Remote operation system, remote operation device, and remote operation target

Abstract

To remotely operate a remote operation target appropriately by a remote operation device when moving the remote operation target.SOLUTION: In a remote operation system comprising a remote operation target and a plurality of remote operation devices that selectively operate the remote operation target, when the remote operation target is moved remotely to the left or right from a first remote operation device to a second remote operation device among the plurality of operation devices, the first remote operation device operates the remote operation target to move in a left direction or a right direction when the remote operation target is viewed from the first remote operation device, and the second remote operation device operates the remote operation target to move in the right direction or the left direction when the remote operation target is viewed from the second remote operation device.SELECTED DRAWING: Figure 17

Description

[Technical field]

[0001] The present disclosure relates to a remote control system, a remote control device, and a remote control target. [Background technology]

[0002] Patent Document 1 discloses that a remote control device (also called a controller, a remote control unit, a transmitter, etc.) transmits a command signal to a drone by a user to fly the drone. Patent Document 2 discloses that a drone is used to spray pesticides on a farm field.

[0003] When a user operates a remote control device to spray pesticides in a field with a drone, the user is positioned at one end of the field, and a supervisor is positioned at the other end to monitor the drone so that the drone does not pass the other end. The user flies the drone forward on the outward journey from one end of the field to the other end and sprays pesticides. When the drone approaches the other end, the supervisor notifies the user by radio that the drone has approached the other end. The user, who has been notified that the drone has approached the other end, flies the drone backwards on the return journey so that the drone returns from the other end of the field to the one end. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2023-081814 [Patent Document 2] Patent Publication No. 2022-088441 Summary of the Invention [Problem to be solved by the invention]

[0005] When the monitor informs the user that the drone is approaching the other end as described above, the drone may pass the other end due to the drone's flight speed or the influence of a tailwind on the drone, etc.

[0006] In addition, if there is no supervisor, the user may fly the drone back and forth between one end of the field and the other.

[0007] For example, a user may reach one end before a drone that starts moving from one end reaches the other end. In this case, when moving the drone from one end to the other end to the left, a user at the other end may want to move the drone to the right, but must operate the remote control device to move the drone to the left, which feels strange. In this case, if the user operates the remote control device to move the drone to the right, the drone will move to the right from one end to the other end, and the user will not be able to operate the drone properly.

[0008] The technology disclosed herein has been developed in consideration of the above-mentioned facts, and aims to provide a remote control system, a remote control device, and a remote control target that, when moving the remote control target, enables a suitable remote control device to remotely control the remote control target appropriately and without any sense of discomfort. [Means for solving the problem]

[0009] In order to achieve the above object, a first aspect is a remote control system comprising a remote control object and a plurality of remote control devices selectively controlling the remote control object, wherein when the remote control object is moved leftward or rightward from a first remote control device among the plurality of remote control devices toward a second remote control device, the first remote control device controls the remote control object to move leftward or rightward when viewed from the first remote control device, and the second remote control device controls the remote control object to move rightward or leftward when viewed from the second remote control device.

[0010] A second aspect is a remote control system comprising a remote control object and a plurality of remote control devices that selectively control the remote control object, wherein when the remote control object is moved closer to or farther away from a first remote control device among the plurality of remote control devices toward a second remote control device, the first remote control device controls the remote control object to move forward or backward, and the second remote control device controls the remote control object to move backward or forward.

[0011] A third aspect is the remote control device according to the first or second aspect.

[0012] The fourth aspect is the remote control target in the first or second aspect.

[0013] A fifth aspect is a remote operation system including a remote control target, and a first remote operation device and a second remote operation device that selectively operate the remote control target, wherein (1) when the remote control target is moved forward or backward as viewed from the first remote operation device, the first remote operation device operates the remote control target to move forward or backward, and when a line connecting the first remote operation device and the remote control target is viewed from above from the first remote operation device side, (i) when the second remote operation device is located in an area to the right of the line, the second remote operation device operates the remote control target to move rightward or leftward, (ii) when the second remote operation device is located in an area to the left of the line, the second remote operation device operates the remote control target to move leftward or rightward, and (2) when the remote control target is moved leftward or rightward as viewed from a first remote operation device among the plurality of remote operation devices, The first remote control device operates the remote control object to move in a leftward or rightward direction, and when a line connecting the first remote control device and the remote control object is viewed from above from the first remote control device, (i) when the second remote control device is located in the area to the right of the line, the second remote control device operates the remote control object to move forward or backward, and (ii) when the second remote control device is located in the area to the left of the line, the second remote control device operates the remote control object to move backward or forward.

[0014] A sixth aspect is a remote control device among a first remote control device and a second remote control device that selectively controls a remote control object, the remote control device transmits an operation signal for operating the remote control object to the remote control object, and (1) when the remote control object is moved forward or backward as viewed from the first remote control device, when a line connecting the first remote control device and the remote control object is viewed from above from the first remote control device side, (i) when the second remote control device is located in an area to the right of the line, the second remote control device transmits a rightward movement instruction signal or a leftward movement instruction signal to the remote control object, and (ii) when the second remote control device is located in an area to the left of the line, the second remote control device transmits a rightward movement instruction signal or a leftward movement instruction signal to the remote control object. (2) when the remote control object is moved leftward or rightward as viewed from a first remote control device among the plurality of remote control devices, when a line connecting the first remote control device and the remote control object is viewed from above from the first remote control device, (i) if the second remote control device is located in the area to the right of the line, the second remote control device transmits a forward movement instruction signal or a backward movement instruction signal as the operation signal to the remote control object, and (ii) if the second remote control device is located in the area to the left of the line, the second remote control device transmits the controlling instruction signal and then transmits a backward movement instruction signal or a forward movement instruction signal as the operation signal to the remote control object.

[0015] A seventh aspect is a remote control target that is selectively operated by a first remote control device and a second remote control device, and (1) when instructed by the first remote control device to move forward or backward while looking at the remote control target from the first remote control device, the remote control target moves forward or backward, and when a line connecting the first remote control device and the remote control target is viewed from above from the first remote control device side, (i) when instructed to move rightward or leftward by the second remote control device located in an area to the right of the line, the remote control target moves forward or backward, and (ii) when instructed to move leftward or rightward by the second remote control device located in an area to the left of the line, (2) when instructed by the first remote control device to move left or right when looking at the remote control object from the first remote control device, it moves to the left or right; and when a line connecting the first remote control device and the remote control object is viewed from above from the first remote control device, (i) when instructed to move forward or backward by the second remote control device located in the area to the right of the line, it moves to the left or right, and (ii) when instructed to move backward or forward by the second remote control device located in the area to the left of the line, it moves to the left or right. Effect of the Invention

[0016] When a remote control target is moved, the technology disclosed herein allows a suitable remote control device to remotely control the remote control target appropriately. [Brief description of the drawings]

[0017] [Figure 1] 1 is a front view of an example of a drone 10 according to a first embodiment. [Diagram 2] 1 is a side view of an example of a drone 10 according to a first embodiment. [Diagram 3] FIG. 1 is a block diagram of an example of a remote control system 1070 according to a first embodiment. [Figure 4A] A block diagram of an example of a switching device 50 of the drone 10. [Figure 4B] 10 is a diagram for explaining an example of the processing contents of a determination unit 72A of a CPU 72 of a control device 52 of a switching device 50. FIG. [Figure 4C] 10 is a diagram for explaining an example of the processing contents of a switching processing unit 72B of a CPU 72 of a control device 52 of a switching device 50. FIG. [Figure 4D] 10 is a diagram for explaining an example of the processing contents of a transmission processing unit 72C of a CPU 72 of a control device 52 of a switching device 50. FIG. [Diagram 5] FIG. 2 is a perspective view of an example of a radio control 70 according to the first embodiment. [Figure 6] A figure showing an example of the relationship between the operation directions of each of the first stick 82N1 and the second stick 82N2 of the transmitter and the movement direction or orientation of the drone 10. [Figure 7] FIG. 7 is a block diagram of a radio control unit 70. [Figure 8] A flowchart of an example of a switching program 74P executed by the CPU 72 of the control device 52 of the switching device 50 of the drone 10. [Figure 9] This figure shows an example of a route over a field 111 along which the drone 10 flies while spraying pesticides, with the first operator 200N1 operating the first transmitter 70N1 or the second operator 200N22 operating the second transmitter 70N2. [Figure 10] A figure showing an example of how a first operator 200N1 operates a first transmitter 70N1 so that the first transmitter 70N1 has control over the drone 10. [Figure 11] 13 is a diagram showing an example of a state in which a first operator 200N1 operates a first transmitter 70N1 so as to cause the drone 10 to rise. FIG. [Figure 12] This figure shows an example of a first operator 200N1 operating the first transmitter 70N1 so that the drone 10 flies along the route R1, and an example of the lighting state of the other aircraft control notification lamp 86 and the own aircraft control notification lamp 88 of the second transmitter 70N2 in this case. [Figure 13]13 is a diagram showing a state in which a first operator 200N1 operates a first transmitter 70N1 so that the drone 10 sprays pesticides. [Figure 14] This figure shows an example of how the second operator 200N22 operates the second transmitter 70N2 so that the second transmitter 70N2 has control over the drone 10, and an example of the lighting state of the other aircraft control notification lamp 86 and the own aircraft control notification lamp 88 of the first transmitter 70N1 in this case. [Figure 15] This figure shows an example of the second operator 200N22 operating the second transmitter 70N2 so that the drone 10 retreats (i.e., approaches the second transmitter 70N2), and an example of the lighting state of the other aircraft domination notification lamp 86 and the own aircraft domination notification lamp 88 of the first transmitter 70N1 in this case. [Figure 16] This figure shows an example of which transmitter 70 has control when the drone 10 flies along routes R1 and R2, and the content of the operation signal from the transmitter 70 to the drone 10 (i.e., forward or backward). [Figure 17] This figure shows an example of how the second operator 200N22 operates the second transmitter 70N2 so that the drone 10 flies along route 3, and an example of the lighting state of the other aircraft control notification lamp 86 and the own aircraft control notification lamp 88 of the first transmitter 70N1 in this case. [Figure 18] This figure shows an example of how the second operator 200N22 operates the second transmitter 70N2 so that the drone 10 flies along route 4, and an example of the lighting state of the other aircraft control notification lamp 86 and the own aircraft control notification lamp 88 of the first transmitter 70N1 in this case. [Figure 19] This figure shows an example of which transmitter 70 has control when the drone 10 flies along routes R4 and R5, and the content of the operation signal from the transmitter 70 to the drone 10 (i.e., forward or backward). [Figure 20]This figure shows an example of the first operator 200N1 operating the first transmitter 70N1 so that the drone 10 flies along the route R6, and an example of the lighting state of the other aircraft control notification lamp 86 and the own aircraft control notification lamp 88 of the second transmitter 70N2 in this case. [Figure 21A] This figure shows an example of how the first operator 200N1 operates the first transmitter 70N1 to change the direction of the drone 10 to the right, from the first transmitter 70N1 toward the second transmitter 70N2, when the first transmitter 70N1 has the operating authority of the drone 10, and an example of the lighting state of the other aircraft control notification lamp 86 and the own aircraft control notification lamp 88 of each of the first transmitter 70N1 and the second transmitter 70N2 in this case. [Figure 21B] This figure shows an example of how the second operator 200N2 operates the second transmitter 70N2 to change the direction of the drone 10 to the right, from the first transmitter 70N1 toward the second transmitter 70N2, when the second transmitter 70N2 has the operating authority of the drone 10, and an example of the lighting state of the other aircraft domination notification lamp 86 and the own aircraft domination notification lamp 88 of each of the first transmitter 70N1 and the second transmitter 70N2 in this case. [Figure 22] FIG. 11 is a block diagram of an example of a remote control system 1070A according to a second embodiment. [Figure 23A] FIG. 11 is a functional block diagram of a CPU 32 of a flight controller 20 according to a second embodiment. [Figure 23B] 13 is a diagram for explaining an example of the processing contents of a determination unit 72A and a setting unit 32B of a CPU 32 of a flight controller 20 according to the second embodiment. FIG. [Figure 23C] 13 is a diagram for explaining an example of processing contents of a transmission processing unit 32C of a CPU 32 of a flight controller 20 according to the second embodiment. FIG. [Figure 23D] FIG. 11 is a diagram for explaining an example of the processing contents of a flight control unit 32D of a CPU 32 of a flight controller 20 according to the second embodiment. [Figure 24] 13 is a flowchart of an example of a switching program executed by the CPU 32 of the drone 10 in the second embodiment. [Diagram 25] FIG. 13 is a block diagram of an example of a remote control system 1070B according to the third embodiment. [Figure 26A] FIG. 11 is a front view of an example of a modified drone 10C. [Figure 26B] FIG. 11 is a side view of an example of a modified drone 10C. [Figure 27] FIG. 13 is a block diagram of an example of a remote control system 1070D according to a fourth embodiment. [Figure 28] FIG. 13 is a block diagram of an example of a remote control system 1070E according to a fifth embodiment. [Figure 29] FIG. 29 is a diagram showing an example of a route over a field 111 along which the drone 10 flies while spraying pesticides, with the first operator 200N1 operating the first transmitter 70N1 or the second operator 200N22 operating the second transmitter 70N2 in further variant example 1. [Diagram 30] Figure 30 is a diagram showing an example of how the second operator 200N22 operates the second transmitter 70N2 so that the second transmitter 70N2 has control over the drone 10, and an example of the lighting state of the other aircraft control notification lamp 86 and the own aircraft control notification lamp 88 of the first transmitter 70N1 in this case. [Diagram 31] Figure 31 is a diagram showing an example of the second operator 200N2 operating the second transmitter 70N2 so that the drone 10 moves to the right as seen by the second operator 200N2, and an example of the lighting state of the other aircraft control notification lamp 86 and the own aircraft control notification lamp 88 of the first transmitter 70N1 in this case. [Diagram 32] Figure 32 is a diagram showing an example of the second operator 200N2 operating the second transmitter 70N2 so that the drone 10 flies along route 3, and an example of the lighting state of the other aircraft control notification lamp 86 and the own aircraft control notification lamp 88 of the first transmitter 70N1 in this case. [Diagram 33]Figure 33 is a diagram showing an example of the second operator 200N2 operating the second transmitter 70N2 so that the drone 10 flies along route 4, and an example of the lighting state of the other aircraft control notification lamp 86 and the own aircraft control notification lamp 88 of the first transmitter 70N1 in this case. [Diagram 34] FIG. 34 is a side view of an example of a drone 10C according to a further modified example 2. [Diagram 35] FIG. 35 is a diagram showing an example of a route over a field 111 along which the drone 10 flies while spraying pesticides, with the first operator 200N1 operating the first transmitter 70N1 or the second operator 200N22 operating the second transmitter 70N2 in further variant example 4. [Diagram 36] Figure 36 is a diagram showing an example of a route over two fields 111A, 111B along which the drone 10 flies while spraying pesticides, with the first operator 200N1 operating the first transmitter 70N1 or the second operator 200N22 operating the second transmitter 70N2 in further variant example 5. [Figure 37] This figure shows an example of a route over four fields 111A to 111D along which the drone 10 flies while spraying pesticides, with the first operator to the fourth operator operating the first transmitter 70N1 to the fourth transmitter 70N4, respectively, in further variant example 6. [Figure 38] FIG. 38 is a diagram showing an example of a route in further variant example 7, in which a first operator 200N1 operates the first transmitter 70N1 or a second operator 200N22 operates the second transmitter 70N2, flying while photographing one wall W1 and the other wall W2 of a bridge 115. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] Hereinafter, a first embodiment of the technique of the present disclosure will be described with reference to the drawings.

