System

Abstract

To provide a system that can produce a flight record, with high accuracy.SOLUTION: A system, which produces a flight record of an unmanned aircraft, comprises: determining means that determines whether the unmanned aircraft has taken off or not; estimating means that estimates a time when the determining means determines that the unmanned aircraft has taken off, as a takeoff estimated time that is the time when the unmanned aircraft has taken off; and memorizing means that memorizes the takeoff estimated time in association with a prescribed column so that the takeoff estimated time estimated by the estimating means is written on the prescribed column on which a takeoff time in the flight record should be written.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present invention relates to a system. [Background technology]

[0002] According to the provisions of the Aviation Act, anyone who flies an unmanned aerial vehicle must prepare and write in a flight logbook. The flight logbook consists of flight records, daily inspection records, and inspection and maintenance records, and the contents of each are described in the Handling Guidelines for Flight Logbooks for Unmanned Aerial Vehicles (Non-Patent Document 1) issued by the Ministry of Land, Infrastructure, Transport and Tourism. [Prior art documents] [Patent documents]

[0003] [Non-Patent Document 1] Guidelines for handling flight logs of unmanned aerial vehicles [Retrieved March 7, 2023], Internet, <URL: https: / / www.mlit.go.jp / koku / content / 001574394.pdf> Summary of the Invention [Problem to be solved by the invention]

[0004] Since multiple items such as the takeoff location, landing location, takeoff time, landing time, and items that affected the flight safety of the unmanned aircraft must be recorded in the flight record, if these items are left to manual work, there is a risk of omissions. In addition, there is a risk of errors in the contents, such as, for example, a time different from the time when the unmanned aircraft actually took off being recorded in the field where the takeoff time should be recorded. An object of the present invention is to provide a system that can create flight records with high accuracy. [Means for solving the problem]

[0005] The present invention, which was completed with this objective in mind, is a system for creating a flight record of an unmanned aerial vehicle, comprising: a determination means for determining whether the unmanned aerial vehicle has taken off; an estimation means for estimating the time when the determination means determines that the unmanned aerial vehicle has taken off as an estimated takeoff time, which is the time when the unmanned aerial vehicle took off; and a memory means for storing the estimated takeoff time in association with a designated field in which the takeoff time should be entered, so that the estimated takeoff time estimated by the estimation means is entered in the designated field in the flight record. Here, the determination means may determine that the unmanned aerial vehicle has taken off when the distance determined using the output value of a sensor that measures the distance of the unmanned aerial vehicle from the ground equipped on the unmanned aerial vehicle becomes greater than or equal to a predetermined reference value and the current supply command value to the motor that drives the rotor becomes greater than or equal to a predetermined value. In addition, the unmanned aerial vehicle may have the determination means and the estimation means, and a terminal capable of communicating with the unmanned aerial vehicle via a predetermined communication means may have the memory means, and the unmanned aerial vehicle may transmit the estimated takeoff time estimated by the estimation means to the terminal via the communication means. Also, from another perspective, the present invention is a system for creating a flight record of an unmanned aerial vehicle, comprising a determination means for determining whether the unmanned aerial vehicle has landed, an estimation means for estimating the time when the determination means determines that the unmanned aerial vehicle has landed as an estimated landing time, which is the time when the unmanned aerial vehicle landed, and a memory means for storing the estimated landing time estimated by the estimation means in association with a designated field in which the landing time should be entered in the flight record, so that the estimated landing time is entered in the designated field. Here, the determination means may determine that landing has occurred when the distance determined using the output value of a sensor that measures the distance of the unmanned aircraft to the ground equipped on the unmanned aircraft becomes less than a predetermined reference value and the current supply command value to the motor that drives the rotor becomes less than a predetermined value. In addition, the unmanned aerial vehicle may have the determination means and the estimation means, and a terminal capable of communicating with the unmanned aerial vehicle via a predetermined communication means may have the memory means, and the unmanned aerial vehicle may transmit the estimated landing time estimated by the estimation means to the terminal via the communication means. Effect of the Invention

[0006] According to the present invention, a system can be provided that can create flight records with high accuracy. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a diagram showing an example of a schematic configuration of a flight record creation system. [Diagram 2] FIG. 2 is a diagram showing an example of a flight record. [Diagram 3] 1 is an oblique view showing an example of the schematic configuration of an unmanned aerial vehicle viewed from below. [Figure 4] FIG. 1 is a diagram illustrating an example of a schematic configuration of an unmanned aerial vehicle. [Diagram 5] FIG. 1 illustrates an example of a block diagram of an unmanned aerial vehicle. [Figure 6] 13 is a flowchart showing a determination process performed by a state determination unit. [Figure 7] 11 is a flowchart illustrating an example of a transmission process performed by a control unit. [Figure 8] FIG. 1 is a diagram illustrating an example of a schematic configuration of an information processing device. [Figure 9] FIG. 2 is a diagram showing an example of a flight record in which items stored in a memory unit are entered. [Figure 10] 11 is an example of a flowchart illustrating a storage process performed by a control unit. [Figure 11] FIG. 2 is a diagram showing an example of a flight record in which items stored in a memory unit are entered. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. FIG. 1 is a diagram showing an example of a schematic configuration of a flight record creation system 1. As shown in FIG. FIG. 2 is a diagram showing an example of a flight record. FIG. 3 is a perspective view showing an example of the general configuration of the unmanned aerial vehicle 10 as viewed from below. FIG. 4 is a diagram showing an example of the schematic configuration of the unmanned aerial vehicle 10. As shown in FIG. FIG. 5 is a diagram showing an example of a block diagram of unmanned aerial vehicle 10. The flight record creation system 1 (hereinafter sometimes simply referred to as "system 1") is a system that creates a flight record 200 that records the flight performance of the unmanned aerial vehicle 10. The flight record 200 is part of a flight logbook that must be prepared and written by a person who flies the unmanned aerial vehicle 10 (hereinafter sometimes referred to as the "pilot"). In addition to the flight record 200, the flight logbook also includes a daily inspection record that records the results of daily inspections such as pre-flight inspections that the pilot performs before flying the unmanned aerial vehicle 10, and an inspection and maintenance record that records the fulfillment of the obligation to comply with safety standards imposed on the user of the unmanned aerial vehicle 10.

