetration or disappearance of the dispersed material, and the second specific means identifies locations where the degree of penetration or disappearance of the dispersed material meets predetermined conditions as the difficult-to-discern locations. Thus, locations of difficult-to-discern hiking trails can be quickly and easily identified.

[0013] The invention described in technical solution 3 is an information processing device as described in technical solutions 1 or 2, characterized in that it further includes a notification means that notifies the manager of the location information of the difficult-to-see location. This enables the manager to quickly grasp the location of the difficult-to-see location and reduces the burden on the manager in monitoring mountain trails.

[0014] The invention described in technical solution 4 is an information processing device as described in technical solutions 1 or 2, characterized by further comprising a determination means that determines whether a collapse that may hinder the progress of climbers has occurred at the difficult-to-see location. Thus, locations with a high probability of cracks or the like can be quickly identified based on the difficult-to-see location.

[0015] The invention described in technical solution 5 is an information processing device as described in technical solution 4, characterized by further comprising a notification means that notifies the manager of different information based on whether the determination means has determined that the collapse has occurred. This enables the manager to quickly grasp the need to reconstruct the mountain climbing route.

[0016] The invention described in technical solution 6 is an information processing apparatus as described in technical solution 4, characterized in that it further comprises a determination means that, when the determination means determines that the collapse has occurred, determines, based on the sensing information, a detour route around the location of the collapse on the mountain trail. Thus, a detour route around the location of the collapse, specifically identified as a difficult-to-discern location, can be quickly determined.

[0017] The invention described in technical solution 7 is an information processing device as described in technical solution 6, characterized in that it further includes a notification means that notifies the manager of the location information of the detour path determined by the decision means. Therefore, it is possible to quickly suggest detour paths around the collapse site to the manager, thereby reducing the manager's burden in managing the mountain trails.

[0018] The invention described in technical solution 8 is characterized by being a method for identifying difficult-to-see locations executed by one or more computers, comprising the following steps: acquiring sensing information obtained by sensing an area on a mountain trail from above using sensors of an unmanned aerial vehicle to detect scattered objects used to indicate the mountain trail; identifying the state of the scattered objects based on the sensing information; and identifying locations on the mountain trail that are difficult to see based on the state of the scattered objects.

[0019] The invention described in technical solution 9 is characterized by having: an acquisition means for acquiring sensing information obtained by sensing an area on a mountain path from above using sensors of an unmanned aerial vehicle to detect objects scattered along the path; a first specifying means for identifying the state of the scattered objects based on the sensing information; and a second specifying means for identifying locations where the mountain path is difficult to see based on the state of the scattered objects.

[0020] The invention described in technical solution 10 is an unmanned aerial vehicle as described in technical solution 9, characterized in that it further includes a control unit that estimates the distance between the unmanned aerial vehicle and the ground surface where the scattered objects are located based on the state of the scattered objects, and uses the distance for flight control of the unmanned aerial vehicle. Thus, the unmanned aerial vehicle can fly based on a more accurate distance from the ground surface.

[0021] [Invention Effects]

[0022] According to the present invention, it is possible to easily identify locations where mountain climbing paths are difficult to see. Attached Figure Description

[0023] Figure 1 This is a diagram illustrating a summary structure example of a flight management system S.

[0024] Figure 2 This is a diagram of Example 1, showing a road sign G formed by red iron oxide scattered on snow in a mountainous area.

[0025] Figure 3 This is a diagram of Example 2, showing a road sign G formed by red iron oxide scattered on snow in a mountainous area.

[0026] Figure 4 This is a conceptual diagram showing the collapse C that occurs on the snow when viewed from the side.

[0027] Figure 5 This is a diagram illustrating a general structural example of UAV1.

[0028] Figure 6 This is a diagram illustrating a summary configuration example of management server 2.

[0029] Figure 7 This is a diagram illustrating a functional block example of the control unit 23.

[0030] Figure 8 This is a diagram illustrating an example of a detour route R that bypasses the point where a collapse occurs at road sign G.