[0019] (composition) A configuration of the first embodiment will be described. Fig. 1 is a front view of an example of a drone 10 according to the first embodiment. Fig. 2 is a side view of an example of the drone 10 according to the first embodiment.

[0020] 1 and 2, the drone 10 includes a main body 12. A plurality of (for example, four) arms 14N1 to 14N4 are attached to the main body 12. Motors 16N1 to 16N4 are attached to the tips of the arms 14N1 to 14N4, respectively. Propellers 18N1 to 18N4 are rotatably attached to the motors 16N1 to 16N4.

[0021] The main body 12 includes a flight controller 20 and a tank 22 that contains pesticide. A spraying device 24 is attached to the underside of the main body 12. A plurality of (for example, six) nozzles 28N1 to 28N6 are attached to the spraying device 24 via pipes 26. When the drone 10 flies along the direction F in FIG. 1, the three nozzles on the left side of the drone 10 in FIG. 1 spray pesticide in a region below the drone 10 to the right (the right side of a route described later), and the three nozzles on the right side of the drone 10 in FIG. 1 spray pesticide in a region below the drone 10 to the left (the left side of a route described later).

[0022] The main body 12 is provided with a plurality of legs 30 (for example, four legs).

[0023] FIG. 3 is a block diagram of an example of a remote control system 1070 according to the first embodiment.

[0024] The remote control system 1070 includes the drone 10, a first proportional system (hereinafter referred to as a "propo") 70N1, and a second proportional system 70N2. The proportional system is also called a transmitter.

[0025] The drone 10 is an example of a "remotely controlled target" of the technology of the present disclosure. The first transmitter 70N1 and the second transmitter 70N2 are an example of a "remotely controlled device" of the technology of the present disclosure.

[0026] The control system of the drone 10 includes a flight controller 20, a spraying device 24, multiple (e.g., four) ESCs (Electric Speed ​​Controllers) 15N1 to ESC 15N4, motors 16N1 to 16N4, a switching device 50, a first transceiver 60N1, and a second transceiver 60N2.

[0027] The flight controller 20 is configured by a computer. The flight controller 20 includes a CPU 32, a ROM 34, a RAM 36, and an input / output (I / O) port 38. The CPU 32, the ROM 34, the RAM 36, and the input / output (I / O) port 38 are connected to each other via a bus 40.

[0028] The input / output (I / O) port 38 is connected to the sprinkling device 24, the switching device 50, and the ESCs 15N1 to 15N4.

[0029] Although details will be described later, when the drone 10 is placed at point P1 in the field 111 (see also FIG. 9), the first transceiver 60N1 and the first transmitter 70N1, and also the second transceiver 60N2 and the second transmitter 70N2 are paired in advance (i.e., mutually recognized and associated one-to-one). Thus, the first transceiver 60N1 and the first transmitter 70N1 communicate. The second transceiver 60N2 and the second transmitter 70N2 communicate. The first transceiver 60N1 and the second transmitter 70N2 do not communicate. The second transceiver 60N2 and the first transmitter 70N1 do not communicate.

[0030] The first transmitter 70N1 transmits to the first transceiver 60N1 a first control instruction signal GN1 for controlling the drone 10 and a first operation signal CN1 for operating (i.e., moving and changing orientation) the drone 10.

[0031] The second transmitter 70N2 transmits to the second transceiver 60N2 a second control instruction signal GN2 for controlling the drone 10 and a second operation signal CN2 for operating (i.e., moving and changing orientation) the drone 10.

[0032] The switching device 50 includes a control device 52 and a relay device 54. Each of the control device 52 and the relay device 54 is connected to a first transceiver 60N1 and a second transceiver 60N2.

[0033] The relay device 54 includes a movable contact 56N0 having one end connected to the input / output (I / O) port 38 and the other end movable, a first fixed contact 56N1, and a second fixed contact 56N2. The relay device 54 includes a solenoid (not shown) that is controlled by the control device 52 and switches the movable contact 56N0 between the first fixed contact 56N1 and the second fixed contact 56N2.

[0034] The first control instruction signal GN1 from the first transmitter 70N1 is input to the control device 52 via the first transceiver 60N1. The control device 52 to which the first control instruction signal GN1 is input controls the solenoid to switch the movable contact 56N0 to the first fixed contact 56N1. In addition, the control device 52 to which the first control instruction signal GN1 is input transmits a first control completion signal IN1 indicating that control of the drone 10 by the first transmitter 70N1 has been completed to the first transmitter 70N1, the second transmitter 70N2, and the flight controller 20.

[0035] The second control instruction signal GN2 from the second transmitter 70N2 is input to the control device 52 via the second transceiver 60N2. The control device 52 to which the second control instruction signal GN2 is input controls the solenoid to switch the movable contact 56N0 to the second fixed contact 56N2. In addition, the control device 52 to which the second control instruction signal GN2 is input transmits a second control completion signal IN2 indicating that control of the drone 10 by the second transmitter 70N2 has been completed to the first transmitter 70N1, the second transmitter 70N2, and the flight controller 20.

[0036] A first transceiver 60N1 is connected to the first fixed contact 56N1. The first transceiver 60N1 transmits a first operation signal CN1 to the first fixed contact 56N1. When the movable contact 56N0 is switched to the first fixed contact 56N1, the first operation signal CN1 is input to the input / output (I / O) port 38.

[0037] The second transceiver 60N2 is connected to the second fixed contact 56N2. The second transceiver 60N2 transmits a second operation signal CN2 to the second fixed contact 56N2. When the movable contact 56N0 is switched to the second fixed contact 56N2, the second operation signal CN2 is input to the input / output (I / O) port 38.

[0038] When the movable contact 56N0 is switched to the first fixed contact 56N1, only the first operating signal CN1 passes through the switching device 50 and is input to the input / output (I / O) port 38, and the second operating signal CN2 is not input to the input / output (I / O) port 38 (i.e., is ignored).

[0039] When the movable contact 56N0 is switched to the second fixed contact 56N2, only the second operating signal CN2 passes through the switching device 50 and is input to the input / output (I / O) port 38, and the first operating signal CN1 is not input to the input / output (I / O) port 38 (i.e., is ignored).

[0040] FIG. 4A is a block diagram of an example of a switching device 50 of the drone 10.

[0041] The switching device 50 includes a control device 52 and a relay device 54. The control device 52 is configured by a computer. The control device 52 includes a CPU 72, a ROM 74, a RAM 76, and an input / output (I / O) port 78. The CPU 72, the ROM 74, the RAM 76, and the input / output (I / O) port 78 are connected to each other by a bus 80. The input / output (I / O) port 78 is connected to the relay device 54, a first transceiver 60N1, and a second transceiver 60N2.

[0042] The ROM 74 stores a switching program 74P.

[0043] The CPU 72 performs the switching process and the switching method by reading the switching program 74P from the ROM 74 and executing the read switching program 74P on the RAM 76. The CPU 72 operates as a determination unit 72A, a switching processing unit 72B, and a transmission processing unit 72C in accordance with the switching program 74P executed on the RAM 76, thereby realizing the switching process and the switching method.

[0044] 4B is a diagram for explaining an example of the processing contents of the determination unit 72A of the CPU 72 of the control device 52 of the switching device 50. The determination unit 72A determines whether the first control instruction signal GN1 or the second control instruction signal GN2 has been input.

[0045] 4C is a diagram for explaining an example of the processing contents of the switching processing unit 72B of the CPU 72 of the control device 52 of the switching device 50. When the first governing instruction signal GN1 is input, the switching processing unit 72B switches the movable contact 56N0 of the relay device 54 to the first fixed contact 56N1. When the second governing instruction signal GN2 is input, the switching processing unit 72B switches the movable contact 56N0 of the relay device 54 to the second fixed contact 56N2.

[0046] 4D is a diagram for explaining an example of the processing contents of the transmission processing unit 72C of the CPU 72 of the control device 52 of the switching device 50. The transmission processing unit 72C controls the first transceiver 60N1 and the second transceiver 60N2 so that a first control completion signal IN1 is transmitted when the movable contact 56N0 is switched to the first fixed contact 56N1. The transmission processing unit 72C controls the first transceiver 60N1 and the second transceiver 60N2 so that a second control completion signal IN2 is transmitted when the movable contact 56N0 is switched to the second fixed contact 56N2.

[0047] 5 is a perspective view of an example of the transmitter 70 of the first embodiment. Since the first transmitter 70N1 and the second transmitter 70N2 have the same configuration, each will be described as the transmitter 70.

[0048] The radio control 70 is provided with an other-machine control notification lamp 86, a self-machine control notification lamp 88, a first stick 82N1, a second stick 82N2, a control instruction button 90, and a pesticide spray instruction button 92 on the side facing the operator of the radio control 70.

[0049] The radio control system 70 is equipped with a first stick position detection device 84N1 that detects the position of the first stick 82N1, and a second stick position detection device 84N2 that detects the position of the second stick 82N2.

[0050] FIG. 6 is a diagram showing an example of the relationship between an example of the operation direction of each of the first stick 82N1 and the second stick 82N2 of the transmitter and the movement direction or orientation of the drone 10.

[0051] The first stick 82N1 being tilted to the back, right, front, and left of Fig. 6 respectively means the drone 10 moving forward, turning to the right (i.e., facing right), moving backward, and turning to the left (i.e., facing left). The second stick 82N2 being tilted to the back, right, front, and left of Fig. 6 respectively means the drone 10 rising, moving to the right (i.e., moving right), descending, and moving to the left (i.e., moving left).

[0052] 7 is a block diagram of an example of a radio control system 70. The radio control system 70 includes a computer 100. The computer 100 includes a CPU 102, a ROM 104, a RAM 106, and an input / output (I / O) port 108. The CPU 102, the ROM 104, the RAM 106, and the input / output (I / O) port 108 are connected to one another by a bus 110. The input / output (I / O) port 108 is connected to an other-machine control notification lamp 86, a subject-machine control notification lamp 88, a first stick position detection device 84N1, a second stick position detection device 84N2, a pesticide spray command button 92, and a transmission / reception device 94.

[0053] To move the drone 10 away from the transmitter 70, specifically, to transmit a forward command signal from the transmitter 70 to the drone 10 to move the drone forward, the operator tilts the first stick 82N1 backward. When the first stick 82N1 is tilted backward, the first stick position detection device 84N1 detects that the first stick 82N1 has been tilted backward. When the first stick position detection device 84N1 detects that the first stick 82N1 has been tilted backward, the CPU 102 controls the transmission / reception device 94, and a forward command signal to move the drone 10 forward is transmitted as an operation signal from the transmitter 70 to the drone 10.

[0054] Using the same principle as in the case of moving forward described above, when the first stick 82N1 is tilted to the right, a right direction command signal to turn the drone 10 to the right is transmitted from the transmitter 70 to the drone 10.

[0055] Using the same principle as in the case of moving forward described above, when the first stick 82N1 is tilted toward the front, a backward command signal to move the drone 10 backward is transmitted from the transmitter 70 to the drone 10.

[0056] Using the same principle as in the case of moving forward described above, when the first stick 82N1 is tilted to the left, a leftward direction command signal to turn the drone 10 to the left is transmitted from the transmitter 70 to the drone 10.

[0057] In order to transmit an ascending command signal for ascending the drone 10 from the transmitter 70 to the drone 10, the operator tilts the second stick 82N2 backward. When the second stick 82N2 is tilted backward, the second stick position detection device 84N2 detects that the second stick 82N2 has been tilted backward. When the second stick position detection device 84N2 detects that the second stick 82N2 has been tilted backward, the CPU 102 controls the transmission / reception device 94, and an ascending command signal for ascending the drone 10 is transmitted as an operation signal from the transmitter 70 to the drone 10.

[0058] Using the same principle as in the case of ascent described above, when the second stick 82N2 is tilted to the right, a rightward movement instruction signal for moving the drone 10 to the right is transmitted from the transmitter 70 to the drone 10.

[0059] Using the same principle as in the case of ascent described above, when the second stick 82N2 is tilted toward the drone, a descent command signal to descend the drone 10 is sent from the transmitter 70 to the drone 10.

[0060] Using the same principle as in the case of ascent described above, when the second stick 82N2 is tilted to the left, a rightward movement instruction signal to move the drone 10 to the left is transmitted from the transmitter 70 to the drone 10.

[0061] (action) The operation of the first embodiment will be described.

[0062] First, the drone 10 is placed at point P1 in the field 111 (see also FIG. 9) so that the orientation (direction F) of the drone 10 faces from one end 111N1 of the field 111 to the other end 111N2, and the pairing is performed. In addition to the pairing, the contents of the first operation signal CN1 and the second operation signal CN2, and the movement of the drone 10, etc. are set in the flight controller 20 as follows. The direction F is the direction from one end 111N1 to the other end 111N2.