[0009] As shown in Fig. 2, the flight record 200 has columns for entering the "registration symbol of the unmanned aerial vehicle," "date of flight," "name of the person who flew the flight," "flight summary," "takeoff location," "landing location," "takeoff time," "landing time," "flight duration," "total flight time," and "matters that affected flight safety." In the "flight summary" column, for example, the purpose of the flight, such as photography, inspection, investigation, etc., can be entered. The contents to be entered in the "matters that affected flight safety" column will be described in detail later.

[0010] The system 1 includes an unmanned aerial vehicle 10 and an information processing device 100. The unmanned aerial vehicle 10 and the information processing device 100 are capable of communicating with each other via a network 5. The network 5 is not particularly limited as long as it is a communication network used for data communication between devices, and examples of the network 5 include the Internet, a local area network (LAN), and a wide area network (WAN). The communication line used for data communication may be either wired or wireless, and a combination of these may be used. Examples of the wireless LAN include Bluetooth (registered trademark) and WiFi (registered trademark).

[0011] (Unmanned aircraft 10) The unmanned aerial vehicle 10 comprises a main body 11 and a drive unit 12 that drives the unmanned aerial vehicle 10 to move. The main body 11 has an image capturing unit 30 that captures images and videos, and a sensor unit 40 that detects various values ​​related to the unmanned aerial vehicle 10. The main body 11 also has a control device 50 that controls the drive unit 12, the image capturing unit 30, etc. using values ​​detected by the sensor unit 40, etc., and a housing 80 that holds the control device 50, the sensor unit 40, etc.

[0012] ((Drive unit 12)) The drive unit 12 includes a plurality of motors 21, a plurality of rotors 22 that rotate when driven by the respective motors 21 to generate lift, a plurality of arms 23 that connect the main body 11 to the respective motors 21, and a battery 24 that supplies electric energy to the motors 21. An example can be given in which four motors 21, four rotors 22, and four arms 23 are provided. However, the number is not limited to four. For example, the number may be three or more. In addition, although the motor 21 is given as an example of a drive source for driving the rotor 22, the drive source is not limited to the motor 21. For example, the drive source may be an engine that is driven by chemical energy such as gasoline.

[0013] ((Photography Unit 30)) The photographing unit 30 includes a first camera 31 provided at the front of the main body 11 to photograph the front, a second camera 32 provided at the bottom of the main body 11 to photograph the downward, and a third camera 33 provided at the top of the main body 11 to photograph the upward. The first camera 31, the second camera 32, and the third camera 33 can be exemplified as stereo cameras. Images photographed by the first camera 31, the second camera 32, and the third camera 33 are output to the control device 50 and used for position control of the unmanned aerial vehicle 10 and for measuring the distance to objects around the unmanned aerial vehicle 10. For example, the image photographed by the second camera 32 is used to measure the distance of the unmanned aerial vehicle 10 relative to the ground. In other words, the second camera 32 functions as a sensor that measures the distance of the unmanned aerial vehicle 10 relative to the ground.

[0014] The photographing unit 30 also has a photographing camera 35 that takes photos (still images) and videos (moving images) of scenery, inspection objects, etc. The photographing camera 35 is connected to the main body 11 via a gimbal 36 in order to suppress blurring due to vibration of the main body 11 caused by, for example, the rotation of the rotor 22. The photographing camera 35 can be, for example, a monochrome camera, a color camera, or an infrared camera.

[0015] ((Sensor unit 40)) The sensor unit 40 includes a flight position sensor 41 that detects the flight position of the unmanned aerial vehicle 10, an attitude sensor 42 that detects the attitude of the unmanned aerial vehicle 10, an orientation sensor 43 that detects the direction of the unmanned aerial vehicle 10, and an altitude sensor 44 that detects the altitude of the unmanned aerial vehicle 10. The sensor unit 40 also includes an in-vehicle temperature sensor 45 that detects the in-vehicle temperature, which is the temperature inside the main body 11 of the unmanned aerial vehicle 10, an ESC temperature sensor 46 that detects the ESC temperature, which is the temperature of the ESC 55, and a voltage sensor 47 that detects the voltage of the battery 24.

[0016] The flight position sensor 41 can be exemplified by a GPS (Global Positioning System) sensor. The attitude sensor 42 can be, for example, a gyro sensor that detects angular velocity. The direction sensor 43 can be, for example, an electronic compass that uses geomagnetism to provide direction information. The altitude sensor 44 can be, for example, an air pressure sensor. The in-machine temperature sensor 45 can be, for example, a known temperature sensor that is installed inside the main body 11 and detects the temperature inside the main body 11. The ESC temperature sensor 46 can be, for example, a known temperature sensor that detects the temperature around the ESC 55 . The voltage sensor 47 can be, for example, a well-known voltage sensor that measures the terminal voltage of the battery 24 .

[0017] ((Control device 50)) The control device 50 includes a control unit 51 that controls the entire device, a storage unit 52 used to store data and the like, and an interface 53 used to communicate with the imaging unit 30, the sensor unit 40, and the like. The control device 50 also includes a signal generation unit 54 that generates a signal for controlling the motor 21, an ESC 55 that adjusts the drive of the motor 21, and a communication circuit 56. The control unit 51, the storage unit 52, the interface 53, the signal generation unit 54, and the communication circuit 56 are connected via a bus 57.

[0018] The control unit 51 is composed of a CPU (Central Processing Unit) 51a, a ROM (Read Only Memory) 51b, a RAM (Random Access Memory) 51c, etc. The ROM 51b stores a basic program (operation system) executed by the CPU 51a, application programs, various settings, etc. The CPU 51a uses the RAM 51c as a working area and executes application programs read from the ROM 51b or the storage unit 52 to control each part of the unmanned aerial vehicle 10. The functions of the control unit 51 will be described in detail later.

[0019] The storage unit 52 can be, for example, a storage device such as a semiconductor memory, a hard disk drive (HDD), etc. The storage unit 52 stores images captured by the photographing camera 35, etc. The signal generating unit 54 converts the control command value data obtained by the control unit 51 through calculation into a pulse signal (such as a PWM signal) representing a voltage. The ESC 55 converts the pulse signal from the signal generating unit 54 into a drive voltage for driving the motor 21 .

[0020] The communication circuit 56 is connected to, for example, an antenna (not shown). The antenna receives wireless signals including information and various data for controlling the unmanned aerial vehicle 10, and transmits wireless signals such as telemetry signals from the unmanned aerial vehicle 10. The communication circuit 56 demodulates the wireless signals received via the antenna to obtain control signals for the unmanned aerial vehicle 10 and inputs them to the control unit 51, and generates wireless signals carrying telemetry signals output from the unmanned aerial vehicle 10. The communication circuit 56 can be exemplified as a wireless signal processing IC.