[0031] Figure 9 This is a flowchart illustrating an example of the processing performed between UAV1 and management server 2 in the flight management system S. Detailed Implementation

[0032] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings. Furthermore, the following embodiment is an implementation of the present invention applied to a flight management system for controlling unmanned aerial vehicles, specifically for aerial photography of areas along a mountain trail marked by scattered iron oxide red markers. The iron oxide red (Bengala) envisioned in this embodiment is a type of red pigment, a powdered dispersion primarily composed of iron oxide.

[0033] [1. Composition and Operation Summary of Flight Management System S]

[0034] First, refer to Figure 1 The structure and operation overview of the flight management system S in this embodiment will be explained. Figure 1 This is a diagram illustrating a general structural example of a flight management system S. For example... Figure 1 As shown, the flight management system S comprises an unmanned aerial vehicle (hereinafter referred to as "UAV") 1, a management server 2 (an example of an information processing device), and a manager terminal 3. These components can be connected to a communication network NW. Here, the communication network NW includes, for example, the Internet, mobile communication networks, and their wireless base stations. UAV1 is an example of an unmanned aerial vehicle, also called a drone or a multi-rotor aircraft. UAV1 can fly towards an area (hereinafter referred to as "dispersion area") spread (e.g., in a linear pattern) on a mountain path, marked with iron oxide red to indicate the mountain path, either remotely controlled by an operator on the ground or autonomously flying in the air. Management server 2 is a server that can manage the dispersion area and UAV1, and identify locations in the dispersion area where the mountain path is difficult to see (hereinafter referred to as "difficult-to-see locations"). Manager terminal 3 is a terminal used by, for example, a manager who manages the mountain path, and can access management server 2.

[0035] Figure 2 and Figure 3 These are examples 1 and 2 illustrating road marker G formed by red iron oxide scattered on snow in mountainous areas. Furthermore, road marker G may have a total length of several kilometers. Figure 2 and Figure 3 In the example, a portion of road sign G is shown. Figure 2 In the example, location 100 midway through trail marker G is difficult to see (i.e., by the climber's ability to discern) due to the penetration of iron oxide red. On the other hand, Figure 3 In the example, location 101, midway along the trail marker G, makes the hiking path difficult to see due to collapse C. If collapse C develops to some extent (e.g., due to the weight of snow or ice), it may create fissures, etc. Figure 4 This is a conceptual diagram showing the collapse (C) that occurs on the snow when viewed from the side. If Figure 4 The collapse C shown may develop into cracks and other obstacles, hindering the climber's progress. Therefore, it is ideal for climbers to bypass the location where collapse C occurs, which is marked by trail marker G.

[0036] [1-1. Composition and Function of UAV1]

[0037] Next, refer to Figure 5 Explain the structure and function of UAV1. Figure 5 This is a diagram illustrating a general structural example of UAV1. (For example...) Figure 5 As shown, the UAV1 includes a drive unit 11, a positioning unit 12, a communication unit 13, a sensor unit 14, a storage unit 15, and a control unit 16 (an example of a computer). The UAV1 also includes a battery (not shown) that supplies power to all parts of the UAV1, and a rotor (propeller) that serves as a horizontal rotor. In addition, the UAV1 may also include a holding mechanism for holding items.

[0038] The drive unit 11 includes a motor and a rotating shaft. The drive unit 11 rotates multiple rotors by driving the motor and rotating shaft according to control signals output from the control unit 16. The positioning unit 12 includes a radio wave receiver and an altitude sensor. For example, the positioning unit 12 receives radio waves transmitted from GNSS (Global Navigation Satellite System) satellites via the radio wave receiver, and detects the current horizontal position (latitude and longitude) of the UAV1 based on these radio waves. Furthermore, the current horizontal position of the UAV1 can also be corrected based on images captured by the camera of the sensor unit 14. Additionally, the current horizontal position of the UAV1 can also be corrected using an RTK (Real-Time Kinematic) method utilizing radio waves received from a standard station (a standard station capable of communicating with the UAV1) at a specific location. Position information indicating the current position detected by the positioning unit 12 is input to the control unit 16. Furthermore, the positioning unit 12 can also detect the current vertical position (altitude) of the UAV1 using an altitude sensor such as a barometric pressure sensor. In this case, the location information includes altitude information indicating the altitude of UAV1.