[0063] When the first control instruction signal GN1 is transmitted from the first transmitter 70N1, the movement direction of the drone 10 when a forward instruction signal, a reverse instruction signal, a rightward movement instruction signal, and a leftward movement instruction signal are transmitted as the first operation signal CN1 is set (first setting) in the drone 10 as follows, specifically, stored in the RAM 36 of the flight controller 20 (see also Figure 3).

[0064] With regard to the forward command signal, the drone 10 is set to move in a direction (i.e., direction F) approaching the second transmitter 70N2 (i.e., from one end 111N1 toward the other end 111N2).

[0065] For the reverse command signal, the drone 10 is set to move in a direction (negative direction F) away from the second transmitter 70N2 (i.e., toward the first transmitter 70N1, i.e., from the other end 111N2 toward one end 111N1).

[0066] With respect to the rightward movement instruction signal, the drone 10 is set to move in the right direction from the first transmitter 70N1 to the second transmitter 70N2 (i.e., from one end 111N1 to the other end 111N2).

[0067] With respect to the left movement instruction signal, the drone 10 is set to move leftward from the first transmitter 70N1 toward the second transmitter 70N2 (i.e., from one end 111N1 toward the other end 111N2).

[0068] When a second control instruction signal GN2 is transmitted from the second transmitter 70N2, the movement direction of the drone 10 when a forward instruction signal, a reverse instruction signal, a rightward movement instruction signal, and a leftward movement instruction signal are transmitted as the second operation signal CN2 is set in the drone 10 as follows (second setting), specifically, stored in the RAM 36 of the flight controller 20.

[0069] For the forward command signal, the drone 10 is set to move in a direction (i.e., -direction F) approaching the first transmitter 70N1 (i.e., from the other end 111N2 toward the one end 111N1).

[0070] With respect to the reverse command signal, the drone 10 is set to move in a direction (i.e., direction F) away from the first transmitter 70N1 (i.e., from one end 111N1 toward the other end 111N2).

[0071] With respect to the rightward movement instruction signal, the drone 10 is set to move to the right from the second transmitter 70N2 toward the first transmitter 70N1 (i.e., from the other end 111N2 toward the one end 111N1).

[0072] With respect to the left movement instruction signal, the drone 10 is set to move leftward from the second transmitter 70N2 toward the first transmitter 70N1 (i.e., from the other end 111N2 toward the one end 111N1).

[0073] As for the contents of the first operation signal CN1 and the second operation signal CN2, in the cases of an upward command signal, a downward command signal, a rightward command signal, and a leftward command signal, respectively, the drone 10 is pre-set to ascend, descend, turn right, and turn left, respectively.

[0074] It is not limited to performing both the first setting and the second setting, and it is also possible to perform only the second setting. This is because if the first setting is set in advance, only the second setting is necessary. Note that the setting that is set in advance is also called the first setting.

[0075] 8 is a flowchart of an example of a switching program 74P executed by the CPU 72 of the control device 52 of the switching device 50 of the drone 10. The switching process and the switching method are realized by the CPU 72 executing the switching program 74P.

[0076] In step 122, the judgment unit 72A (see also FIG. 4A and FIG. 4B) judges whether or not the first governing instruction signal GN1 has been received from the first transmitter 70N1. If it is not judged that the first governing instruction signal GN1 has been received from the first transmitter 70N1, the switching process proceeds to step 124.

[0077] In step 124, the judgment unit 72A judges whether or not the second governing instruction signal GN2 has been received from the second transmitter 70N2. If it is not judged that the second governing instruction signal GN2 has been received from the second transmitter 70N2, the switching process returns to step 122.

[0078] If it is determined in step 122 that the first dominance instruction signal GN1 has been received from the first transmitter 70N1, the switching process proceeds to step 126.

[0079] In step 126, the switching processing unit 72B (see also FIGS. 4A and 4C) switches the movable contact 56N0 (see also FIG. 3) to the first fixed contact 56N1 on the first radio control unit 70N1 side.

[0080] In step 128, the transmission processing unit 72C (see also Figures 4A and 4D) transmits a first control completion signal IN1 indicating that the first transmitter 70N1 has control to the first transmitter 70N1 and the second transmitter 70N2 via the first transceiver 60N1 and the second transceiver 60N2.

[0081] When the first control instruction signal GN1 is received from the first transmitter 70N1 and the first operation signal CN1 is received, the drone 10 is moved according to the first setting.

[0082] When a forward command signal is received, the drone 10 moves in a direction from one end 111N1 toward the other end 111N2.

[0083] When a retreat instruction signal is received, the drone 10 moves in a direction from the other end 111N2 toward the one end 111N1.

[0084] When a rightward movement instruction signal is received, the drone 10 moves in the right direction from one end 111N1 to the other end 111N2.

[0085] When a left movement instruction signal is received, the drone 10 moves leftward from one end 111N1 to the other end 111N2.

[0086] If it is determined in step that the second dominance instruction signal GN2 has been received from the second transmitter 70N2, the switching process proceeds to step .

[0087] In step 130, the switching processing unit 72B switches the movable contact 56N0 to the second fixed contact 56N2 on the second radio control unit 70N2 side.

[0088] In step 132, the transmission processing unit 72C transmits a second control completion signal IN2 indicating that control is in the second transmitter 70N2 to the first transmitter 70N1 and the second transmitter 70N2 via the first transceiver 60N1 and the second transceiver 60N2.

[0089] When the second control instruction signal GN2 is received from the second transmitter 70N2 and the second operation signal CN2 is received, the drone 10 is moved based on the second setting.

[0090] When a forward command signal is received, the drone 10 moves in a direction from the other end 111N2 toward the one end 111N1.

[0091] When a retreat instruction signal is received, the drone 10 moves in a direction from one end 111N1 toward the other end 111N2.

[0092] When a rightward movement instruction signal is received, the drone 10 moves in the right direction from the other end 111N2 to the one end 111N1.

[0093] When a left movement instruction signal is received, the drone 10 moves leftward from the other end 111N2 toward the one end 111N1.

[0094] When the processes of step 128 and step 132 are completed, the switching process proceeds to step 134. In step 134, the determination unit 72A determines whether or not an instruction to end the flight has been received from the flight controller 20. If it is determined that an instruction to end the flight has not been received, the switching process returns to step 122.

[0095] If it is determined that an instruction to end flight has been given, the switching process ends.

[0096] The specific details will be explained below.

[0097] FIG. 9 is a diagram showing an example of a route over a field 111 along which the drone 10 flies while spraying pesticides, with the first operator 200N1 operating the first transmitter 70N1 or the second operator 200N22 operating the second transmitter 70N2.

[0098] The field 111 has one end 111N1 and the other end 111N2 opposite to the one end 111N1. The drone 10 sprays a pesticide in the field 111.

[0099] The first transmitter 70N1 is operated by a first operator 200N1 located at one end 111N1, and the second transmitter 70N2 is operated by a second operator 200N2 located at the other end 111N2.

[0100] The routes over the field 111 along which the drone 10 flies while spraying pesticides include routes R1 to R6, etc.

[0101] The routes R1 and R2 are routes that run from a point P1 on one end 111N1 side of the field 111 to a point P2 on the other end 111N2 side.

[0102] As the drone 10 ascends from point P1 and heads toward the sky above point P2, the control that controls the operation of the drone 10 is switched from the first transmitter 70N1 to the second transmitter 70N2 at control switching point Pc1. Route R1 is from point P1 to control switching point Pc1. Route R2 is from control switching point Pc1 to point P2.

[0103] Route R3 is a path that travels from point P3 to the left, going from first transmitter 70N1 toward second transmitter 70N2, to point P3.

[0104] The routes R4 and R5 are routes that run from a point P3 on the other end 111N2 side of the field 111 to a point P4 on one end 111N1 side.

[0105] While the drone 10 is traveling from the sky above point P3 to the sky above point P4, the control that controls the operation of the drone 10 is switched from the second transmitter 70N2 to the first transmitter 70N1 at the control switching point Pc2. Route R4 is from point P3 to the control switching point Pc2. Route R5 is from the control switching point Pc2 to point P4.

[0106] Route R6 is a path that travels from point P4 to the left, going from first transmitter 70N1 toward second transmitter 70N2, to point P5.

[0107] The areas in which drone 10 sprays pesticides while flying above route R1-R6... are the left and right sides of route R1-R6...

[0108] In this embodiment, the following movements are repeated: first, movement from one end 111N1 of the field 111 toward the other end 111N2; second, movement to the left from one end 111N1 toward the other end 111N2; third, movement from the other end 111N2 toward one end 111N1; and third, movement from one end 111N1 to the left toward the other end 111N2.

[0109] The technology of the present disclosure is not limited to this. For example, first, moving from one end 111N1 of the field 111 to the other end 111N2, second, moving to the right from the first transmitter 70N1 to the second transmitter 70N2, third, moving from the other end 111N2 to one end 111N1, and fourth, moving to the right from the first transmitter 70N1 to the second transmitter 70N2 may be repeated.

[0110] Let us explain in more detail.

[0111] FIG. 10 is a diagram showing an example of how the first operator 200N1 operates the first transmitter 70N1 so that the first transmitter 70N1 has control over the drone 10.

[0112] The drone 10 is placed at point P1. When the pairing and the first and second settings are completed, the first operator 200N1 presses the control instruction button 90 so that the first transmitter 70N1 has control. When the control instruction button 90 is pressed, the CPU 102 (see also FIG. 7) of the first transmitter 70N1 controls the transmitter / receiver 94 to transmit a first control instruction signal GN1 (see also FIG. 3) to the first transceiver 60N1 of the drone 10.

[0113] When the first control instruction signal GN1 is received by the first transceiver 60N1 of the drone 10, step 122 in Fig. 8 is judged as positive. In step 126, the switching processing unit 72B (see also Fig. 4A) switches the movable contact 56N0 (see also Fig. 3) to the first fixed contact 56N1 on the first transmitter 70N1 side. In step 128, the transmission processing unit 72C transmits a first control completion signal IN1 (see also Fig. 3) indicating that the first transmitter 70N1 has control from the first transceiver 60N1 to the first transmitter 70N1 and from the second transceiver 60N2 to the second transmitter 70N2.

[0114] The first transmitter 70N1 that receives the first control completion signal IN1 (see also FIG. 3) turns on its own control notification lamp 88. Therefore, the first operator 200N1 that operates the first transmitter 70N1 can know that the first transmitter 70N1 has the right to control the drone 10.

[0115] The second transmitter 70N2 that receives the first control completion signal IN1 turns on the other-machine control notification lamp 86 (see also FIG. 5). Therefore, the second operator 200N2 that operates the second transmitter 70N2 can know that the second transmitter 70N2 does not have control and that the first transmitter 70N1 has control over the drone 10.

[0116] When the movable contact 56N0 (see also FIG. 3) is switched to the first fixed contact 56N1 as described above, even if the second operation signal CN2 is transmitted from the second transmitter 70N2, the second operation signal CN2 is not input to the flight controller 20 (i.e., ignored). Thus, the flight of the drone 10 is controlled by each of the first operation signal CN1 from the first transmitter 70N1 that has control and the second operation signal CN2 from the second transmitter 70N2 that does not have control, and it is possible to prevent the flight of the drone 10 from becoming disrupted.

[0117] FIG. 11 is a diagram showing an example of how the first operator 200N1 operates the first transmitter 70N1 so that the drone 10 rises.

[0118] The first operator 200N1 tilts the second stick 82N2 of the first transmitter 70N1 to the rear side. When the first stick position detection device 84N1 detects that the second stick 82N2 has been tilted to the rear side, the CPU 102 of the first transmitter 70N1 controls the transmitter / receiver 94 to transmit an ascent command signal to the drone 10 as the first operation signal CN1. The ascent command signal is received by the first transmitter / receiver 60N1 of the drone 10 and input to the flight controller 20 via the first fixed contact 56N1 and the movable contact 56N0. The CPU 20 of the flight controller 20 controls the ESCs 15N1 to 15N4 to rotate the propellers 18N1 to 18N4 by the motors 16N1 to 16N4, causing the drone 10 to rise.

[0119] The own-machine dominance notification lamp 88 of the first radio control unit 70N1 remains lit, and the other-machine dominance notification lamp 86 of the second radio control unit 70N2 remains lit.

[0120] FIG. 12 is a diagram showing an example of the first operator 200N1 operating the first transmitter 70N1 so that the drone 10 flies along the route R1, and an example of the lighting state of the other aircraft control notification lamp 86 and the own aircraft control notification lamp 88 of the second transmitter 70N2 in this case.

[0121] When the first operator 200N1 flies the ascended drone 10 toward the other end 111N2 along the route R1, the first operator 200N1 tilts the first stick 82N1 backward. This causes a forward command signal to be transmitted to the drone 10 as the first operation signal CN1. The CPU 20 of the flight controller 20 of the drone 10 controls the ESC 15N1 to ESC 15N4 based on the first setting to rotate the propellers 18N1 to 18N4 by the motors 16N1 to 16N4, and moves the drone 10 forward in the direction from one end 111N1 toward the other end 111N2.

[0122] The own-machine dominance notification lamp 88 of the first radio control unit 70N1 remains lit, and the other-machine dominance notification lamp 86 of the second radio control unit 70N2 remains lit.

[0123] FIG. 13 is a diagram showing an example of a state in which the first operator 200N1 operates the first transmitter 70N1 so that the drone 10 sprays pesticides while flying the drone 10 along the route R1 toward the other end 111N2.

[0124] The first operator 200N1 of the first transmitter 70N1, while tilting the first stick 82N1 to the rear, presses down the pesticide spray instruction button 92. When the pesticide spray instruction button 92 is pressed down, the first transmitter 70N1 transmits a pesticide spray instruction signal as a first operation signal CN1 to the drone 10. The CPU 20 of the flight controller 20 of the drone 10 controls the spraying device 24 to spray the pesticide stored in the tank 22 from the nozzles 28N1 to 28N6 through the pipe 26 toward the crops.

[0125] The own-machine dominance notification lamp 88 of the first radio control unit 70N1 remains lit, and the other-machine dominance notification lamp 86 of the second radio control unit 70N2 remains lit.

[0126] Even if the pesticide spray instruction button 92 of the first transmitter 70N1 or the second transmitter 70N2 is pressed down, the first transmitter 70N1 or the second transmitter 70N2 transmits a pesticide spray instruction signal as a first operation signal CN1 or a second operation signal CN2 to the drone 10. The spraying device 24 sprays the pesticide from the nozzles 28N1 to 28N6 toward the crops.