[0021] The control unit 51 includes an image acquisition unit 61 that acquires images captured by the image capture unit 30, and a flight control unit 62 that controls the flight of the unmanned aerial vehicle 10. The control unit 51 also includes a takeoff determination unit 63 that determines whether the unmanned aerial vehicle 10 has taken off, a landing determination unit 64 that determines whether the unmanned aerial vehicle 10 has landed, and an estimation unit 65 that estimates the time and place at which the unmanned aerial vehicle 10 took off, the time and place at which the unmanned aerial vehicle 10 landed, etc. The control unit 51 also includes a state determination unit 66 that determines the state of the unmanned aerial vehicle 10, and a transmission unit 67 that transmits the items estimated by the estimation unit 65 and the items determined by the state determination unit 66 to the information processing device 100.

[0022] [Image acquisition unit 61] The image acquisition unit 61 causes the photographing unit 30 to photograph. Then, the image acquisition unit 61 stores the images photographed by, for example, the photographing camera 35 in the storage unit 52. The image acquisition unit 61 also outputs the images photographed by, for example, the first camera 31, the second camera 32, and the third camera 33 to the flight control unit 62, etc.

[0023] [Flight Control Unit 62] The flight control unit 62 controls the flight of the unmanned aerial vehicle 10 based on a predetermined flight path, etc. Specifically, the flight control unit 62 grasps the current position of the unmanned aerial vehicle 10 based on detection values, etc. acquired from the sensor unit 40, and calculates control command values ​​for each motor 21 so that the position coincides with a target value on the predetermined flight path. Then, the flight control unit 62 outputs the calculated control command values ​​to the signal generation unit 54.

[0024] The flight control unit 62 calculates the amount of change (speed) in the position of the unmanned aerial vehicle 10 based on the images captured by the first camera 31, the second camera 32, and the third camera 33 acquired by the image acquisition unit 61, and performs flight control of the unmanned aerial vehicle 10 even in a situation where it cannot receive a signal from the flight position sensor 41. The flight control unit 62 also uses the images captured by the first camera 31, the second camera 32, and the third camera 33 to measure the distance to objects around the unmanned aerial vehicle 10 and avoid collisions.

[0025] [Takeoff Judgment Section 63] When the unmanned aerial vehicle 10 is in autonomous flight mode, the takeoff determination unit 63 determines that the unmanned aerial vehicle 10 has taken off when the distance of the unmanned aerial vehicle 10 from the ground, as determined based on the image taken by the second camera 32, becomes equal to or greater than a predetermined takeoff reference height (e.g., 5 cm) and the current supply command value to the motor 21 that drives the rotor 22 (e.g., a command value from the flight control unit 62 to the signal generating unit 54) becomes equal to or greater than a predetermined takeoff reference value.

[0026] Here, even if the distance of the unmanned aerial vehicle 10 from the ground determined based on the image captured by the second camera 32 is the takeoff reference height, the unmanned aerial vehicle 10 may be lifted up by a person, for example, and thus may be away from the ground. Also, even if the current supply command value to the motor 21 that drives the rotor 22 is equal to or greater than the reference value, the unmanned aerial vehicle 10 may not yet be away from the ground because a load is applied to the unmanned aerial vehicle 10, for example, because a person is holding down the unmanned aerial vehicle 10 by hand.

[0027] Therefore, the takeoff determination unit 63 determines that the unmanned aerial vehicle 10 has taken off when the distance of the unmanned aerial vehicle 10 from the ground, based on the image captured by the second camera 32, becomes equal to or greater than the takeoff reference height and the current supply command value to the motor 21 that drives the rotor 22 becomes equal to or greater than the takeoff reference value.

[0028] On the other hand, when the unmanned aerial vehicle 10 is in manual mode, the takeoff determination unit 63 determines that the unmanned aerial vehicle 10 has taken off when, after rotation of the rotor 22 by operating the remote control, the distance of the unmanned aerial vehicle 10 from the ground, as determined based on the image captured by the second camera 32, becomes equal to or greater than the takeoff reference height (e.g., 5 cm). In addition, the takeoff reference height when the unmanned aerial vehicle 10 is in autonomous flight mode and the takeoff reference height when the unmanned aerial vehicle 10 is in manual mode may be the same or different.

[0029] [Landing Judgment Section 64] When the unmanned aerial vehicle 10 is in autonomous flight mode, the landing determination unit 64 determines that the unmanned aerial vehicle 10 has landed when the distance of the unmanned aerial vehicle 10 from the ground, as determined based on the image captured by the second camera 32, becomes less than a predetermined landing reference height (e.g., 5 cm) and the current supply command value to the motor 21 that drives the rotor 22 becomes less than the predetermined landing reference value.

[0030] Here, even if the distance of unmanned aerial vehicle 10 from the ground determined based on the image captured by second camera 32 is less than the landing reference height, unmanned aerial vehicle 10 may be approaching the ground, for example, because it is being held by a person. Also, even if the current supply command value to motor 21 that drives rotor 22 becomes less than the landing reference value, rotor 22 may still be rotating due to inertia and may not yet have descended to the ground.

[0031] Therefore, the landing determination unit 64 determines that the unmanned aerial vehicle 10 has landed when the distance of the unmanned aerial vehicle 10 from the ground, based on the image captured by the second camera 32, becomes less than the landing reference height and the current supply command value to the motor 21 that drives the rotor 22 becomes less than the landing reference value.

[0032] On the other hand, when the unmanned aerial vehicle 10 is in manual mode, the landing determination unit 64 determines that the unmanned aerial vehicle 10 has landed when, after the rotor 22 has stopped rotating by operating the remote control, the distance of the unmanned aerial vehicle 10 from the ground, as determined based on the image taken by the second camera 32, becomes less than the landing reference height (e.g., 5 cm). In addition, the landing reference height when the unmanned aerial vehicle 10 is in autonomous flight mode and the landing reference height when the unmanned aerial vehicle 10 is in manual mode may be the same or different.

[0033] [Estimation part 65] The estimation unit 65 estimates the time when the takeoff determination unit 63 determines that the unmanned aerial vehicle 10 has taken off as the takeoff time, which is the time when the unmanned aerial vehicle 10 has taken off. Then, the estimation unit 65 stores the estimated takeoff time in a memory area for storing takeoff times (hereinafter, sometimes referred to as the "takeoff time memory area") provided in the RAM 51c, the ROM 51b, or the memory unit 52.