[0039] The communication unit 13 has wireless communication capabilities and is responsible for controlling communication via the communication network NW. The sensor unit 14 has various sensors for flight control of the UAV1. These sensors include, for example, optical sensors, three-axis angular velocity sensors, three-axis accelerometers, and geomagnetic sensors. The optical sensor is configured with a camera (e.g., an RGB (Red, Green, Blue) camera) and continuously senses the actual space within its sensing range (e.g., the range of the camera's field of view). Here, sensing means, for example, measuring, photographing, or perceiving certain quantities (e.g., physical quantities). In addition, the optical sensor may include a LiDAR (Light Detection and Ranging) sensor for measuring distances to the ground surface. The sensing information obtained by sensing using the sensor unit 14 is output to the control unit 16. The sensing information includes, for example, images (e.g., RGB images, distance images) sensed by the optical sensor.

[0040] The storage unit 15 includes non-volatile memory and stores various programs and data. Additionally, the storage unit 15 stores the UAV1's identification ID (identification information). The control unit 16 includes a CPU (Central Processing Unit), ROM (Read Only Memory), and RAM (Random Access Memory), and executes various controls according to the programs stored in the ROM (or storage unit 15). For example, the control unit 16 performs flight control to make the UAV1 fly. In this flight control, position information obtained from the positioning unit 12, sensing information obtained from the sensor unit 14, and dispersion area information indicating the dispersion area are used to control the rotor speed, the UAV1's position, attitude, and direction of travel. As a result, the UAV1 can autonomously move towards the end of the dispersion area. At this time, the control unit 16 identifies the distance between the UAV1 and the ground surface (especially the mountain surface) (e.g., the distance measured by a LiDAR sensor) and performs flight control in a manner that prevents the UAV1 from contacting the ground surface (especially the mountain surface). Furthermore, the dispersion area information should preferably include location information (latitude and longitude) indicating the position of the end of the dispersion area (e.g., the end of the dispersed iron oxide red). The dispersion area information can be set at the departure point (flight start point) of the UAV1, or it can be set by sending it from the management server 2.

[0041] When UAV1 reaches the end of the dispersion area, control unit 16 instructs sensor unit 14 to sense the sensing range from above and acquire sensing information obtained through this sensing. Based on the RGB image contained in the acquired sensing information, control unit 16 detects a linear region of iron oxide red color (e.g., a dark reddish-brown) as a landmark. Furthermore, the color of iron oxide red is, for example, preset within a range of RGB values. Control unit 16 then performs flight control by causing UAV1 to fly along the detected landmarks, and causes sensor unit 14 to continuously sense the sensing range containing the landmarks in a time sequence, acquiring sensing information obtained through this sensing. The acquired sensing information, along with UAV1's position information and UAV1's airframe ID, is sent by communication unit 13 to management server 2.

[0042] [1-2. Composition and Functions of Management Server 2]

[0043] Next, refer to Figure 6 The composition and functions of management server 2 are explained. Figure 6 This is a diagram illustrating a general configuration example of management server 2. (See diagram below.) Figure 6As shown, the management server 2 includes a communication unit 21, a storage unit 22, and a control unit 23 (an example of a computer). The communication unit 21 is responsible for controlling communications via the communication network NW. Sensing information, location information, and machine ID sent from the UAV1 are received by the communication unit 21. The management server 2 can identify the current location of the UAV1 based on the UAV1's location information. The storage unit 22 includes, for example, a hard disk, and stores various programs and data. In addition, a distributed area management database 221 is built into the storage unit 22.