[0127] Figure 14 is a diagram showing an example of how the second operator 200N22 operates the second transmitter 70N2 so that the second transmitter 70N2 has control over the drone 10, and an example of the lighting state of the other aircraft control notification lamp 86 and the own aircraft control notification lamp 88 of the first transmitter 70N1 in this case.

[0128] When the drone 10 flies to the other end 111N2 side, the second operator 200N2 presses down the control instruction button 90 of the second transmitter 70N2 so that the second transmitter 70N2 has control. When the control instruction button 90 of the second transmitter 70N2 is pressed down, a second control instruction signal GN2 is transmitted to the drone 10. This results in a positive judgment in step 124.

[0129] In step 130, the switching processor 72B switches the movable contact 56N0 to the second fixed contact 56N2 on the second transmitter 70N2 side. In step 132, the transmission processor 72C transmits a second control completion signal IN2 indicating that the second transmitter has control to the first transmitter 70N1 and the second transmitter 70N2.

[0130] The first radio control unit 70N1, which has received the second control completion signal IN2 (see also FIG. 3), turns off its own control notification lamp 88 and turns on the other-machine control notification lamp 86. The second radio control unit 70N2, which has received the second control completion signal IN2, turns on its own control notification lamp 88.

[0131] The second operator 200N2 can know that the second transmitter 70N2 has the control authority to control the drone 10. The first operator 200N1 can know that the first transmitter 70N1 does not have the control authority and that the second transmitter 70N2 has the control authority to control the drone 10.

[0132] Figure 15 is a diagram showing an example of the second operator 200N22 operating the second transmitter 70N2 so that the drone 10 retreats (i.e., approaches the second transmitter 70N2) as seen by the second operator 200N2, and an example of the lighting state of the other aircraft domination notification lamp 86 and the own aircraft domination notification lamp 88 of the first transmitter 70N1 in this case.

[0133] As described above, the drone 10 flies to the other end 111N2 side, and the control is transferred to the second transmitter 70N2 in the air above the control switching point Pc1. The second operator 200N2 moves the drone 10 further to the other end 111N2 side from the air above the control switching point Pc1, that is, closer to the second transmitter 70N2. In this case, the second operator 200N2 tilts the first stick 82N1 of the second transmitter 70N2 toward the front. As a result, a retreat instruction signal is transmitted as the second operation signal CN2 from the second transmitter 70N2. The CPU 20 of the flight controller 20 of the drone 10 controls the ESC 15N1 to ESC 15N4 based on the second setting to rotate the propellers 18N1 to 18N4 by the motors 16N1 to 16N4, and causes the drone 10 to retreat. When viewed from the perspective of the first operator 200N1 (first transmitter 70N1), it appears that the drone 10 is moving forward.

[0134] The own machine dominance notification lamp 88 of the second transmitter 70N2 remains lit. The other machine dominance notification lamp 86 of the first transmitter 70N1 remains lit.

[0135] Figure 16 is a diagram showing which transmitter 70 has control when the drone 10 flies along routes R1 and R2, and an example of the content of the operation signal from the transmitter 70 to the drone 10 (i.e., forward or backward).

[0136] When the drone 10 flies along routes R1 and R2, the first transmitter 70N1 has control over the route R1 from point P1 to the control switching point Pc1. A forward command signal is transmitted from the first transmitter 70N1 to the drone 10 as a first operation signal CN1. Note that, from the perspective of the second transmitter 70N2, the drone 10 is moving backward.

[0137] In the route R2 from the control right switching point Pc1 to the point P2, the second transmitter 70N2 has control right. A retreat instruction signal is transmitted to the drone 10 as a second operation signal CN2 from the second transmitter 70N2. Note that, from the perspective of the first transmitter 70N1, the drone 10 is moving forward.

[0138] Incidentally, it is conceivable that the second operator 200N2 does not operate the second transmitter 70N2 but merely acts as a supervisor and informs the first operator 200N1 (user) that the drone 10 has approached the other end 111N2. In this case, the drone 10 may pass the other end 111N2 due to the flight speed of the drone 10 or the influence of a tailwind on the drone 10. In other words, the first transmitter 70N1 that is away from the other end 111N2 is not a suitable transmitter for remotely controlling the drone 10.

[0139] Also, it is conceivable that the first operator 200N1 (user) reaches the other end 111N2 before the drone 10, which starts moving from one end 111N1, reaches the other end 111N2 without the second operator 200N2. In this case, when the drone 10 continues to move from one end 111N1 to the other end 111N2, the first operator 200N1 must operate the first transmitter 70N1 so that the drone 10 moves forward. However, since the drone 10 is coming toward the first operator 200N1 (user) at the other end 111N2, the first operator 200N1 feels that he should operate the first transmitter 70N1 so that the drone 10 moves backward, not forward. Therefore, the first operator 200N1 feels uncomfortable. When the first operator 200N1 operates the first transmitter 70N1 to move the drone 10 backward, the drone 10 tries to return to one end 111N1. Therefore, the first operator 200N1 cannot appropriately operate the first transmitter 70N1.

[0140] In contrast, in this embodiment, when the second operator 200N2 located on the other end 111N2 side moves the drone 10 closer to the second transmitter 70N2, the second operator 200N2 operates the second transmitter 70N2. Specifically, the second operator 200N2 tilts the first stick 82N1 toward the front side. This allows the drone 10 to move backwards as seen from the second operator 200N2. In this case, since the second operator 200N2 is located on the other end 111N2 side, it is possible to prevent the drone 10 from passing through the other end 111N2. Therefore, the second transmitter 70N2 is a suitable transmitter for remote control of the drone 10. In addition, the second operator 200N2 can appropriately operate the second transmitter 70N2 without feeling uncomfortable.

[0141] Figure 17 is a diagram showing an example of the second operator 200N22 operating the second transmitter 70N2 so that the drone 10 flies along route 3, and an example of the lighting state of the other aircraft control notification lamp 86 and the own aircraft control notification lamp 88 of the first transmitter 70N1 in this case.

[0142] When the drone 10 flies to point P2 on the other end 111N2 side, the drone 10 flies along route R3. Therefore, the second operator 200N2 tilts the second stick 82N2 of the second transmitter 70N2 to the right. This causes the second transmitter 70N2 to transmit a rightward movement instruction signal as a second operation signal CN2. The CPU 20 of the flight controller 20 of the drone 10 controls ESC 15N1 to ESC 15N4 based on the second setting, rotates the propellers 18N1 to 18N4 by the motors 16N1 to 16N4, and moves the drone 10 to the right. When viewed from the first operator 200N1 (first transmitter 70N1), the drone 10 appears to be moving to the left.

[0143] The own machine dominance notification lamp 88 of the second transmitter 70N2 remains lit. The other machine dominance notification lamp 86 of the first transmitter 70N1 remains lit.

[0144] Incidentally, when there is no second operator 200N2 (supervisor), it is also conceivable that the first operator 200N1 (user) travels back and forth with the drone 10 between one end 111N1 and the other end 111N2 of the field 111. For example, the first operator 200N1 (user) may reach the other end 111N2 before the drone 10, which has started moving from one end 111N1, reaches the other end 111N2. In this case, when moving the drone 10 to the left from one end 111N1 toward the other end 111N2, the first operator 200N1 (user) at the other end 111N2 wants to move the drone 10 to the right toward the drone 10, but needs to operate the first transmitter 70N1 to move the drone 10 to the left, which feels strange. In this case, when the first operator 200N1 (user) operates the first transmitter 20N1 to move the drone 10 to the right, the drone 10 moves to the right from one end 111N1 to the other end 111N2, and the drone 10 cannot be operated properly.

[0145] In contrast, in this embodiment, the second operator 200N2 tilts the second stick 82N2 of the second transmitter 70N2 to the right in order to move the drone 10 to the right. Therefore, by using the appropriate second transmitter 20N2, the second operator 200N2 can operate the drone 10 appropriately and without any discomfort.

[0146] Figure 18 is a diagram showing an example of the second operator 200N22 operating the second transmitter 70N2 so that the drone 10 flies along route 4, and an example of the lighting state of the other aircraft control notification lamp 86 and the own aircraft control notification lamp 88 of the first transmitter 70N1 in this case.

[0147] When the drone 10 flies to point P3, it flies along route R4. Therefore, the second operator 200N2 tilts the first stick 82N1 of the second transmitter 70N2 backward. This causes the second transmitter 70N2 to transmit a forward command signal as a second operation signal CN2. The CPU 20 of the flight controller 20 of the drone 10 controls ESC 15N1 to ESC 15N4 based on the second setting, and rotates the propellers 18N1 to 18N4 using the motors 16N1 to 16N4, moving the drone 10 forward. When viewed from the first operator 200N1 (first transmitter 70N1), this appears as if the drone 10 is retreating (moving closer).

[0148] The own machine dominance notification lamp 88 of the second transmitter 70N2 remains lit. The other machine dominance notification lamp 86 of the first transmitter 70N1 remains lit.

[0149] When the drone 10 flies along the route R4 and approaches one end 111N1, the first operator 200N1 presses down the control instruction button 90 of the first transmitter 70N1. This causes the first transmitter 70N1 to transmit a first control instruction signal GN1 to the drone 10. After control is transferred to the first transmitter 70N1, if the drone 10 is to be brought even closer to the first transmitter 70N1, the first operator 200N1 pushes the first stick 82N1 of the first transmitter 70N1 forward. This causes the first transmitter 70N1 to transmit a retreat instruction signal as a first operation signal CN1 based on the first setting. The CPU 20 of the flight controller 20 of the drone 10 controls the ESCs 15N1 to 15N4 to rotate the propellers 18N1 to 18N4 using the motors 16N1 to 16N4, causing the drone 10 to move backward.

[0150] When viewed from the perspective of the second operator 200N2 (second transmitter 70N2), the drone 10 appears to be moving forward (moving away).

[0151] The own-machine dominance notification lamp 88 of the first radio control unit 70N1 remains lit, and the other-machine dominance notification lamp 86 of the second radio control unit 70N2 remains lit.

[0152] Figure 19 is a diagram showing which transmitter 70 has control when the drone 10 flies along routes R4 and R5, and an example of the content of the operation signal from the transmitter 70 to the drone 10 (i.e., forward or backward).

[0153] When the drone 10 flies along routes R4 and R5, the second transmitter 70N2 has control over route R4 from point P3 to control right switching point Pc2. A forward command signal is transmitted from the second transmitter 70N2 to the drone 10 as a first operation signal CN1. Note that, from the perspective of the first transmitter 70N1, the drone 10 is retreating.

[0154] In the route R5 from the control right switching point Pc2 to the point P4, the first transmitter 70N1 has control right. A retreat instruction signal is transmitted to the drone 10 as a first operation signal CN1 from the first transmitter 70N1. Note that, from the viewpoint of the second transmitter 70N2, the drone 10 is moving forward.

[0155] FIG. 20 is a diagram showing the first operator 200N1 operating the first transmitter 70N1 so that the drone 10 flies along the route R6, and an example of the lighting state of the other aircraft control notification lamp 86 and the own aircraft control notification lamp 88 of the second transmitter 70N2 in this case.

[0156] When the drone 10 flies up to the sky above the point P4 on the one end 111N1 side, the drone 10 flies along the route R6. Therefore, the first operator 200N1 tilts the second stick 82N2 of the first transmitter 70N1 to the left. This causes the first transmitter 70N1 to transmit a leftward movement instruction signal as a first operation signal CN1. The CPU 20 of the flight controller 20 of the drone 10 controls the ESC 15N1 to ESC 15N4 based on the first setting, rotates the propellers 18N1 to 18N4 with the motors 16N1 to 16N4, and moves the drone 10 to the left.

[0157] When viewed from the perspective of the second operator 200N2 (second transmitter 70N2), the drone 10 appears to be moving to the right.

[0158] The own-machine dominance notification lamp 88 of the first radio control unit 70N1 remains lit, and the other-machine dominance notification lamp 86 of the second radio control unit 70N2 remains lit.

[0159] In the first embodiment described above, the drone 10 moves forward, backward, and left (or right). The technology of the present disclosure is not limited to this. The direction of the drone 10 may be changed.

[0160] Figure 21A is a diagram showing an example of how the first operator 200N1 operates the first transmitter 70N1 to change the direction of the drone 10 to the right, from the first transmitter 70N1 toward the second transmitter 70N2, when the first transmitter 70N1 has the operating authority for the drone 10, and an example of the lighting state of the other aircraft domination notification lamp 86 and the own aircraft domination notification lamp 88 of each of the first transmitter 70N1 and the second transmitter 70N2 in this case. Figure 21B is a diagram showing an example of how the second operator 200N2 operates the second transmitter 70N2 to change the direction of the drone 10 to the right, from the first transmitter 70N1 toward the second transmitter 70N2, when the second transmitter 70N2 has the operating authority for the drone 10, and an example of the lighting state of the other aircraft domination notification lamp 86 and the own aircraft domination notification lamp 88 of each of the first transmitter 70N1 and the second transmitter 70N2 in this case.

[0161] As shown in FIG. 21A, when the first transmitter 70N1 has the operating authority of the drone 10, the first operator 200N1 tilts the first stick 82N1 of the first transmitter 70N1 to the right (or left) so as to change the orientation of the drone 10 from the first transmitter 70N1 to the right (or left) toward the second transmitter 70N2.

[0162] As a result, a rightward instruction signal (or a leftward instruction signal) is transmitted as a first operation signal CN1 from the first transmitter 70N1. The CPU 20 of the flight controller 20 of the drone 10 controls the ESCs 15N1 to 15N4 to rotate the propellers 18N1 to 18N4 using the motors 16N1 to 16N4, changing the orientation of the drone 10 to the right (or left). When the drone 10 is moving forward, it turns right (or left).

[0163] The own-machine dominance notification lamp 88 of the first radio control unit 70N1 turns on. The other-machine dominance notification lamp 86 of the second radio control unit 70N2 turns on.

[0164] As shown in FIG. 21B, when the second transmitter 70N2 has the operating authority of the drone 10, the second operator 200N2 tilts the first stick 82N1 of the second transmitter 70N2 to the right (or left) so as to change the orientation of the drone 10 from the first transmitter 70N1 to the second transmitter 70N2.