[0034] Furthermore, when the takeoff determination unit 63 determines that the unmanned aerial vehicle 10 has taken off, the estimation unit 65 estimates the position detected by the flight position sensor 41 as the takeoff location of the unmanned aerial vehicle 10. Then, the estimation unit 65 stores the estimated takeoff location in a memory area for storing takeoff locations (hereinafter, sometimes referred to as the "takeoff location memory area") provided in the RAM 51c, the ROM 51b, or the memory unit 52.

[0035] Furthermore, the estimation unit 65 estimates the time when the landing determination unit 64 determines that the unmanned aerial vehicle 10 has landed as the landing time, which is the time when the unmanned aerial vehicle 10 has landed. Then, the estimation unit 65 stores the estimated landing time in a memory area for storing landing times (hereinafter, sometimes referred to as the "landing time memory area") provided in the RAM 51c, the ROM 51b, or the memory unit 52.

[0036] Furthermore, when the landing determination unit 64 determines that the aircraft has landed, the estimation unit 65 estimates the position detected by the flight position sensor 41 as the landing location. Then, the estimation unit 65 stores the estimated landing location in a memory area for storing landing locations (hereinafter, may be referred to as a "landing location memory area") provided in the RAM 51c, the ROM 51b, or the memory unit 52.

[0037] [State determination unit 66] The state determination unit 66 determines whether or not an item affecting flight safety has occurred. When flight safety has been affected or is likely to be affected, the state determination unit 66 determines that a warning item affecting flight safety has occurred. In addition, the state determination unit 66 determines whether or not a caution item that is not likely to affect flight safety but may lead to a warning item has occurred. In other words, the state determination unit 66 determines whether or not a warning item that has a large impact on flight safety and a caution item that has a small impact on flight safety have occurred.

[0038] More specifically, the state determination unit 66 determines that a warning has occurred when the battery voltage, which is the voltage of the battery 24 detected by the voltage sensor 47, is lower than a predetermined first voltage. This is because if the battery voltage becomes low, the unmanned aerial vehicle 10 may not be able to continue flying. Furthermore, the state determination unit 66 determines that a caution has occurred when the battery voltage detected by the voltage sensor 47 is equal to or higher than the first voltage and lower than a predetermined second voltage (the second voltage is higher than the first voltage). In other words, the state determination unit 66 determines that a warning has occurred when the battery voltage is less than the first voltage, and determines that a caution has occurred when the first voltage≦battery voltage<the second voltage.

[0039] In addition, when the temperature inside the aircraft detected by the in-aircraft temperature sensor 45 is higher than a predetermined first temperature, the state determination unit 66 determines that a warning event has occurred. This is because when the temperature inside the aircraft rises, abnormalities may occur in the control device 50 and various sensors provided in the main body 11, and there is a risk that the unmanned aircraft 10 will be unable to continue flying. Also, when the temperature inside the aircraft is equal to or lower than the first temperature and higher than a predetermined second temperature (the second temperature is lower than the first temperature), the state determination unit 66 determines that a cautionary event has occurred. That is, the state determination unit 66 determines that a warning event has occurred when the temperature inside the aircraft > the first temperature, and determines that a cautionary event has occurred when the second temperature < the temperature inside the aircraft ≤ the first temperature.

[0040] In addition, when the ESC temperature detected by the ESC temperature sensor 46 is higher than a predetermined first temperature, the state determination unit 66 determines that a warning event has occurred. This is because when the ESC temperature rises, the motor 21 cannot be appropriately controlled, and there is a risk that the flight control of the unmanned aircraft 10 cannot be accurately performed. Also, when the ESC temperature is equal to or lower than the first temperature and higher than a predetermined second temperature (the second temperature is lower than the first temperature), the state determination unit 66 determines that a cautionary event has occurred. That is, the state determination unit 66 determines that a warning event has occurred when the ESC temperature > the first temperature, and determines that a cautionary event has occurred when the second temperature < the ESC temperature ≤ the first temperature.

[0041] In addition, when the number of GPS satellites captured by the flight position sensor 41 is less than a predetermined first number, the state determination unit 66 determines that a warning event has occurred. This is because when the number of GPS satellites captured is small, the flight position of the unmanned aircraft 10 cannot be accurately grasped, and there is a risk that the unmanned aircraft 10 will be unable to fly to the destination. Also, when the number of GPS satellites captured is equal to or greater than the first number and less than a predetermined second number (the second number is greater than the first number), the state determination unit 66 determines that a cautionary event has occurred. That is, the state determination unit 66 determines that a warning event has occurred when the number of satellites captured < the first number, and determines that a cautionary event has occurred when the first number ≤ the number of satellites captured < the second number.

[0042] Furthermore, the state determination unit 66 determines that a warning has occurred when the orientation error, which is the difference between the orientation of the unmanned aerial vehicle 10 detected by the orientation sensor 43 and the orientation of the unmanned aerial vehicle 10 calculated using the detection value of the attitude sensor 42, is greater than a predetermined first error. For example, the state determination unit 66 uses, as the orientation error, the deviation between the orientation of the unmanned aerial vehicle 10 detected by an electronic compass, which is an example of the orientation sensor 43, and the orientation of the unmanned aerial vehicle 10 calculated based on the angular velocity detected by a gyro sensor, which is an example of the attitude sensor 42. This is because if the orientation error becomes large, it becomes impossible to grasp the orientation of the unmanned aerial vehicle 10 with high accuracy, and there is a risk that the unmanned aerial vehicle 10 will not be able to fly to the destination. Furthermore, the state determination unit 66 determines that a warning has occurred when the orientation error is equal to or smaller than the first error and is greater than a predetermined second error (the second error is an error smaller than the first error). That is, the state determination unit 66 determines that a warning has occurred if the azimuth error>the first error, and determines that a caution has occurred if the second error<the azimuth error≦the first error.

[0043] [Transmitter 67] The transmission unit 67 transmits the takeoff time, takeoff location, landing time, and landing location estimated by the estimation unit 65 to the information processing device 100. When the state determination unit 66 determines that a warning or a caution has occurred, the transmission unit 67 transmits the warning or the caution to the information processing device 100.