[0044] The Scattered Area Management Database 221 is a database used to manage information related to scattered areas. In the Scattered Area Management Database 221, scattered area information and manager information are established and stored (logged in). Here, the scattered area information may include location information indicating the location along the hiking trail within the scattered area instead of location information indicating the end location of the scattered area. The manager information includes, for example, a manager ID used to identify the manager managing the hiking trail, the manager's email address, and phone number. Additionally, the manager information may also include the AID (Application Identifier) ​​of the notification application installed on the manager terminal 3 to identify the manager.

[0045] The control unit 23 includes a CPU, ROM, and RAM. Figure 7 This is a diagram illustrating an example of functional blocks in the control unit 23. The control unit 23, for example, uses a program (program code group) stored in the ROM or storage unit 22, such as... Figure 7 As shown, it functions as a sensing information acquisition unit 231, a state-specific unit 232 (an example of a first specific means), a difficult-to-see location-specific unit 233 (an example of a second specific means), a collapse determination unit 234 (an example of a determination means), a detour path determination unit 235 (an example of a determination means), and a notification unit 236 (an example of a notification means).

[0046] The sensing information acquisition unit 231 acquires sensing information from the UAV1 via the communication unit 21, obtained by the sensor unit 14 of the UAV1 sensing the dispersed area from above. The state determination unit 232 determines the state of iron oxide red based on the sensing information acquired by the sensing information acquisition unit 231. Here, the state of iron oxide red indicates the degree of penetration or disappearance of iron oxide red. For example, the state determination unit 232 may detect linearly extending portions of iron oxide red color as landmarks based on the RGB image included in the sensing information acquired by the sensing information acquisition unit 231, and determine the state of iron oxide red by calculating the color (depth) distribution or dot density on the landmarks. Furthermore, the deeper the color of iron oxide red, the smaller the degree of penetration and disappearance of iron oxide red. Additionally, the greater the dot density of iron oxide red, the smaller the degree of penetration and disappearance of iron oxide red.

[0047] The difficult-to-see location designation unit 233 designates difficult-to-see locations on the detected trail markers based on the state of the iron oxide red determined by the state designation unit 232. For example, the difficult-to-see location designation unit 233 may designate locations on the detected trail markers where the degree of penetration or disappearance of iron oxide red meets a predetermined condition as difficult-to-see locations. This allows for the rapid and easy designation of difficult-to-see locations. Here, the predetermined condition may be, for example, that the location where the degree of penetration or disappearance of iron oxide red is above a threshold (i.e., a location with a large degree of penetration or disappearance) and is at least a predetermined length (or predetermined area). The predetermined length (or predetermined area) is not particularly limited and may be set to a length (width) that is expected to be difficult to see from the perspective of a climber. For example, if the predetermined length is set to 3m, then even if the degree of penetration of iron oxide red is above the threshold (i.e., a location where the color has lightened due to the penetration of iron oxide red), if the length of the location is less than 3m, the predetermined condition is not met, and the location cannot be designated as a difficult-to-see location. This prevents the over-specification of difficult-to-discern locations.

[0048] The collapse determination unit 234 determines whether a collapse that might hinder the climber's progress has occurred at a difficult-to-see location identified by the difficult-to-see location identification unit 233. Thus, locations with a high probability of cracks or the like can be quickly identified based on the difficult-to-see location. For example, when the collapse determination unit 234 can extract features of a collapse that might hinder the climber's progress in and around the identified difficult-to-see location, it determines that a collapse that might hinder the climber's progress has occurred (e.g., a collapse with a high probability of cracks or the like). Here, the features of a collapse that might hinder the climber's progress are, for example, preset based on an image representing the color, shape, and size of the collapse (or the appearance, shape, and size of the collapse). The shape of the collapse is preferably a three-dimensional shape. The three-dimensional shape from the sensing information can be identified, for example, by performing SLAM (Simultaneous Localization and Mapping) processing on a distance image of the identified difficult-to-see location and its surrounding area. Furthermore, whether or not the collapse has occurred can also be estimated based on a pre-trained model learned in advance. In this case, by inputting images of the identified difficult-to-discern locations and their surrounding areas into a pre-trained model, it is possible to obtain information on whether or not there are collapses that may hinder the climber's progress as the output of the pre-trained model, thereby enabling the high-precision identification of collapses and their extent.