[0165] As a result, a rightward direction instruction signal (or a leftward direction instruction signal) is transmitted as the second operation signal CN2 from the second transmitter 70N2. The CPU 20 of the flight controller 20 of the drone 10 controls the ESCs 15N1 to 15N4 to rotate the propellers 18N1 to 18N4 using the motors 16N1 to 16N4, changing the orientation of the drone 10 to the right (or left). When the drone 10 is moving backward, it turns right (or left).

[0166] The other-machine domination notification lamp 86 of the first transmitter 70N1 remains lit, and the own-machine domination notification lamp 88 of the second transmitter 70N2 remains lit.

[0167] In addition, when the second transmitter 70N2 has the operating authority of the drone 10, if the direction of the drone 10 approaching the second transmitter 70N2 is to be changed to the right (or left) from the first transmitter 70N1 toward the second transmitter 70N2, the second operator 200N2 may set the first stick 82N1 of the second transmitter 70N2 to be tilted to the left (or right).

[0168] Specifically, for the first operation signal CN1 from the first transmitter 70N1, the drone 10 is set as follows for (rightward) and (leftward). For (right facing), a change is set in the drone 10 to face right from one end 111N1 to the other end 111N2. For (left facing), the drone 10 is set to change its facing to the left from one end 111N1 to the other end 111N2.

[0169] When the first stick 82N1 of the second transmitter 70N2 is tilted to the right and to the left, the drone 10 is set as follows. For (right tilt), the drone 10 is set to turn left from one end 111N1 toward the other end 111N2, and an instruction signal is sent from the second transmitter 70N2 to instruct the drone 10 to turn left. For (left tilt), the drone 10 is set to turn right from one end 111N1 toward the other end 111N2, and an instruction signal is sent from the second transmitter 70N2 to instruct the drone 10 to turn right.

[0170] (effect) In the first embodiment, when the drone 10 is moved or its orientation is changed, a suitable transmitter can control the remote control target.

[0171] Furthermore, in the first embodiment, the operators (the first operator 200N1 and the second operator 200N2) can remotely control the drone 10 appropriately without feeling uncomfortable.

[0172] Furthermore, in the first embodiment, when the first radio control 70N1 or the second radio control 70N2 has control, the own machine control notification lamp 88 is turned on, so that the first operator 200N1 or the second operator 200N2 can understand whether or not the radio control they are operating has control.

[0173] As described above, the drone 10 is placed at the point P1, and after the pairing, the contents of the first operation signal CN1 and the second operation signal CN2 and the movement of the drone 10 are set (first setting and second setting). The technology of the present disclosure is not limited to this.

[0174] For example, the following first to third cases may be used.

[0175] The first case will be described. Instead of the first and second settings, when the control right is switched, the drone 10 may rotate 180° to move in the opposite direction to the direction in which it was moving when the control right was switched, and may wait for an operation signal from the transmitter 70 having the control right while hovering in the place (sky). For example, when the drone 10 is moving from one end 111N1 to the other end 111N2 by the operation of the first transmitter 70N1 having the control right, the control right is switched to the second transmitter 70N2. In this case, first, the drone 10 autonomously rotates 180° to move in the opposite direction to the direction in which it was moving when the control right was switched. As a result, the direction of travel becomes the direction from the other end 111N2 to the one end 111N1. In this state, when the first stick 82N1 of the second transmitter 70N2 is tilted to the rear side, a forward instruction signal is transmitted, and the drone 10 moves in a direction from the other end 111N2 toward one end 111N1. Similarly, in the above state, when the first stick 82N1 of the second transmitter 70N2 is tilted to the front side, a backward instruction signal is transmitted, and the drone 10 moves in a direction from one end 111N1 toward the other end 111N2. In the above state, when the second stick 82N2 of the second transmitter 70N2 is tilted to the right, a rightward movement instruction signal is transmitted, and the drone 10 moves to the right from the other end 111N2 toward one end 111N1. In the above state, when the second stick 82N2 of the second transmitter 70N2 is tilted to the left, a leftward movement instruction signal is transmitted, and the drone 10 moves to the left from the other end 111N2 toward one end 111N1. Also, when the drone 10 is moving from the other end 111N2 to one end 111N1 by the operation of the second transmitter 70N2 having the control, the control is switched to the first transmitter 70N1. In this case, the drone 10 first autonomously rotates 180 degrees so as to move in the opposite direction to the direction in which it was moving when the control was switched. As a result, the direction of movement becomes the direction from one end 111N1 to the other end 111N2. In this state, when the first stick 82N1 of the first transmitter 70N1 is tilted backward, a forward command signal is transmitted, and the drone 10 moves in the direction from one end 111N1 to the other end 111N2.Similarly, in the above state, when the first stick 82N1 of the first transmitter 70N1 is tilted toward the front, a retreat command signal is transmitted, and the drone 10 moves in a direction from the other end 111N2 toward one end 111N1. In the above state, when the second stick 82N2 of the first transmitter 70N1 is tilted to the right, a rightward movement command signal is transmitted, and the drone 10 moves to the right from one end 111N1 toward the other end 111N2. In the above state, when the second stick 82N2 of the first transmitter 70N1 is tilted to the left, a leftward movement command signal is transmitted, and the drone 10 moves to the left from one end 111N1 toward the other end 111N2.

[0176] The second case will now be described. Instead of performing the second setting on the flight controller 20, when the control command button 90 is pressed, the second radio control unit 70N2 may be set as follows. (A) When the first stick 82N1 of the second transmitter 70N2 is tilted toward the back side in FIG. 6, a reverse command signal is transmitted from the second transmitter 70N2. (a) When the first stick 82N1 of the second transmitter 70N2 is tilted toward the front in FIG. 6, a forward command signal is transmitted from the second transmitter 70N2. (c) When the second stick 82N2 of the second transmitter 70N2 is tilted to the right in FIG. 6, a leftward movement instruction signal is transmitted from the second transmitter 70N2. (D) When the second stick 82N2 of the second transmitter 70N2 is tilted to the left in FIG. 6, a rightward movement instruction signal is transmitted from the second transmitter 70N2.

[0177] The third case will be described. The first setting contents are set as the first mode, the above setting contents (A) to (D) are set as the second mode, the transmitter 70 can operate in either the first mode or the second mode, the transmitter 70 operates in the first mode when used as the first transmitter 70N1, and operates in the second mode when used as the second transmitter 70N2.

[0178] [Second embodiment] The configuration of the second embodiment will be described.

[0179] (composition) The configuration of the drone 10A and remote control system 1070A of the second embodiment is almost the same as the configuration of the drone 10 and remote control system 1070 of the first embodiment, so the same parts are given the same symbols and their descriptions are omitted, and only the different parts are described.

[0180] FIG. 22 is a block diagram of an example of a remote control system 1070A according to the second embodiment.

[0181] The drone 10A of the second embodiment differs from the drone 10 of the first embodiment in that the switching device 50 of the drone 10 of the first embodiment is omitted, and that one transceiver 60N0 is provided instead of the first transceiver 60N1 and the second transceiver 60N2. The transceiver 60N0 is connected to the input / output (I / O) port 38.

[0182] The ROM 104 (see also FIG. 7) of each of the first and second transmitters 70N1 and 70N2 stores the ID of each of them. For example, the ID of the first transmitter 70N1 is 70n1, and the ID of the second transmitter 70N2 is 70n2.

[0183] The first radio control unit 70N1 also transmits its own ID (70n1) each time it transmits the first control instruction signal GN1 and the first operation signal CN1 to the transceiver 60N0.

[0184] The second radio control unit 70N2 also transmits its own ID (70n2) each time it transmits the second control instruction signal GN2 and the second operation signal CN2 to the transceiver 60N0.

[0185] The ROM 34 of the flight controller 20 stores a switching program.

[0186] FIG. 23A is a functional block diagram of the CPU 32 of the flight controller 20 according to the second embodiment.

[0187] The CPU 32 performs the switching process and the switching method by reading the switching program from the ROM 34 and executing the read switching program on the RAM 36. The CPU 32 operates as a determination unit 32A, a setting unit 32B, a transmission processing unit 32C, and a flight control unit 32D in accordance with the switching process program executed on the RAM 36, thereby realizing the switching process and the switching method.

[0188] FIG. 23B is a diagram showing an example of the processing contents of the determination unit 72A and the setting unit 32B of the CPU 32 of the flight controller 20 according to the second embodiment.

[0189] The determination unit 32A determines whether or not an ID and a control instruction signal have been received, and whether or not an ID and an operation signal have been received. When the determination unit 32A determines that an ID and a control instruction signal have been received, the setting unit 32B sets the ID in the setting region M.

[0190] 23C is a diagram showing an example of the processing contents of the transmission processing unit 32C of the CPU 32 of the flight controller 20 of the second embodiment. The transmission processing unit 32C transmits a control completion signal (IN1 or IN2) indicating that the transmitter identified by the ID has control rights from the transceiver 60N0 to the first transmitter 70N1 and the second transmitter 70N2.

[0191] 23D is a diagram showing an example of the processing contents of the flight control unit 32D of the CPU 32 of the flight controller 20 according to the second embodiment. The flight control unit 32D controls the ESC 15N1 to ESC 15N4 in accordance with the operation signals.

[0192] (action) The operation of the second embodiment will be described below. The operation of the second embodiment is substantially similar to that of the first embodiment, so the differences will be described below.

[0193] When the drone 10 is placed at point P1 (see also Figure 9), the above ID, the contents of the first operation signal CN1 and the second operation signal CN2, and the movement of the drone 10 are set as follows.

[0194] First, the orientation (direction F) of the drone 10 is set to a direction from one end 111N1 of the field 111 toward the other end 111N2.

[0195] When a forward instruction signal, a backward instruction signal, a move rightward instruction signal, and a move leftward instruction signal are transmitted as the first operation signal CN1 from the first transmitter 70N1 together with the ID (70n1), the movement direction of the drone 10 is set in the drone 10 as follows (first setting), specifically, stored in the RAM 36 of the flight controller 20.

[0196] With regard to the forward command signal, the drone 10 is set to move closer to the second transmitter 70N2 (i.e., from one end 111N1 toward the other end 111N2).

[0197] For the reverse command signal, the drone 10 is set to move away from the second transmitter 70N2 (i.e., closer to the first transmitter 70N1, i.e., from the other end 111N2 toward the one end 111N1).

[0198] With respect to the rightward movement instruction signal, the drone 10 is set to move in the right direction from the first transmitter 70N1 to the second transmitter 70N2 (i.e., from one end 111N1 to the other end 111N2).

[0199] With respect to the left movement instruction signal, the drone 10 is set to move leftward from the first transmitter 70N1 toward the second transmitter 70N2 (i.e., from one end 111N1 toward the other end 111N2).

[0200] When a forward instruction signal, a backward instruction signal, a rightward movement instruction signal, and a leftward movement instruction signal are transmitted as the second operation signal CN2 from the second transmitter 70N2 together with the ID (70n2), the movement direction of the drone 10 is set in the drone 10 as follows (second setting), specifically, stored in the RAM 36 of the flight controller 20.

[0201] With regard to the forward command signal, the drone 10 is set to move closer to the first transmitter 70N1 (i.e., from the other end 111N2 toward the one end 111N1).

[0202] With respect to the reverse command signal, the drone 10 is set to move in a direction away from the first transmitter 70N2 (i.e., from one end 111N1 toward the other end 111N2).

[0203] With respect to the rightward movement instruction signal, the drone 10 is set to move to the right from the second transmitter 70N2 toward the first transmitter 70N1 (i.e., from the other end 111N2 toward the one end 111N1).

[0204] With respect to the left movement instruction signal, the drone 10 is set to move leftward from the second transmitter 70N2 toward the first transmitter 70N1 (i.e., from the other end 111N2 toward the one end 111N1).

[0205] In addition, in the case of the contents of the first operation signal CN1 and the second operation signal CN2 being an upward command signal, a downward command signal, a rightward command signal, and a leftward command signal, respectively, the drone 10 is pre-set to ascend, descend, turn right, and turn left, respectively.

[0206] 24 is a flowchart of an example of a switching program executed by the CPU 32 of the drone 10 according to the second embodiment. The switching program is executed by the CPU 32 of the drone 10, whereby a switching process and a switching method are executed.

[0207] In step 142, the determination unit 32A determines whether or not an ID and a domination instruction signal have been received. If it is determined that an ID and a domination instruction signal have not been received, the switching process proceeds to step 144.

[0208] In step 144, the determination unit 32A determines whether or not an ID and an operation signal have been received. If it is not determined that the ID and the operation signal have been received, the switching process proceeds to step 150 .

[0209] If it is determined in step 142 that an ID and a dominance instruction signal have been received, the switching process proceeds to step 146. In step 146, setting unit 32B sets the ID determined to have been received in step 142 in setting area M in RAM 36 (M←ID). For example, if it is determined that an ID (e.g., 70n1) and a dominance instruction signal have been received from first transmitter 70N1, 70n1 is set in setting area M. If it is determined that an ID (e.g., 70n2) and a dominance instruction signal have been received from second transmitter 70N2, 70n2 is set in setting area M.

[0210] In step 148, transmission processing unit 32C transmits to both transmitters (that is, first transmitter 70N1 and second transmitter 70N2) that the transmitter identified by the ID has control.

[0211] If it is determined in step 144 that an ID and an operation signal have been received, the switching process proceeds to step 152. In step 152, the determination unit 32A determines whether the ID set in the setting region M is the same as the ID determined to have been received in step 144 (M=ID).

[0212] If it is determined that M=ID, the switching process proceeds to step 154. In step 154, the flight control unit 32D controls the flight of the drone 10 according to the operation signal. If it is not determined that M=ID, the switching process skips step 154 ​​and proceeds to step 150.

[0213] For example, when 70n1 is set in the setting area M, if it is determined that ID(=70n1) and an operation signal have been received from the first transmitter 70N1, since M(=70n1)=ID(=70n1), step 152 is judged as positive, and in step 154, the flight of the drone 10 is controlled in accordance with the operation signal from the first transmitter 70N1.

[0214] When 70n1 is set in the setting region M, if an ID (=70n1) and an operation signal are received from the first transmitter 70N1, the drone 10 is moved according to the first setting.