[0044] [Judgment process] FIG. 6 is a flowchart showing the determination process performed by the state determination unit 66. The state determination unit 66 determines whether the battery voltage is lower than the second voltage (S601). If the battery voltage is lower than the second voltage (YES in S601), the state determination unit 66 determines whether the battery voltage is lower than the first voltage (S602). If the battery voltage is lower than the first voltage (YES in S602), the state determination unit 66 determines that a warning has occurred and stores the fact that the battery voltage is lower than the first voltage and the time when it was determined that the warning has occurred in a storage area for storing warnings (hereinafter, sometimes referred to as a "warning item storage area") provided in the RAM 51c, the ROM 51b, or the storage unit 52 (S603). On the other hand, if the battery voltage is not lower than the first voltage (NO in S602), the status determination unit 66 determines that a warning has occurred and stores in a memory area for storing warnings (hereinafter sometimes referred to as the "warning memory area") provided in the RAM 51c, the ROM 51b, or the memory unit 52, a message that the battery voltage is equal to or higher than the first voltage and lower than the second voltage, as well as the time when it was determined that the warning has occurred (S604).

[0045] On the other hand, if the battery voltage is not lower than the second voltage (NO in S601), the state determination unit 66 determines whether the temperature inside the machine is higher than the second temperature (S605). If the temperature inside the machine is higher than the second temperature (YES in S605), the state determination unit 66 determines whether the temperature inside the machine is higher than the first temperature (S606). If the temperature inside the machine is higher than the first temperature (YES in S606), the state determination unit 66 determines that a warning has occurred and stores in the warning item storage area a message that the temperature inside the machine is higher than the first temperature and the time when it was determined that the warning has occurred (S607). On the other hand, if the temperature inside the machine is not higher than the first temperature (NO in S606), the state determination unit 66 determines that a notice has occurred and stores in the notice storage area a message that the temperature inside the machine is higher than the second temperature and equal to or lower than the first temperature and the time when it was determined that the notice has occurred (S608).

[0046] On the other hand, if the temperature inside the aircraft is not higher than the second temperature (NO in S605), the state determination unit 66 determines whether or not the ESC temperature is higher than the second temperature (S609). If the ESC temperature is higher than the second temperature (YES in S609), the state determination unit 66 determines whether or not the ESC temperature is higher than the first temperature (S610). If the ESC temperature is higher than the first temperature (YES in S610), the state determination unit 66 determines that a warning has occurred and stores in the warning item storage area a message indicating that the ESC temperature is higher than the first temperature and the time at which it was determined that the warning has occurred (S611). On the other hand, if the ESC temperature is not higher than the first temperature (NO in S610), the state determination unit 66 determines that a notice has occurred and stores in the notice storage area a message indicating that the ESC temperature is higher than the second temperature and equal to or lower than the first temperature and the time at which it was determined that the notice has occurred (S612).

[0047] On the other hand, if the ESC temperature is not higher than the second temperature (NO in S609), the state determination unit 66 determines whether the GPS satellite capture number is less than the second number (S613). If the satellite capture number is less than the second number (YES in S613), the state determination unit 66 determines whether the satellite capture number is less than the first number (S614). If the satellite capture number is less than the first number (YES in S614), the state determination unit 66 determines that a warning has occurred and stores in the warning item storage area a message that the satellite capture number is less than the first number and the time when it was determined that the warning has occurred (S615). On the other hand, if the satellite capture number is not less than the first number (NO in S614), the state determination unit 66 determines that a notice has occurred and stores in the notice storage area a message that the satellite capture number is equal to or greater than the first number and less than the second number and the time when it was determined that the notice has occurred (S616).

[0048] On the other hand, if the satellite capture number is not less than the second number (NO in S613), the state determination unit 66 determines whether the orientation error is greater than the second error (S617). If the orientation error is greater than the second error (YES in S617), the state determination unit 66 determines whether the orientation error is greater than the first error (S618). If the orientation error is greater than the first error (YES in S618), the state determination unit 66 determines that a warning has occurred and stores in the warning item storage area a message indicating that the orientation error is greater than the first error and the time at which it was determined that the warning has occurred (S619). On the other hand, if the orientation error is not greater than the first error (NO in S618), the state determination unit 66 determines that a notice has occurred and stores in the notice storage area a message indicating that the orientation error is greater than the second error and equal to or less than the first error and the time at which it was determined that the notice has occurred (S620).

[0049] 7 is an example of a flowchart showing a transmission process performed by the control unit 51. The control unit 51 repeatedly executes the determination process at preset fixed time intervals (for example, 1 millisecond). The control unit 51 determines whether the unmanned aerial vehicle 10 has taken off (S701). The process of S701 is a process determined by the takeoff determination unit 63. Then, when the unmanned aerial vehicle 10 has not taken off (NO in S701), in other words, when the takeoff determination unit 63 has determined that the unmanned aerial vehicle 10 has not taken off, the control unit 51 performs the process from S701 onwards. On the other hand, when the unmanned aerial vehicle 10 has taken off (YES in S701), in other words, when the takeoff determination unit 63 has determined that the unmanned aerial vehicle 10 has taken off, the control unit 51 stores the takeoff time in the takeoff time storage area and stores the takeoff location in the takeoff location storage area (S702). The process of S702 is a process performed by the estimation unit 65.

[0050] Then, the control unit 51 performs the above-mentioned determination process (S703). The process of S703 is a process in which the state determination unit 66 performs the above-mentioned determination process. The control unit 51 determines whether the unmanned aerial vehicle 10 has landed (S704). The processing of S704 is processing determined by the landing determination unit 64. Then, when the unmanned aerial vehicle 10 has not landed (NO in S704), in other words, when the landing determination unit 64 has determined that the unmanned aerial vehicle has not landed, the control unit 51 performs processing from S703 onward. On the other hand, when the unmanned aerial vehicle 10 has landed (YES in S704), in other words, when the landing determination unit 64 has determined that the unmanned aerial vehicle has landed, the control unit 51 stores the landing time in the landing time storage area and stores the landing location in the landing location storage area (S705). The processing of S705 is processing performed by the estimation unit 65.