[0049] When the collapse determination unit 234 determines that a collapse has occurred, the detour path determination unit 235 determines a detour path around the location where the collapse occurred, based on the sensing information acquired by the sensing information acquisition unit 231. This allows for the rapid determination of a detour path around a location identified as a difficult-to-see point where a collapse has occurred. Figure 8 This is a diagram illustrating an example of a detour route R that bypasses the location where a collapse C occurs at road sign G. Figure 8 The example shows a detour route R that bypasses the location of collapse C from a pre-defined distance (i.e., a position with some margin) at road sign G, bypassing the site of collapse C. This pre-defined distance should be set according to the size of collapse C.

[0050] Notification unit 236 notifies the administrator of the hiking trail containing the difficult-to-see location of the difficult-to-see location identified by the difficult-to-see location identification unit 233. Here, the difficult-to-see location information may include, for example, location information indicating the location of the difficult-to-see location. This allows the administrator to quickly grasp the difficult-to-see location and reduces the burden of monitoring the hiking trail. Notification of the difficult-to-see location information can be sent by sending an email containing the information to the administrator's email address, or by sending the information to the administrator's phone number via SMS (Short Message Service). The difficult-to-see location information is then obtained and displayed on the administrator's administrator terminal 3. For example, a map showing the location of the difficult-to-see location can also be displayed on the administrator's administrator terminal 3. Alternatively, notification of the difficult-to-see location information can be sent (to AID) to a notification application residing on the administrator's administrator terminal 3; in this case, the difficult-to-see location information is also displayed on the administrator's administrator terminal 3. Furthermore, the administrator terminal 3 can also instruct the UAV equipped with a red iron oxide distributor to automatically distribute red iron oxide to hard-to-see locations. This allows for the rapid restoration of trail markers indicating hiking routes.

[0051] Furthermore, the information on difficult-to-see locations may also include information related to collapses that could potentially obstruct hikers' progress at locations identified by the difficult-to-see location designation unit 233. That is, the notification unit 236 notifies the manager of different information depending on whether a collapse that could obstruct hikers' progress has been determined. This allows the manager to quickly assess the need for trail marker repairs and to quickly determine the need to reconstruct hiking trails (e.g., to decide on detours). Additionally, the information related to the collapse may include location information indicating the location of the detour route determined by the detour route determination unit 235. This allows the manager to be quickly informed of detour routes around the collapsed locations, reducing the manager's burden of managing hiking trails. In this case, it is advisable to display a map showing the detour route on the manager's management terminal 3. Furthermore, when the location information of the detour route is notified to the manager, the manager's management terminal 3 can also instruct a UAV equipped with a red iron oxide distributor to automatically distribute red iron oxide along the detour route. This allows for the rapid reconstruction of trail markers.

[0052] [2. Actions of Flight Management System S]

[0053] Next, refer to Figure 9 The actions of the flight management system S are explained. Figure 9This is a flowchart illustrating an example of the processing performed between UAV1 and management server 2 in the flight management system S. Figure 9 In step S1, the management server 2 sends the dispersion area information, which includes the sensing command for the dispersion area, to the UAV1 via the communication network NW.

[0054] Subsequently, upon receiving the dispersion area information from the management server 2, UAV1 begins flying from its departure point toward the dispersion area (step S2). Then, upon reaching the end of the dispersion area (step S3), UAV1 activates the sensor unit 14 to begin sensing downwards and acquires the sensing information obtained through this sensing (step S4).