[0215] When a forward command signal is received, the drone 10 moves in a direction approaching the second transmitter 70N2 (i.e., from one end 111N1 toward the other end 111N2).

[0216] When a reverse command signal is received, the drone 10 moves in a direction away from the second transmitter 70N2 (i.e., toward the first transmitter 70N1, i.e., from the other end 111N2 toward one end 111N1).

[0217] When a rightward movement instruction signal is received, the drone 10 moves in the right direction from the first transmitter 70N1 to the second transmitter 70N2 (i.e., from one end 111N1 to the other end 111N2).

[0218] When a left movement instruction signal is received, the drone 10 moves leftward from the first transmitter 70N1 to the second transmitter 70N2 (i.e., from one end 111N1 to the other end 111N2).

[0219] When 70n1 is set in the setting area M, if it is determined that an ID (=70n2) and an operation signal have been received from the second transmitter 70N2, it is not determined that M (=70n1) = ID (=70n2), step 152 is judged as negative, step 154 ​​is skipped, and the flight of the drone 10 is not controlled in accordance with the operation signal from the second transmitter 70N2.

[0220] When 70n1 is set in the set region M in this way, the operation signal from the first transmitter 70N1 passes through the transceiver 60N0, and the operation signal from the second transmitter 70N2 is ignored.

[0221] Furthermore, when 70n2 is set in the setting area M, if it is determined that ID(=70n2) and an operation signal have been received from the second transmitter 70N2, since M(=70n2)=ID(=70n2), step 152 is judged as positive, and in step 154, the flight of the drone 10 is controlled in accordance with the operation signal from the second transmitter 70N2.

[0222] When 70n2 is set in the setting region M, if an ID (=70n2) and an operation signal are received from the second transmitter 70N2, the drone 10 is moved based on the second setting.

[0223] When a forward command signal is received, the drone 10 moves in a direction approaching the first transmitter 70N1 (i.e., from the other end 111N2 toward the one end 111N1).

[0224] When a reverse command signal is received, the drone 10 moves in a direction away from the first transmitter 70N2 (i.e., from one end 111N1 toward the other end 111N2).

[0225] When a rightward movement instruction signal is received, the drone 10 moves in the right direction from the second transmitter 70N2 to the first transmitter 70N1 (i.e., from the other end 111N2 to the one end 111N1).

[0226] When a left movement instruction signal is received, the drone 10 moves leftward from the second transmitter 70N2 toward the first transmitter 70N1 (i.e., from the other end 111N2 toward the one end 111N1).

[0227] When 70n2 is set in the setting area M, if it is determined that ID(=70n1) and an operation signal have been received from the first transmitter 70N1, it is not determined that M(=70n2)=ID(=70n1), step 152 is judged as negative, step 154 ​​is skipped, and the flight of the drone 10 is not controlled in accordance with the operation signal from the first transmitter 70N1.

[0228] When 70n2 is set in the set region M in this way, the operation signal from the second transmitter 70N2 passes through the transceiver 60N0, and the operation signal from the first transmitter 70N1 is ignored.

[0229] After the processing of steps 148 and 154 , the switching process proceeds to step 150 .

[0230] In step 150, the determination unit 32A determines whether the flight has ended by determining whether a flight stop button (not shown) has been turned on. If it has not been determined that the flight has ended, the switching process returns to step 142. If it has been determined that the flight has ended, the switching process ends.

[0231] In the second embodiment, the ID from the first transmitter 70N1 or the second transmitter 70N2 is used to determine which transmitter currently has control (step 152). The technology of the present disclosure is not limited to this. For example, the frequency of transmission of the operation signal from the first transmitter 70N1 and the frequency of transmission of the operation signal from the second transmitter 70N2 are set to be different. In steps 142 and 144, it is determined from which transmitter the operation signal was received based on the frequency of transmission of the operation signal. In step 146, the ID of the determined transmitter is set in the setting area M.

[0232] In step 152, it is determined whether the ID of the radio control device corresponding to the frequency of the transmission of the operation signal determined in step 144 is set in the setting region M or not.

[0233] Moreover, instead of performing the first setting and the second setting as in the first embodiment, the above first to third cases may be used.

[0234] (effect) The second embodiment provides the same effects as the first embodiment.

[0235] In the second embodiment, the drone 10A only needs to be equipped with one transceiver, and the number of transceivers can be reduced.

[0236] [Third embodiment] The configuration of the third embodiment will be described.

[0237] The configuration of the drone 10B and remote control system 1070B of the third embodiment is almost the same as that of the second embodiment, so the same parts are given the same symbols and their descriptions are omitted, and only the different parts are described.

[0238] FIG. 25 is a block diagram of a remote control system 1070 according to the third embodiment.

[0239] In the third embodiment, the second transmitter 70N2 transmits and receives signals to and from the drone 10 via the first transmitter 70N1. Specifically, the second transmitter 70N2 transmits a second control instruction signal GN2 and a second operation signal CN2 to the drone 10 via the first transmitter 70N1.

[0240] The second transmitter 70N2 receives the first control completion signal IN1 and the second control completion signal IN2 from the drone 10 via the first transmitter 70N1.

[0241] The third embodiment provides the same effects as the second embodiment.

[0242] [Variations] In the first to third embodiments described above, when the first control completion signal IN1 is received, the first radio control 70N1 turns on only the own machine control notification lamp 88, and the second radio control 70N2 turns on only the other machine control notification lamp 86, and when the second control completion signal IN2 is received, the first radio control 70N1 turns on only the other machine control notification lamp 86, and the second radio control 70N2 turns on only the own machine control notification lamp 88. The technology of the present disclosure is not limited to this.

[0243] (First Modification) Each of the first radio control unit 70N1 and the second radio control unit 70N2 does not have an other-machine domination notification lamp 86, but only has a self-machine domination notification lamp 88.

[0244] When the first radio control 70N1 receives the first control completion signal, it turns on only its own control notification lamp 88, and when the second radio control 70N2 receives the second control completion signal, it turns on only its own control notification lamp 88.

[0245] Alternatively, upon receiving the first control completion signal IN1, the first radio control 70N1 keeps only its own aircraft control notification lamp 88 illuminated and the second radio control 70N2 blinks its own aircraft control notification lamp 88, and upon receiving the second control completion signal IN2, the first radio control 70N1 blinks its own aircraft control notification lamp 88 and the second radio control 70N2 keeps its own aircraft control notification lamp 88 illuminated.

[0246] (Second Modification) Each of the first and second transmitters 70N1 and 70N2 has a lamp that selectively emits light in a first color and a second color different from the first color. Upon receiving a first control completion signal, the first transmitter 70N1 emits light in the first color, and the second transmitter 70N2 emits light in the second color, and upon receiving a second control completion signal, the first transmitter 70N1 emits light in the second color, and the second transmitter 70N2 emits light in the first color.

[0247] The first color is, for example, blue and the second color is, for example, red.

[0248] (Third Modification) The third modified example may be applied instead of the first to third embodiments and the first and second modified examples, or may be applied together with the first to third embodiments and the first and second modified examples.

[0249] Fig. 26A is a front view of an example of a drone 10C of the third modified example. Fig. 26B is a side view of an example of a drone 10C of the third modified example. Note that in Fig. 26B, the arms 14N1 to 14N4, the motors 16N1 to 16N4, and the propellers 18N1 to 18N4 are omitted.

[0250] A first notification lamp 188N1 is provided on a side surface of the main body 12 of the drone 10 facing the first operator 200N1. A second notification lamp 188N2 is provided on a side surface of the main body 12 of the drone 10 facing the second operator 200N2.

[0251] When the first control completion signal is transmitted, the CPU 32 of the drone 10 turns on only the first notification lamp 188N1 and does not turn on the second notification lamp 188N2.

[0252] When the second control completion signal is transmitted, the CPU 32 of the drone 10 turns on only the second notification lamp 188N2. The first notification lamp 188N1 is not turned on.

[0253] (Fourth Modification) The first transmitter 70N1 and the second transmitter 70N2 (in the cases of the first embodiment to the second modified example), or the drone 10 (in the case of the third modified example) may be equipped with a display or speaker instead of a lamp, and may notify which transmitter has control by displaying or outputting audio.

[0254] (Fifth Modification) In each of the above-described examples, a drone is used as the unmanned aerial vehicle. The technology of the present disclosure is not limited to this. For example, a helicopter may be used in addition to a drone. In addition, the technology is not limited to an aerial vehicle, and may be applied to a tiller, a tractor, a rice harvester, a rice planter, a grass cutter, etc.

[0255] [Fourth embodiment] Next, a fourth embodiment will be described.

[0256] (composition) FIG. 27 is a block diagram of an example of a remote control system 1070D according to the fourth embodiment.

[0257] In the fourth embodiment, the remote control system 1070D includes a plurality of, for example, three remote controllers (hereinafter referred to as "remote controls") 70N3 to 70N5, and a vehicle, for example, an electric vehicle 160 configured to be remotely controlled.

[0258] The electric vehicle 160 is an example of a "remotely controlled subject" of the technology of the present disclosure. The remote controllers 70N3 to 70N5 are an example of a "remote control device" of the technology of the present disclosure.

[0259] In the fourth embodiment, the electric vehicle 160 is remotely parked in an individual parking space ps1 or the like in the parking lot PL by using the remote controllers 70N3 to 70N5.

[0260] Specifically, the operator causes the electric vehicle 160 to enter the parking lot PL from a start position PS at the entrance of the parking lot PL, turns it 45° to the right based on a position PW that is a predetermined distance away from the start position PS in the direction in which the electric vehicle 160 is entering, and parks it in a parking space ps1 or the like that is lined up in the direction in which the electric vehicle 160 will move forward from position PW.

[0261] The remote control 70N3 is located at a position PP1 that is a predetermined distance away from the start position PS at the entrance to the parking lot PL in a direction away from the parking lot PL.

[0262] The initial position of the remote control 70N4 is a position that is a predetermined distance away from the position PW in the direction in which the electric vehicle 160 moves forward from the start position PS.

[0263] The initial position of the remote control 70N5 is a position PP3 that is a predetermined distance away from the position PW in the forward direction of the electric vehicle 160 that has made a 45° right turn.

[0264] The electric vehicle 160 is equipped with a motor, two tires each on the front and rear, a total of four tires, a transmission mechanism that transmits the rotational force of the motor to the two front tires, a steering device for the two front tires, a communication device that communicates with remote controls 70N3 to 70N5, and a computer similar to the flight controller 20 (Figure 3) that controls the motor and steering device in accordance with signals from the remote controls 70N3 to 70N5.

[0265] Since the remote controls 70N3 to 70N5 have the same configuration, only the remote control 70N3 will be described below, and a description of the remote controls 70N4 and 70N5 will be omitted.

[0266] The remote control 70N3 has parts with similar configurations to the radio control 70 (see Figs. 5 and 7), so the same reference numerals are used to designate the similar parts and their explanation is omitted, and only the differences will be explained.

[0267] The remote control 70N3 includes a stick 82N3, a stick position detection device 84N3, a control instruction button 90, and a setting button 95.

[0268] The stick 82N3 of the remote control 70N3 can be tilted from the central position (initial position) to the rear, right, front, and left.

[0269] (action) The operation of the fourth embodiment is similar to that of the first embodiment in some respects, so a description of the similar parts will be omitted and only the differences will be described.

[0270] When the electric vehicle 160 is located at the start position PS, when the setting button 95 of each of the remote controls 70N3 to 70N5 is pressed, the tilt position of the stick 82N3 of the remote control 70N3 to 70N5 and the moving direction of the electric vehicle 160 are associated with each other.

[0271] The operation signals for each of the tilt positions (rear), (right side), (front side), and (left side) of the stick 82N3 of the remote control 70N3 are set (first setting) by the electric vehicle 160 as follows, and stored in the RAM of the computer of the electric vehicle 160. For the rear side, movement (forward) in the direction toward the remote control 70N4 is set for the electric vehicle 160 from the remote control 70N3, and a forward movement instruction signal is transmitted to the electric vehicle 160 from the remote control 70N3. For (right side), a right turn is set for the electric vehicle 160 from the remote control 70N3 to the remote control 70N4, and a right turn instruction signal is transmitted to the electric vehicle 160 from the remote control 70N3. For the near side, movement (backward) in the direction toward the remote control 70N3 is set for the electric vehicle 160 from the remote control 70N4, and a reverse instruction signal is transmitted to the electric vehicle 160 from the remote control 70N3. For the left side, a left turn is set for the electric vehicle 160 from the remote control 70N3 to the remote control 70N4, and a left turn instruction signal is transmitted to the electric vehicle 160 from the remote control 70N3.

[0272] When the setting button 95 of the remote control 70N4 is pressed, the tilted position of the stick 82N3 of the remote control 70N4 and the moving direction of the electric vehicle 160 are associated with each other.

[0273] The operation signals for each of the tilt positions (rear), (right side), (front side), and (left side) of the stick 82N3 of the remote control 70N4 are set (second setting) by the electric vehicle 160 as follows, and stored in the RAM of the computer of the electric vehicle 160. For the rear side, movement (forward) in the direction from the remote control 70N4 toward the remote control 70N3 is set for the electric vehicle 160. A forward movement instruction signal is transmitted to the electric vehicle 160 from the remote control 70N4. For (right side), a right turn is set for the electric vehicle 160 from the remote control 70N4 to the remote control 70N3. A right turn instruction signal is transmitted to the electric vehicle 160 from the remote control 70N4. For the near side, movement (backward) in the direction from the remote control 70N3 to the remote control 70N4 is set for the electric vehicle 160. A reverse instruction signal is transmitted to the electric vehicle 160 from the remote control 70N4. For (left side), a left turn is set for the electric vehicle 160 from the remote control 70N4 to the remote control 70N3. A left turn instruction signal is transmitted to the electric vehicle 160 from the remote control 70N4.

[0274] When the setting button 95 of the remote control 70N5 is pressed, the tilted position of the stick 82N3 of the remote control 70N5 and the moving direction of the electric vehicle 160 are associated with each other.