[0051] Thereafter, the control unit 51 transmits the information stored in the predetermined storage area to the information processing device 100 in association with a registration symbol that is predetermined for the unmanned aerial vehicle 10 (S706). The processing of S706 is processing performed by the transmission unit 67. The predetermined storage areas are a takeoff time storage area, a takeoff location storage area, a landing time storage area, a landing location storage area, a warning item storage area, and a notice storage area. That is, in the processing of S706, the control unit 51 transmits the takeoff time, takeoff location, landing time, and landing location stored in the takeoff time storage area, the takeoff location storage area, the landing time storage area, and the landing location storage area in association with a registration symbol to the information processing device 100. Furthermore, when a warning item is stored in the warning item storage area, the control unit 51 transmits the warning item to the information processing device 100 in association with the registration symbol. Furthermore, when a notice is stored in the notice storage area, the control unit 51 transmits the notice to the information processing device 100 in association with the registration symbol.

[0052] (Information processing device 100) FIG. 8 is a diagram illustrating an example of a schematic configuration of the information processing device 100. As shown in FIG. The information processing device 100 includes a control unit 110 that controls the entire device, a storage unit 120 used to store data and the like, a display unit 130 used to display an operation reception screen and images, an operation unit 140 that receives input operations from a user, and a communication unit 150 used to communicate with external devices. The control unit 110, storage unit 120, display unit 130, operation unit 140, and communication unit 150 are connected via a bus 160. The information processing device 100 can be, for example, a desktop PC, a notebook PC, a tablet terminal, a tablet PC, a personal digital assistant (PDA), a multi-function mobile phone (a so-called "smartphone"), or the like.

[0053] The control unit 110 is composed of a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc. The ROM stores a basic program (operation system) executed by the CPU, application programs, various settings, etc. The CPU uses the RAM as a working area and executes application programs read from the ROM or the storage unit 120. The CPU executes the programs to control each unit of the information processing device 100. The functions of the control unit 110 will be described in detail later.

[0054] The display unit 130 can be, for example, a liquid crystal display or an organic EL display. The operation unit 140 can be exemplified by a button, a switch, or a touch panel. The communication unit 150 can be exemplified as a communication interface (communication I / F).

[0055] FIG. 9 is a diagram showing an example of a flight record 200 in which items stored in the memory unit 120 are entered. The storage unit 120 can be exemplified by a storage device such as a semiconductor memory or a hard disk drive (HDD). The storage unit 120 stores matters to be recorded in the flight record of the unmanned aerial vehicle 10. More specifically, the storage unit 120 stores, for each unmanned aerial vehicle 10 (in other words, for each registration code), the "flight date," "name of the person who flew the aircraft," "flight summary," "takeoff location," "landing location," "takeoff time," "landing time," "flight time," "total flight time," and "matters that affected flight safety." The storage unit 120 also stores predetermined columns in the flight record 200 in which the "flight date," "name of the person who flew the aircraft," "flight summary," "takeoff location," "landing location," "takeoff time," "landing time," "flight time," "total flight time," and "matters that affected flight safety" are recorded, in association with the matters to be recorded in the predetermined columns.

[0056] The control unit 110 causes the display unit 130 to display the flight record 200 when, for example, the pilot issues a display instruction via the operation unit 140. In addition, the control unit 110 causes the printer to print the flight record 200 when, for example, the pilot issues a print instruction via the operation unit 140. The flight record 200 shown in FIG. 9 and FIG. 11 described later is also an example of the flight record 200 in which the items stored in the memory unit 120 are entered and displayed on the display unit 130. In addition, the flight record 200 shown in FIG. 9 and FIG. 11 described later is also an example of the flight record 200 in which the items stored in the memory unit 120 are entered and printed by the printer.

[0057] Before flying the unmanned aircraft 10, the pilot executes an application program for the unmanned aircraft 10 and starts software for creating a flight record to display the flight record of the unmanned aircraft 10 (in other words, for each registration code) used for this flight on the display unit 130. Then, the pilot operates the operation unit 140 to input the pilot's name and flight summary in the "Name of the person who flew" and "Flight summary" columns. The pilot's name and flight summary may be selected from a list registered in advance. The pilot also inputs the date of this flight in the "Flight date" column. FIG. 9 shows an example in which Taro Tanaka, the pilot of the aircraft registration code XX, inputs "2023.7.12", "Taro Tanaka", and "Flight test" in the "Flight date", "Name of the person who flew", and "Flight summary" columns, respectively, in the flight record of the aircraft registration code XX displayed on the display unit 130 before the flight test on July 12, 2023.

[0058] 10 is an example of a flowchart showing the storage process performed by the control unit 110. The control unit 110 repeatedly executes the storage process at preset fixed time intervals (for example, 1 millisecond). FIG. 11 is a diagram showing an example of a flight record 200 in which items stored in the memory unit 120 are entered. The control unit 110 determines whether or not information regarding the flight record has been received from the unmanned aerial vehicle 10 (S1001). The information regarding the flight record is information transmitted from the unmanned aerial vehicle 10 to the information processing device 100 in the processing of S706 of the transmission processing described with reference to Fig. 7. Then, when information regarding the flight record has been received (YES in S1001), the control unit 110 identifies the aircraft registration symbol included in the received information in order to determine which unmanned aerial vehicle 10 the information pertains to (S1002).

[0059] Thereafter, the control unit 110 stores information about the flight record included in the received information in the storage unit 120 in association with the registration code of the aircraft (S1003). The information about the flight record is the takeoff time, takeoff location, landing time, landing location, warning items, and precautions. The control unit 110 then stores the takeoff time, takeoff location, landing time, landing location, warning items, and precautions in an area that stores "takeoff time," "takeoff location," "landing time," "landing location," "warning items," and "precautions" in the flight record of the aircraft's registration code. Note that, since one flight record is created for each flight, the "name of the person who flew" and "flight summary" entered by the pilot before the flight correspond to the information stored in S1003.

[0060] FIG. 11 shows an example in which the control unit 110 receives "13:00", "first airport", "14:10", and "first airport" as "takeoff time", "takeoff location", "landing time", and "landing location" in association with the registration code XX of the aircraft, respectively, and stores this information in an area for storing "takeoff time", "takeoff location", "landing time", and "landing location" in the flight record of the aircraft with the registration code XX. Also, the control unit 110 receives "13:50", which is the time when it is determined that the temperature inside the aircraft has risen to the fourth temperature" as a "warning item" in association with the registration code XX of the aircraft, and stores this information in an area for storing "warning items" in the flight record of the aircraft with the registration code XX. The fourth temperature is a temperature that satisfies the first temperature<the fourth temperature. Also, the third temperature is a temperature that satisfies the second temperature<the third temperature≦the first temperature.