[0055] Subsequently, UAV1 detects landmarks (e.g., the starting point of a landmark) based on the sensing information acquired in step S4 (step S5). For example, from the RGB image contained in the sensing information, a portion of iron oxide red color extending in a linear pattern is detected as a landmark. Then, UAV1 flies along the landmark detected in step S5 while sensing the area containing the landmark (e.g., sensing from the starting point of the landmark), and acquires the sensing information obtained through this sensing (step S6). Subsequently, in step S6, UAV1 sends the acquired sensing information, UAV1's position information, and aircraft ID (hereinafter referred to as "sensing information, etc.") to management server 2 (step S7). In addition, the sensing information, etc. may also include position information indicating the position of the landmark detected in step S5.

[0056] Subsequently, UAV1 determines whether to terminate the sensing (step S8). For example, if the end of the hiking trail indicated by the scattering area information is detected, if the sensing range indicated by the scattering area information is exceeded, or if the end of the trail marker is detected based on the sensing information, the sensing is terminated (step S8: Yes). In this case, UAV1 sends sensing termination information indicating the end of sensing to management server 2 (step S9), for example, returning to the starting point (step S10). On the other hand, if the sensing is determined not to have terminated (step S8: No), the process returns to step S6, and sensing of the area including the trail marker continues. In this way, sensing continues continuously along the trail marker, and the sensing information obtained through this sensing is sequentially sent to management server 2.

[0057] On the other hand, the management server 2 determines whether it has received sensing information from the UAV1 (step S11). If it is determined that sensing information has been received (step S11: YES), the sensing information is acquired using the sensing information acquisition unit 231 (step S12), and the process proceeds to step S13. On the other hand, if it is determined that no sensing information has been received (step S11: No), the process proceeds to step S20.

[0058] In step S13, the management server 2 detects road signs (e.g., the starting point of a road sign) based on the sensing information obtained in step S12. For example, a portion of the ferric oxide red color extending in a linear pattern is detected from the RGB image contained in the sensing information as a road sign. Furthermore, if the sensing information contains the location information of a road sign, the road sign can also be detected based on that location information. Subsequently, the management server 2 uses the state determination unit 232 to determine the state of the ferric oxide red on the road sign detected in step S13 (e.g., the degree of penetration or disappearance of ferric oxide red) (step S14).

[0059] Subsequently, based on the state of the iron oxide red identified in step S14, the management server 2 determines whether there are any difficult-to-see locations on the road signs detected in step S13 (step S15). If it is determined that there are difficult-to-see locations (step S15: Yes), the difficult-to-see locations are identified using the difficult-to-see location identification unit 233 (step S16). For example, locations on the detected road signs where the penetration or disappearance of iron oxide red meets a predetermined condition are identified as difficult-to-see locations. At this time, the location information of the difficult-to-see location is stored in the storage unit 22. Furthermore, the location information of the difficult-to-see location is identified, for example, based on the distribution area information and the location information of UAV1. Then, the process proceeds to step S17. On the other hand, if it is determined that there are no difficult-to-see locations (step S15: No), the process proceeds to step S20.

[0060] In step S17, the management server 2 uses the collapse determination unit 234 to determine whether the difficult-to-see location identified in step S16 has a collapse that could hinder the climber's progress. If it is determined that a collapse that could hinder the climber's progress has occurred (step S17: Yes), the collapse range is identified based on the image contained in the sensing information obtained in step S12 (step S18). Here, the collapse range refers, for example, to the range that includes the collapse identified in step S18 and extends outward from the collapse by a predetermined distance (taking into account a margin). The identified collapse range is stored in the storage unit 22 after establishing a correspondence between the location information of the difficult-to-see location. Then, the process proceeds to step S19. On the other hand, if it is determined that no collapse that could hinder the climber's progress has occurred (step S17: No), the process proceeds to step S20.

[0061] In step S19, the management server 2 determines a detour path to bypass the collapse area specified in step S18 based on the sensing information obtained in step S12. At this time, the location information of the determined detour path is mapped to the location information of the difficult-to-see locations and stored in the storage unit 22. Then, the process proceeds to step S20. In step S20, the management server 2 determines whether sensing end information has been received from UAV1. If sensing end information has been received (step S20: Yes), the process proceeds to step S21. On the other hand, if sensing end information has not been received (step S20: No), the process returns to step S11, waiting to receive sensing information from the next interval, etc.