[0275] The operation signals for each of the tilt positions (rear), (right side), (front side), and (left side) of the stick 82N3 of the remote control 70N5 are set (third setting) by the electric vehicle 160 as follows, and stored in the RAM of the computer of the electric vehicle 160. For the rear side, movement (forward) in the direction from the remote control 70N5 to the remote control 70N4 is set for the electric vehicle 160. A forward movement instruction signal is transmitted to the electric vehicle 160 from the remote control 70N5. For (right side), a right turn is set for the electric vehicle 160 from the remote control 70N5 to the remote control 70N4. A right turn instruction signal is transmitted to the electric vehicle 160 from the remote control 70N5. For the near side, movement (backward) in the direction from the remote control 70N4 to the remote control 70N5 is set for the electric vehicle 160. A reverse instruction signal is transmitted to the electric vehicle 160 from the remote control 70N5. For (left side), a left turn is set for the electric vehicle 160 from the remote control 70N5 to the remote control 70N4. A left turn instruction signal is transmitted to the electric vehicle 160 from the remote control 70N5.

[0276] When the electric vehicle 160 is positioned at the start position PS at the entrance to the parking lot PL and the correspondence between the tilt positions of the sticks 82N3 of the remote controls 70N3 to 70N5 and the moving direction of the electric vehicle 160 is completed, the control instruction button 90 of the remote control 70N3 is pressed by the first operator 200C. This gives control of the electric vehicle 160 to the remote control 70N3. Therefore, the electric vehicle 160 moves based on the first setting, in accordance with the operation signal transmitted in response to the tilt position of the stick 82N3 of the remote control 70N3.

[0277] As in the first embodiment, only the own mastery notification lamp 88 of the remote control 70N3 is turned on, and only the other mastery notification lamps 86 of the remote controls 70N4 and 70N5 are turned on.

[0278] The first operator 200C tilts the stick 82N3 of the remote control 70N3 toward the rear side, whereby a forward movement instruction signal is transmitted from the remote control 70N3, and the electric vehicle 160 moves forward from the remote control 70N3 to the remote control 70N4.

[0279] When the electric vehicle 160 is moving forward from the remote control 70N3 to the remote control 70N4 at a position (control switching position Pc11), the control instruction button 90 of the remote control 70N4 is pressed by the second operator 200D. As a result, the remote control 70N4 has control over the electric vehicle 160. Therefore, the electric vehicle 160 moves based on the second setting in accordance with the operation signal transmitted in response to the tilt position of the stick 82N3 of the remote control 70N4.

[0280] As in the first embodiment, only the own mastery notification lamp 88 of the remote control 70N4 is turned on, and only the other mastery notification lamps 86 of the remote controls 70N3 and 70N5 are turned on.

[0281] The second operator 200D tilts the stick 82N3 of the remote control 70N4 towards himself / herself, causing a reverse command signal to be transmitted from the remote control 70N4 to the electric vehicle 160, and the electric vehicle 160 moves closer to (backs up towards) the remote control 70N4.

[0282] Thereafter, when the electric vehicle 160 approaches position PW, the second operator 200D tilts the stick 82N3 of the remote control 70N4 to the left, causing a left turn instruction signal to be transmitted from the remote control 70N4 to the electric vehicle 160, and the electric vehicle 160 turns left based on position PW.

[0283] When the electric vehicle 160 turns left based on position PW, the control instruction button 90 of the remote control 70N5 is pressed by the third operator 200E at the position where the left turn is completed (control switching position Pc12). This gives control of the electric vehicle 160 to the remote control 70N5. Therefore, the electric vehicle 160 moves based on the third setting in accordance with the operation signal transmitted in response to the tilt position of the stick 82N3 of the remote control 70N5.

[0284] As in the first embodiment, only the own mastery notification lamp 88 of the remote control 70N5 is turned on, and only the other mastery notification lamps 86 of the remote controls 70N3 and 70N4 are turned on.

[0285] The third operator 200E tilts the stick 82N3 of the remote control 70N5 towards himself / herself, causing a reverse command signal to be transmitted from the remote control 70N5 to the electric vehicle 160, and the electric vehicle 160 moves closer to (backs up with) the remote control 70N5.

[0286] Thereafter, when the electric vehicle 160 approaches the open parking space ps1, the third operator 200E tilts the stick 82N3 of the remote control 70N5 to the right. This causes a right turn instruction signal to be transmitted from the remote control 70N5 to the electric vehicle 160, and the electric vehicle 160 turns right. When the electric vehicle 160 is located in the parking space ps1, the third operator 200E returns the stick 82N3 of the remote control 70N5 to the initial position. This causes the electric vehicle 160 to stop.

[0287] (effect) The fourth embodiment provides the same effects as the first embodiment.

[0288] Specifically, in the fourth embodiment, when the electric vehicle 160 is moved, the electric vehicle 160 can be operated by the appropriate remote controllers 70N3 to 70N5.

[0289] Moreover, the fourth embodiment enables the operator to remotely control the electric vehicle 160 appropriately without feeling unnatural.

[0290] Furthermore, in the fourth embodiment, when any of the remote controls 70N3 to 70N5 has control, the own control notification lamp 88 is turned on, so that each operator can understand whether or not the remote control he or she is operating has control.

[0291] [Fifth embodiment] Next, a fifth embodiment will be described.

[0292] (composition) FIG. 28 is a block diagram of an example of a remote control system 1070E according to the fifth embodiment.

[0293] The remote control system 1070E of the fifth embodiment includes a plurality of (for example, two) remote controls 70N6 and 70N7, a first display system 170, and a second display system 171.

[0294] The first display system 170 includes, for example, a display device 170S that displays a character 250 holding a weapon 251 in a right hand 250R, and a communication display control device 170D. The second display system 171 includes a display device 171S that displays a character 250, and a communication display control device 171D.

[0295] The character 250 is an example of a "remote control target" of the technology of the present disclosure. The remote controls 70N6 and 70N7 are an example of a "remote control device" of the technology of the present disclosure.

[0296] The communication display control device 170D and the communication display control device 171D include a communication device and a computer (not shown). The communication display control device 170D communicates with a remote control 70N6 operated by a user 250A. The communication display control device 171D communicates with a remote control 70N7 operated by a user 250B. The communication display control device 170D and the communication display control device 171D communicate with each other via the Internet (not shown).

[0297] The remote controls 70N6 and 70N7 have the same configuration as the remote control 70N3 (see FIG. 27).

[0298] (action) When the setting buttons 95 of the remote controls 70N6 and 70N7 are pressed at the start of the game, the tilted positions of the sticks 82N3 of the remote controls 70N6 and 70N7 are associated with the movement direction of the character 250.

[0299] The operation signals for each of the tilted positions (rear), (right side), (front side), and (left side) of the stick 82N3 of the remote control 70N6 are set (first setting) to the character 250 as follows, and stored in the RAM of each of the computers of the communication display control device 170D and the communication display control device 171D. For the rear side, movement toward the rear side of the display screen of the display device 170S (forward) and movement toward the front side of the display screen of the display device 171S (approach) are set in each of the communication display control device 170D and the communication display control device 171D, and a forward movement instruction signal is transmitted from the remote control 70N6 to the communication display control device 170D. The communication display control device 170D transmits the forward movement instruction signal to the communication display control device 171D. For the right side, a right movement toward the back of the display screen of the display device 170S and a left movement toward the back of the display screen of the display device 171S are set in each of the communication display control device 170D and the communication display control device 171D, and a right movement instruction signal is transmitted from the remote control 70N6 to the communication display control device 170D. The communication display control device 170D transmits a right movement instruction signal to the communication display control device 171D. For the near side, movement (approach) toward the near side of the display screen of the display device 170S and movement (advance) toward the far side of the display screen of the display device 171S are set in each of the communication display control device 170D and the communication display control device 171D, and an approach instruction signal is transmitted from the remote control 70N6 to the communication display control device 170D. The communication display control device 170D transmits the approach instruction signal to the communication display control device 171D. For the left side, left movement toward the back of the display screen of the display device 170S and right movement toward the back of the display screen of the display device 171S are set in each of the communication display control device 170D and the communication display control device 171D, and a left movement instruction signal is transmitted from the remote control 70N6 to the communication display control device 170D. The communication display control device 170D transmits a left movement instruction signal to the communication display control device 171D.

[0300] The operation signals for each of the tilted positions (rear), (right side), (front side), and (left side) of the stick 82N3 of the remote control 70N7 are set (second setting) to the character 250 as follows, and stored in the RAM of each of the computers of the communication display control device 170D and the communication display control device 171D. For the rear side, movement toward the rear side of the display screen of the display device 171S (forward) and movement toward the front side of the display screen of the display device 170S (approach) are set in each of the communication display control device 170D and the communication display control device 171D, and a forward movement instruction signal is transmitted from the remote control 70N7 to the communication display control device 171D. The communication display control device 171D transmits the forward movement instruction signal to the communication display control device 170D. For the right side, a right movement toward the back of the display screen of the display device 171S and a left movement toward the back of the display screen of the display device 170S are set in each of the communication display control device 170D and the communication display control device 171D, and a right movement instruction signal is transmitted from the remote control 70N7 to the communication display control device 171D. The communication display control device 171D transmits a right movement instruction signal to the communication display control device 170D. For (front side), movement (approach) toward the front side of the display screen of the display device 171S and movement (forward) toward the front side of the display screen of the display device 170S are set in each of the communication display control device 170D and the communication display control device 171D, and an approach instruction signal is transmitted from the remote control 70N7 to the communication display control device 171D. The communication display control device 171D transmits the approach instruction signal to the communication display control device 170D. For the left side, left movement toward the back side of the display screen of the display device 171S and right movement toward the back side of the display screen of the display device 170S are set in each of the communication display control device 170D and the communication display control device 171D, and a left movement instruction signal is transmitted from the remote control 70N7 to the communication display control device 171D. The communication display control device 171D transmits a left movement instruction signal to the communication display control device 170D.

[0301] For example, the user 250A presses down the control instruction button 90 on the remote control 70N6. This causes a control instruction signal to be transmitted from the remote control 70N6 to the communication display control device 170D. The communication display control device 170D transmits a first control completion signal indicating that the remote control 70N6 has control over the character 250 to the communication display control device 171D. Only the own-machine control notification lamp 88 on the remote control 70N6 is turned on, and only the other-machine control notification lamp 86 on the remote control 70N7 is turned on.

[0302] The communication display control device 171D ignores operation signals (forward command signals, etc.) from the remote control 70N7.

[0303] The user 250A operates the stick 82N3 of the remote control 70N6. This causes an operation signal to be transmitted to the communication display control device 170D. The communication display control device 170D controls the display device 170S so that the character 250 moves in response to the operation signal, and transmits the operation signal to the communication display control device 171D. The communication display control device 171D controls the display device 171S so that the character 250 moves in response to the operation signal.

[0304] For example, when the stick 82N3 of the remote control 70N6 is tilted (toward the rear), a forward movement instruction signal is transmitted from the remote control 70N6 to the communication display control device 170D, and the communication display control device 170D transmits a forward movement instruction signal to the communication display control device 171D. In the display device 170S, the character 250 is displayed as if moving toward the rear of the screen, and in the display device 171S, the character 250 is displayed as if approaching the front of the screen. When the stick 82N3 of the remote control 70N6 is tilted (to the right), a right movement instruction signal is transmitted from the remote control 70N6 to the communication display control device 170D, and the communication display control device 170D transmits a right movement instruction signal to the communication display control device 171D. On the display device 170S, the character 250 is displayed as moving to the right toward the back of the screen, and on the display device 171S, the character 250 is displayed as moving to the left toward the front of the screen. Meanwhile, the user 250B presses down the control instruction button 90 on the remote control 70N7. This causes a control instruction signal to be transmitted from the remote control 70N7 to the communication display control device 171D. The communication display control device 171D transmits a second control completion signal indicating that the remote control 70N7 has control over the character 250 to the communication display control device 170D. Only the other-machine control notification lamp 86 on the remote control 70N6 lights up, and only the own-machine control notification lamp 88 on the remote control 70N7 lights up.

[0305] The communication display control device 170D ignores operation signals (forward command signals, etc.) from the remote control 70N6.

[0306] The user 250B operates the stick 82N3 of the remote control 70N7. This causes an operation signal to be transmitted to the communication display control device 171D. The communication display control device 171D controls the display device 170S so that the character 250 moves in response to the operation signal, and transmits the operation signal to the communication display control device 170D. The communication display control device 170D controls the display device 170S so that the character 250 moves in response to the operation signal.

[0307] For example, when the stick 82N3 of the remote control 70N7 is tilted (toward the user), an approach instruction signal is transmitted from the remote control 70N7 to the communication display control device 171D. The communication display control device 171D transmits the approach instruction signal to the communication display control device 170D. On the display device 171S, the character 250 is displayed as if moving toward the front of the screen, and on the display device 170S, the character 250 is displayed as if moving toward the back of the screen. When the stick 82N3 of the remote control 70N7 is tilted (to the left), a left movement instruction signal is transmitted from the remote control 70N7 to the communication display control device 171D. The communication display control device 171D transmits the left movement instruction signal to the communication display control device 170. On the display device 171S, the character 250 is displayed moving leftward toward the back of the screen, and on the display device 170S, the character 250 is displayed moving rightward toward the back of the screen.

[0308] (effect) The fifth embodiment provides the same effects as the first embodiment.

[0309] Specifically, in the fifth embodiment, when moving the character 250, the appropriate remote controller 70N6 or 70N7 can operate the character 250.

[0310] Moreover, in the fifth embodiment, the operator can remotely control the character 250 appropriately without feeling unnatural.

[0311] Furthermore, in the fifth embodiment, when either of the remote controls 70N6 and 70N7 has control, the own control notification lamp 88 is turned on, so that each operator can understand whether or not the remote control he or she is operating has control.

[0312] [Further variations] Next, a further modification will be described.

[0313] (Further variation 1) (composition) The configuration of the drone and remote control system of further variant example 1 is substantially similar to the configurations of the drones and remote control systems of the first to third embodiments, so the same parts are given the same symbols and their descriptions are omitted, and only the different parts are described.

[0314] In the first to third embodiments and the first to fifth modified examples, the second transmitter 70N2 is operated by a second operator 200N2 located at the other end 111N2, as shown in Fig. 9. The technology of the present disclosure is not limited to this.

[0315] FIG. 29 is a diagram showing an example of a route over a field 111 along which the drone 10 flies while spraying pesticides, with the first operator 200N1 operating the first transmitter 70N1 or the second operator 200N22 operating the second transmitter 70N2 in further variant example 1.