[0061] Thereafter, the control unit 110 calculates the flight time using the takeoff time and landing time included in the received information, and stores the flight time in the storage unit 120 in association with the registration symbol of the aircraft (S1004). For example, the control unit 110 subtracts the takeoff time from the landing time, and stores the value obtained by subtracting the takeoff time from the landing time in an area for storing "flight time" in the flight record of the aircraft's registration symbol. In the example shown in FIG. 11, the control unit 110 subtracts "13:00" from "14:10", and stores "1:10" obtained by the subtraction in an area for storing "flight time" in the flight record of the aircraft with registration symbol XX.

[0062] Thereafter, the control unit 110 calculates the total flight time of the aircraft with the registration code grasped in S1002, and stores it in the storage unit 120 in association with the registration code of the aircraft (S1005). For example, the control unit 110 adds the flight time calculated in S1004 to the total flight time up to the previous flight, and stores the value obtained by adding the flight time calculated in S1004 to the total flight time up to the previous flight in an area for storing the "total flight time" in the flight record of the aircraft's registration code. In the example shown in FIG. 11, the control unit 110 adds the flight time "1:10" to the total flight time "0:50" up to the previous flight, and stores the "2:00" obtained by the addition in an area for storing the "total flight time" in the flight record of the aircraft with the registration code XX.

[0063] As described above, the system 1 includes a state determination unit 66 that determines whether or not a caution that affects the flight safety of the unmanned aerial vehicle 10 has occurred, or a warning item that has a greater impact than a caution item has occurred. The system 1 also includes a memory unit 120 that stores caution items or warning items in association with a specified field so that, when the state determination unit 66 determines that a caution item or warning item has occurred, the caution item or warning item is entered in the specified field in the flight record where items that have affected the flight safety should be entered.

[0064] According to the system 1 configured as described above, since the state determination unit 66 determines whether or not a caution or warning has occurred, it is possible to grasp with high accuracy that a caution or warning has occurred. In addition, since the storage unit 120 of the information processing device 100 stores the caution or warning in association with a predetermined field in the flight record in which the matter that has affected the flight safety should be entered, the caution or warning can be automatically entered in the predetermined field. In addition, the information processing device 100 can display the caution and warning that have occurred in the unmanned aerial vehicle 10 on the display unit 130. In addition, by storing matters with different degrees of influence, such as cautions and warnings, as matters that have affected the flight safety, it is possible to easily identify the cause and analyze the factors when an unsafe event occurs related to the flight of the unmanned aerial vehicle 10, compared to a configuration in which only warnings are stored, for example. In addition, by storing the caution as a matter that has affected the flight safety, it is possible to suppress the occurrence of a warning in the subsequent flight of the unmanned aerial vehicle 10. However, the configuration may be such that only warning items that have affected flight safety are stored, and caution items are not stored.

[0065] Here, the unmanned aerial vehicle 10 has a status determination unit 66, and an information processing device 100 (an example of a terminal) capable of communicating with the unmanned aerial vehicle 10 via a network 5 (an example of a communication means) has a memory unit 120. When the status determination unit 66 determines that a notice or warning has occurred, the unmanned aerial vehicle 10 transmits the notice or warning to the information processing device 100 via the network 5. This allows the information processing device 100 to make a determination more quickly and accurately than, for example, when the information processing device 100 makes a determination using information acquired from the unmanned aerial vehicle 10.

[0066] The system 1 also includes a takeoff determination unit 63 as an example of a determination means for determining whether the unmanned aerial vehicle 10 has taken off, and an estimation unit 65 as an example of an estimation means for estimating the time when the takeoff determination unit 63 determines that the unmanned aerial vehicle 10 has taken off as an estimated takeoff time, which is the time when the unmanned aerial vehicle 10 took off. The system 1 also includes a memory unit 120 as an example of a memory means for storing the estimated takeoff time in association with a specified field in the flight record 200 so that the estimated takeoff time estimated by the estimation unit 65 is entered in the specified field in which the takeoff time should be entered.

[0067] According to the system 1 configured as described above, since the takeoff determination unit 63 determines whether or not the unmanned aerial vehicle 10 has taken off, it is possible to know with high accuracy that the unmanned aerial vehicle 10 has taken off. In addition, since the memory unit 120 of the information processing device 100 stores the estimated takeoff time in association with a predetermined field in which the takeoff time should be entered so that the estimated takeoff time is entered in the predetermined field in the flight record in which the takeoff time should be entered, it is possible to automatically enter the estimated takeoff time in the predetermined field as the takeoff time. Therefore, the system 1 can prevent omissions and errors in the contents of entries from occurring.

[0068] Then, the takeoff determination unit 63 determines that the unmanned aerial vehicle 10 has taken off when the distance determined using the output value (e.g., an image captured by the second camera 32) of a sensor that measures the distance of the unmanned aerial vehicle 10 from the ground provided on the unmanned aerial vehicle 10 becomes equal to or greater than a predetermined reference value (e.g., a takeoff reference height) and the current supply command value (e.g., a command value from the flight control unit 62 to the signal generating unit 54) to the motor 21 that drives the rotor 22 becomes equal to or greater than a predetermined value (e.g., a takeoff reference value). Therefore, the takeoff determination unit 63 can accurately determine that the unmanned aerial vehicle 10 has taken off.

[0069] Here, the unmanned aerial vehicle 10 has a takeoff determination unit 63 and an estimation unit 65, and an information processing device 100 (an example of a terminal) capable of communicating with the unmanned aerial vehicle 10 via a network 5 (an example of a communication means) has a memory unit 120. The unmanned aerial vehicle 10 then transmits the estimated takeoff time estimated by the estimation unit 65 to the information processing device 100 via the network 5. This allows the information processing device 100 to make a determination more quickly and accurately than, for example, when the information processing device 100 makes a determination using information acquired from the unmanned aerial vehicle 10.

[0070] The system 1 also includes a landing determination unit 64 as an example of a determination means for determining whether the unmanned aerial vehicle 10 has landed, and an estimation unit 65 as an example of an estimation means for estimating the time when the landing determination unit 64 determines that the unmanned aerial vehicle 10 has landed as an estimated landing time, which is the time when the unmanned aerial vehicle 10 landed. The system 1 also includes a memory unit 120 as an example of a memory means for storing the estimated landing time in association with a specified field in the flight record 200 so that the estimated landing time estimated by the estimation unit 65 is entered in the specified field in which the landing time should be entered.