[0062] In step S21, the management server 2 determines whether location information of difficult-to-see locations has been stored in the process. If it is determined that location information of difficult-to-see locations has been stored (step S21: Yes), the location information of the difficult-to-see location is obtained, and the process proceeds to step S22. Here, when a difficult-to-see location is identified at multiple locations on a road sign, the location information of each difficult-to-see location is obtained. On the other hand, if it is determined that location information of difficult-to-see locations has not been stored (step S21: No), the process ends.

[0063] In step S22, the management server 2 determines whether the collapse area is stored in the process. If it is determined that the collapse area is stored (step S22: Yes), the location information of the collapse area and the detour path is obtained, and the process proceeds to step S24. Here, when the collapse area is identified at multiple locations on the road sign, the location information of each collapse area and the detour path is obtained. On the other hand, if it is determined that the collapse area is not stored (step S22: No), the process proceeds to step S23.

[0064] In step S23, management server 2 notifies the administrator of the hiking trail containing the acquired location information of the obscure location of the difficult-to-see location. Conversely, in step S24, management server 2 notifies the administrator of the hiking trail containing the difficult-to-see location information, which includes the acquired location information of the obscure location and information related to the collapse. Here, the information related to the collapse includes, for example, the extent of the collapse and the location information of the detour route.

[0065] Furthermore, the processing of steps S13 to S19 can also be performed all at once after receiving sensing information related to the entire range of the landmark from UAV1 (i.e., after receiving sensing end information in step S20).

[0066] As explained above, according to the embodiment described, the management server 2 is configured to acquire sensing information obtained by the UAV1 from above, sensing the area of ​​scattered iron oxide red along the hiking trail. Based on this sensing information, the state of the iron oxide red is identified, and based on the state of the iron oxide red, difficult-to-see locations are identified. Therefore, difficult-to-see locations on trail markers can be easily identified. Furthermore, the management server 2 notifies the administrator of the information on difficult-to-see locations, thereby reducing the burden on the administrator in monitoring the hiking trail.

[0067] Furthermore, the described embodiment is one embodiment of the present invention, and the present invention is not limited to the described embodiment. Various modifications, such as changes to the configuration, can be made based on the described embodiment without departing from the spirit of the present invention, and such modifications are also included within the technical scope of the present invention. In the described embodiment, the management server 2 is configured to identify the state of iron oxide red based on sensing information, and to identify difficult-to-see locations based on the state of iron oxide red. However, this processing can also be performed using the UAV1. In this case, the control unit 16 of the UAV1 (an example of an information processing device) functions as the state identification unit 232, the difficult-to-see location identification unit 233, the collapse determination unit 234, the detour path determination unit 235, and the notification unit 236. Figure 9 The processing in steps S13-S19 and S21-S24 is performed by the control unit 16. In this case, the management server 2 sends the manager information and the distribution area information to the UAV1 in step S1. Furthermore, this embodiment shows an example using iron oxide red as the dispersant, but dispersants other than iron oxide red can also be used.

[0068] Furthermore, the aforementioned embodiment has the following problem: The control unit 16 of the UAV1 performs flight control by identifying the distance to the ground surface to prevent the UAV1 from contacting it. However, when the UAV1 flies over snow, the light emitted from the UAV1 for distance measurement is diffusely reflected on the snowy surface, making it impossible to accurately determine the distance between the UAV1 and the ground surface. To solve this problem, the control unit 16 of the UAV1 should identify the state of iron oxide red based on sensing information and estimate the distance (height above the ground surface) between the UAV1 and the ground surface where iron oxide red is scattered based on this state, using this estimated distance for flight control of the UAV1. More specifically, the control unit 16 of the UAV1 determines the distance based on reflected light from locations where the penetration or disappearance of iron oxide red in detected landmarks is less than a threshold. This allows the UAV1 to fly based on a more accurate distance to the ground surface. Furthermore, a pre-trained model can be generated by learning the relationship between the state of iron oxide red and the distance to it. This training model is particularly suitable for use by additional dispersing UAVs equipped with red iron oxide. That is, the additional dispersing UAV identifies the state of the red iron oxide based on sensing information and inputs the state of the red iron oxide into the pre-trained model, thereby obtaining the distance to the red iron oxide as the output of the pre-trained model. This distance is used for flight control and additional dispersing of red iron oxide in hard-to-see locations.

[0069] [Explanation of Symbols]

[0070] 1: UAV

[0071] 2: Management Server

[0072] 11: Drive Unit

[0073] 12: Positioning Department

[0074] 13: Communications Department

[0075] 14: Sensor Department

[0076] 15: Storage Department

[0077] 16: Control Department

[0078] 21: Communications Department

[0079] 22: Storage Department

[0080] 23: Control Department

[0081] 231: Sensor Information Acquisition Unit

[0082] 232: State-Specific Department

[0083] 233: Specific locations that are difficult to see

[0084] 234: Collapse Judgment Department

[0085] 235: Determining the Detour Path

[0086] 236: Notification Department

[0087] S: Flight Management System.

Claims

1. An information processing device, characterized in that... have: The acquisition unit acquires sensing information, which is obtained by sensing the area of ​​iron oxide red scattered on the mountain path from above using the sensors of the unmanned aerial vehicle; The first determination unit determines the state of the iron oxide red, representing the degree of penetration or disappearance of the iron oxide red, based on the sensing information. as well as The second identification department, based on the state of the iron oxide red, identifies locations where the penetration or disappearance of the iron oxide red meets the prescribed conditions as locations where the mountain climbing path is difficult to discern.

2. The information processing device according to claim 1, characterized in that... It also has a notification department that notifies the administrator of the location information of the locations that are difficult to see.

3. The information processing device according to claim 1, characterized in that... It also includes a determination unit that determines whether a collapse has occurred at a location that is difficult to see and could potentially impede the progress of climbers.

4. The information processing device according to claim 3, characterized in that... It also has a notification unit that notifies the manager of different information based on whether the determination unit has determined that the collapse has occurred.

5. The information processing apparatus according to claim 3, characterized in that... It also includes a decision unit that, when the determination unit determines that the collapse has occurred, decides, based on the sensing information, a detour route around the location where the collapse occurred on the mountain trail.

6. The information processing apparatus according to claim 5, characterized in that... It also has a notification department that notifies the administrator of the location information of the detour path determined by the decision department.

7. A method for identifying locations that are difficult to see, characterized in that... Performed by one or more computers, and includes the following steps: The sensing information is obtained by the sensors of the unmanned aerial vehicle from above by sensing the areas of iron oxide red scattered on the mountain path to indicate the mountain path; Based on the sensing information, the state of the iron oxide red, representing the degree of penetration or disappearance of the iron oxide red, is determined; as well as Based on the state of the iron oxide red, locations where the penetration or disappearance of the iron oxide red meets the specified conditions are identified as locations where the mountain climbing path is difficult to see.

8. An unmanned aerial vehicle, characterized in that... have: The acquisition unit acquires sensing information, which is obtained by sensing the area of ​​iron oxide red scattered on the mountain path from above using the sensors of the unmanned aerial vehicle; The first determination unit determines the state of the iron oxide red, representing the degree of penetration or disappearance of the iron oxide red, based on the sensing information. as well as The second identification department, based on the state of the iron oxide red, identifies locations where the penetration or disappearance of the iron oxide red meets the prescribed conditions as locations where the mountain climbing path is difficult to discern.

9. The unmanned aerial vehicle according to claim 8, characterized in that... It also includes a control unit that estimates the distance between the unmanned aerial vehicle and the ground surface where the iron oxide red is scattered based on the state of the iron oxide red, and uses the distance for the flight control of the unmanned aerial vehicle.

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