[0071] According to the system 1 configured as described above, the landing determination unit 64 determines whether or not the unmanned aerial vehicle 10 has landed, so that it is possible to know with a high degree of accuracy that the unmanned aerial vehicle 10 has landed. In addition, the memory unit 120 of the information processing device 100 stores the estimated landing time in association with a predetermined field in which the landing time should be entered so that the estimated landing time is entered in the predetermined field in the flight record in which the landing time should be entered, so that the estimated landing time can be automatically entered as the landing time in the predetermined field. Therefore, the system 1 can prevent omissions and errors in the entered content from occurring.

[0072] Then, the takeoff determination unit 63 determines that landing has occurred when the distance determined using the output value (e.g., an image captured by the second camera 32) of a sensor provided on the unmanned aerial vehicle 10 that measures the distance of the unmanned aerial vehicle 10 to the ground becomes less than a predetermined reference value (e.g., landing reference height) and the current supply command value (e.g., a command value from the flight control unit 62 to the signal generation unit 54) to the motor 21 that drives the rotor 22 becomes less than a predetermined value (e.g., landing reference value). Therefore, the takeoff determination unit 63 can accurately determine that the unmanned aerial vehicle 10 has landed.

[0073] Here, the unmanned aerial vehicle 10 has a landing determination unit 64 and an estimation unit 65, and an information processing device 100 capable of communicating with the unmanned aerial vehicle 10 via a network 5 has a memory unit 120. The unmanned aerial vehicle 10 then transmits the estimated landing time estimated by the estimation unit 65 to the information processing device 100 via the network 5. This allows the information processing device 100 to make a judgment more quickly and accurately than when making a judgment using information acquired from the unmanned aerial vehicle 10, for example.

[0074] In the transmission process described using the flowchart shown in FIG. 7, the control unit 51 transmits the information stored in the predetermined storage area to the information processing device 100 after landing, but the embodiment is not particularly limited to this. For example, the control unit 51 may transmit the information to the information processing device 100 in association with a registration symbol each time information is stored in the predetermined storage area. For example, the control unit 51 may transmit the takeoff time and the takeoff location stored in the takeoff time storage area and the takeoff location storage area to the information processing device 100 immediately after the unmanned aerial vehicle 10 takes off. Also, the control unit 51 may transmit the landing time and the landing location stored in the landing time storage area and the landing location storage area to the information processing device 100 immediately after the unmanned aerial vehicle 10 lands. Also, the control unit 51 may transmit the warning item stored in the warning item storage area to the information processing device 100 immediately after the warning item occurs. Also, the control unit 51 may transmit the notice stored in the notice item storage area to the information processing device 100 immediately after the notice occurs.

[0075] In the above-described embodiment, the pilot inputs the pilot's name, flight summary, and flight date in the "Name of the person who flew", "Flight summary", and "Flight date" fields before flying the unmanned aerial vehicle 10, but the present invention is not limited to such a form. For example, when the takeoff determination unit 63 determines that the unmanned aerial vehicle 10 has taken off, the estimation unit 65 estimates the date when the takeoff determination unit 63 determines that the unmanned aerial vehicle 10 has taken off as the flight date of the unmanned aerial vehicle 10, and stores the estimated flight date in a predetermined flight date storage area. Then, the transmission unit 67 transmits the flight date stored in the flight date storage area to the information processing device 100. Then, the control unit 110 of the information processing device 100 may associate the flight date with a predetermined field in which the flight date should be entered and store the flight date in the storage unit 120 so that the flight date is entered in the predetermined field in which the flight date should be entered in the flight record.

[0076] In the above embodiment, the pilot enters the "name of the person who flew" before flying the unmanned aerial vehicle 10, but this is not limited to a particular form. For example, after the "takeoff time," "takeoff location," "landing time," and "landing location" are stored, the pilot may enter the "name of the person who flew," "flight summary," and the like. [Explanation of symbols]

[0077] 1...flight record creation system, 10...unmanned aerial vehicle, 11...main body, 12...driving unit, 30...photographing unit, 40...sensor unit, 50...control device, 63...takeoff determination unit, 64...landing determination unit, 65...estimation unit, 66...state determination unit, 100...information processing device, 120...storage unit, 200...flight record

Claims

1. A system for creating a flight record of an unmanned aerial vehicle, comprising: A determination means for determining whether the unmanned aerial vehicle has taken off; an estimation means for estimating the time when the determination means determines that the unmanned aerial vehicle has taken off as an estimated takeoff time, which is the time when the unmanned aerial vehicle has taken off; a storage means for storing the estimated takeoff time estimated by the estimation means in association with a predetermined field in the flight record in which the takeoff time should be entered, so that the estimated takeoff time is entered in the predetermined field; A system comprising:

2. the determination means determines that the unmanned aerial vehicle has taken off when a distance determined using an output value of a sensor that measures the distance of the unmanned aerial vehicle from the ground and that is provided on the unmanned aerial vehicle becomes equal to or greater than a predetermined reference value and a current supply command value to a motor that drives a rotor becomes equal to or greater than a predetermined value; The system of claim 1 .

3. The unmanned aerial vehicle has the determination means and the estimation means, a terminal capable of communicating with the unmanned aerial vehicle via a predetermined communication means, the terminal having the storage means; The unmanned aerial vehicle transmits the estimated takeoff time estimated by the estimation means to the terminal via the communication means.

3. A system according to claim 1 or 2.

4. A system for creating a flight record of an unmanned aerial vehicle, comprising: A determination means for determining whether the unmanned aerial vehicle has landed; an estimation means for estimating the time when the determination means determines that the unmanned aerial vehicle has landed as an estimated landing time, which is the time when the unmanned aerial vehicle has landed; a storage means for storing the estimated landing time estimated by the estimation means in association with a predetermined field in the flight record in which the landing time should be entered, so that the estimated landing time is entered in the predetermined field; A system comprising:

5. the determination means determines that the unmanned aerial vehicle has landed when a distance ascertained using an output value of a sensor that measures the distance of the unmanned aerial vehicle from the ground, becomes less than a predetermined reference value, and a current supply command value for a motor that drives a rotor becomes less than a predetermined value; The system of claim 4.

6. The unmanned aerial vehicle has the determination means and the estimation means, a terminal capable of communicating with the unmanned aerial vehicle via a predetermined communication means, the terminal having the storage means; The unmanned aerial vehicle transmits the estimated landing time estimated by the estimation means to the terminal via the communication means.

6. A system according to claim 4 or 5.

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