[0316] As shown in FIG. 29, the field 111 includes a first end 111N3 at the right end of FIG. 29 and a second end 111N4 at the left end, which intersect (for example, perpendicularly) with each of the one end 111N1 and the other end 111N2, in addition to one end 111N1 and the other end 111N2. The second operator 200N22 is located, for example, at the first end 111N3. The second transmitter 70N2 is operated by the second operator 200N22 located at the first end 111N3. The second transmitter 70N2 may be operated by the second operator 200N22 located at the second end 111N4 at the left end of FIG. 29. For example, the second operator 200N22 may not enter the other end 111N2 side due to the topographical relationship of the other end 111N2 or the narrow boundary with another person's adjacent field.

[0317] (action) The operation of the drone and remote control system of further variant example 1 is substantially the same as the operation of the drone and remote control system of the first to third embodiments, so the same parts are given the same symbols and their explanations are omitted, and only the different parts are explained.

[0318] When the second control instruction signal GN2 is transmitted from the second transmitter 70N2, the movement direction of the drone 10 when a forward instruction signal, a backward instruction signal, a rightward movement instruction signal, and a leftward movement instruction signal are transmitted as the second operation signal CN2 is set in the drone 10 as follows (second setting of further modified example 1). Specifically, it is stored in the RAM 36 of the flight controller 20. As described above, a forward instruction signal is transmitted by tilting the first stick 82N1 backward. A backward instruction signal is transmitted by tilting the first stick 82N1 forward. A rightward movement instruction signal is transmitted by tilting the second stick 82N2 rightward. A leftward movement instruction signal is transmitted by tilting the second stick 82N2 leftward.

[0319] With respect to the forward command signal, the drone 10 is set to move leftward when viewed in the direction from one end 111N1 to the other end 111N2.

[0320] With respect to the retreat instruction signal, the drone 10 is set to move to the right when viewed in the direction from one end 111N1 to the other end 111N2.

[0321] In response to the rightward movement instruction signal, the drone 10 is set to move in a direction from one end 111N1 to the other end 111N2.

[0322] With respect to the left movement instruction signal, the drone 10 is set to move in the opposite direction to the direction from one end 111N1 to the other end 111N2.

[0323] When a second control instruction signal GN2 is received from the second transmitter 70N2 and a second operation signal CN2 is received at the drone 10, the drone 10 is moved as follows based on the second setting of further variant example 1.

[0324] When a forward command signal is received, the drone 10 moves leftward when viewed in the direction from one end 111N1 to the other end 111N2.

[0325] When a retreat instruction signal is received, the drone 10 moves to the right when viewed in the direction from one end 111N1 to the other end 111N2.

[0326] When a rightward movement instruction signal is received, the drone 10 moves in a direction from one end 111N1 to the other end 111N2.

[0327] When a left movement instruction signal is received, the drone 10 moves in the opposite direction to the direction from one end 111N1 to the other end 111N2.

[0328] A more specific explanation will now be given.

[0329] Figure 30 is a diagram showing an example of how the second operator 200N22 operates the second transmitter 70N2 so that the second transmitter 70N2 has control over the drone 10, and an example of the lighting state of the other aircraft control notification lamp 86 and the own aircraft control notification lamp 88 of the first transmitter 70N1 in this case.

[0330] When the drone 10 flies to the other end 111N2 side, the second operator 200N2 presses down the control instruction button 90 of the second transmitter 70N2 so that the second transmitter 70N2 has control. When the control instruction button 90 of the second transmitter 70N2 is pressed down, a second control instruction signal GN2 is transmitted to the drone 10. This results in an affirmative judgment in step 124 (see FIG. 8).

[0331] In step 130, the switching processor 72B switches the movable contact 56N0 to the second fixed contact 56N2 on the second transmitter 70N2 side. In step 132, the transmission processor 72C transmits a second control completion signal IN2 indicating that the second transmitter has control to the first transmitter 70N1 and the second transmitter 70N2.

[0332] The first radio control unit 70N1, which has received the second control completion signal IN2 (see also FIG. 3), turns off its own control notification lamp 88 and turns on the other-machine control notification lamp 86. The second radio control unit 70N2, which has received the second control completion signal IN2, turns on its own control notification lamp 88.

[0333] The second operator 200N2 can know that the second transmitter 70N2 has the control authority to control the drone 10. The first operator 200N1 can know that the first transmitter 70N1 does not have the control authority and that the second transmitter 70N2 has the control authority to control the drone 10.

[0334] Figure 31 is a diagram showing an example of the second operator 200N2 operating the second transmitter 70N2 so that the drone 10 moves to the right as seen by the second operator 200N2, and an example of the lighting state of the other aircraft control notification lamp 86 and the own aircraft control notification lamp 88 of the first transmitter 70N1 in this case.

[0335] As described above, the drone 10 flies to the other end 111N2 side, and the control is transferred to the second transmitter 70N2 in the air above the control switching point Pc1. The second operator 200N2 moves the drone 10 closer to the other end 111N2 side than the air above the control switching point Pc1. In this case, the second operator 200N2 tilts the second stick 82N2 of the second transmitter 70N2 to the right. As a result, a rightward movement instruction signal is transmitted as the second operation signal CN2 from the second transmitter 70N2. The CPU 20 of the flight controller 20 of the drone 10 controls the ESC 15N1 to ESC 15N4 based on the second setting of the further modified example 1, and rotates the propellers 18N1 to 18N4 by the motors 16N1 to 16N4, moving the drone 10 to the right. When viewed from the perspective of the first operator 200N1 (first transmitter 70N1), it appears that the drone 10 is moving forward.

[0336] The own machine dominance notification lamp 88 of the second transmitter 70N2 remains lit. The other machine dominance notification lamp 86 of the first transmitter 70N1 remains lit.

[0337] Figure 32 is a diagram showing an example of the second operator 200N2 operating the second transmitter 70N2 so that the drone 10 flies along route 3, and an example of the lighting state of the other aircraft control notification lamp 86 and the own aircraft control notification lamp 88 of the first transmitter 70N1 in this case.

[0338] When the drone 10 flies to point P2 on the other end 111N2 side, the drone 10 flies along route R3. Therefore, the second operator 200N2 tilts the first stick 82N1 of the second transmitter 70N2 to the rear side. This causes the second transmitter 70N2 to transmit a forward command signal as a second operation signal CN2. The CPU 20 of the flight controller 20 of the drone 10 controls the ESC 15N1 to ESC 15N4 based on the second setting of the further modified example 1, and rotates the propellers 18N1 to 18N4 by the motors 16N1 to 16N4, moving the drone 10 forward as seen from the second operator 200N2. When seen from the first operator 200N1 (first transmitter 70N1), the drone 10 appears to move left.

[0339] The own machine dominance notification lamp 88 of the second transmitter 70N2 remains lit. The other machine dominance notification lamp 86 of the first transmitter 70N1 remains lit.

[0340] Figure 33 is a diagram showing an example of the second operator 200N2 operating the second transmitter 70N2 so that the drone 10 flies along route 4, and an example of the lighting state of the other aircraft control notification lamp 86 and the own aircraft control notification lamp 88 of the first transmitter 70N1 in this case.

[0341] When the drone 10 flies to point P3, the drone 10 flies along route R4. Therefore, the second operator 200N2 tilts the second stick 82N2 of the second transmitter 70N2 to the left. This causes the second transmitter 70N2 to transmit a leftward movement instruction signal as a second operation signal CN2. The CPU 20 of the flight controller 20 of the drone 10 controls the ESC 15N1 to ESC 15N4 based on the second setting of the further modified example 1, and rotates the propellers 18N1 to 18N4 by the motors 16N1 to 16N4, moving the drone 10 to the left as seen by the second operator 200N2. When seen by the first operator 200N1 (first transmitter 70N1), this appears to be the drone 10 retreating (approaching).

[0342] The own machine dominance notification lamp 88 of the second transmitter 70N2 remains lit. The other machine dominance notification lamp 86 of the first transmitter 70N1 remains lit.

[0343] (Further variation 2) (composition) The configuration of the drone and remote control system of further variant example 2 is substantially the same as the configuration of the drone and remote control system of further variant example 1, so the same parts are given the same symbols and their descriptions are omitted, and only the different parts are described. Fig. 34 is a side view of an example of a drone 10C according to further modified example 2. Note that, in Fig. 34, the arms 14N1 to 14N4, the motors 16N1 to 16N4, and the propellers 18N1 to 18N4 are omitted.

[0344] 26A, in the third modified example, a first notification lamp 188N1 is provided on the side of the main body 12 of the drone 10 on the side of the second operator 200N2 located at the other end 111N2. In contrast, in further modified example 2 of further modified example 1, a second notification lamp 188N2 is provided on the side of the main body 12 of the drone 10 on the side of the second operator 200N2 located at the first end 111N3.

[0345] When the first control completion signal is transmitted, the CPU 32 of the drone 10 turns on only the first notification lamp 188N1. The second notification lamp 188N22 is not turned on.

[0346] When the second control completion signal is transmitted, the CPU 32 of the drone 10 turns on only the second notification lamp 188N22. The first notification lamp 188N1 is not turned on.

[0347] (Further variation 3) (composition) The configuration of the drone and remote control system of further variant example 3 is substantially similar to the configurations of the drones and remote control systems of the first to third embodiments, so the same parts are given the same symbols and their descriptions are omitted, and only the different parts are described.

[0348] In the first embodiment to the third embodiment, the first modified example to the fifth modified example, further modified example 1, and further modified example 2, as shown in Fig. 5, the first transmitter 70N1 and the second transmitter 70N2 are provided with a dominating instruction button 90. The technology of the present disclosure is not limited to this, and the first transmitter 70N1 and the second transmitter 70N2 are not provided with the dominating instruction button 90. The first dominating instruction signal GN1 and the second dominating instruction signal GN2 are not transmitted.

[0349] There are two ways to transfer control: the first method and the second method. (First Method) First, the first method will be described. Each dominance switching point Pc1 and each dominance switching point Pc2 are set in advance in the drone 10. The drone 10 is equipped with a GPS (Global Positioning System). The drone 10 grasps its own position from a signal from the GPS and judges whether it is located within a predetermined range including the dominance switching point Pc1 or a predetermined range including the dominance switching point Pc2. Also, instead of the judgment in step 122 of FIG. 8, the drone 10 judges whether it is located within a predetermined range including the dominance switching point Pc1. Also, instead of the judgment in step 124 of FIG. 8, the drone 10 judges whether it is located within a predetermined range including the dominance switching point Pc2. By the above processing, the dominance of the drone 10 can be switched between the first transmitter 70N1 and the second transmitter 70N2 by reaching each dominance switching point Pc1 and each dominance switching point Pc2.

[0350] (Second Method) Next, the second method will be described. In the second method, the switching device 50 of the further modified example 3 does not include the control device 52. The relay device 54 of the further modified example 3 does not switch the movable contact 56N0 between the first fixed contact 56N1 and the second fixed contact 56N2, but the contact 56N0 is always connected to the first fixed contact 56N1 and the second fixed contact 56N2.

[0351] The first operation signal CN1 includes identification information of the first transmitter 70N1, and the second operation signal CN2 includes identification information of the second transmitter 70N2.

[0352] When a first operation signal CN1 is received from the first transmitter 70N1, the CPU 32 recognizes from the identification information of the first transmitter 70N1 that the first operation signal CN1 has been received from the first transmitter 70N1, and controls ESC 15N1-ESC 15N4 in accordance with the contents of the first operation signal CN1 in accordance with the first setting, to rotate propellers 18N1-18N4 by motors 16N1-16N4.

[0353] When a second operation signal CN2 is received from the second transmitter 70N2, the CPU 32 recognizes from the identification information of the second transmitter 70N2 that the second operation signal CN2 has been received from the second transmitter 70N2, and controls ESC 15N1-ESC 15N4 in accordance with the content of the second operation signal CN2 in accordance with the second setting, causing motors 16N1-16N4 to rotate propellers 18N1-18N4.

[0354] Switching from a state in which ESC15N1 to ESC15N4 are controlled according to the first setting to a state in which ESC15N1 to ESC15N4 are controlled according to the second setting corresponds to a switch of control from the first transmitter 70N1 to the second transmitter 70N2.

[0355] Switching from a state in which ESC15N1 to ESC15N4 are controlled according to the second setting to a state in which ESC15N1 to ESC15N4 are controlled according to the first setting corresponds to a switch of control from the second transmitter 70N1 to the first transmitter 70N2.

[0356] (Further Variation 4) The configuration of the drone and remote control system of further variant example 4 is similar to the configuration of the drone and remote control system of any of the first to third embodiments and further variant examples 1 to 3, so the description thereof will be omitted.

[0357] The operation of the drone and remote control system of further variant example 4 is substantially similar to the configuration of the drone and remote control system of any of the first to third embodiments and further variant examples 1 to 3, so the same parts are given the same symbols and their descriptions are omitted, and only the different parts are described.

[0358] Further modified example 4 will be described below based on further modified example 1.

[0359] FIG. 35 is a diagram showing an example of a route over a field 111 along which the drone 10 flies while spraying pesticides, with the first operator 200N1 operating the first transmitter 70N1 or the second operator 200N22 operating the second transmitter 70N2 in further variant example 4.

[0360] As described above, the control that controls the operation of the drone 10 is switched from the first transmitter 70N1 to the second transmitter 70N2 at the control switching point Pc1. The second operator 200N22 operates the second transmitter 70N2 as described above, and flies the drone 10 along the route R2. When the drone 10 flies to point P2 on the other end 111N2 side, in further variant example 4, the second operator 200N22 operates the second transmitter 70N2. Then, drone 10 is flown along routes R31, R32, and R33.

[0361] When flying the drone 10 along the routes R31, R32, and R33, the second operator 200N22 turns on a safety area setting button (not shown) of the second transmitter 70N2, and causes the drone 10 to fly along the routes R31, R32, and R33 and store the area where the pesticide is sprayed as a safety area SA. The drone 10 is equipped with a GPS. Using the GPS, the positions (points P2 to P33) of the routes R31, R32, and R33 are acquired, and the safety area SA is calculated and stored from the length of the route perpendicular to the traveling direction of the drone 10 where the pesticide is sprayed by the nozzles 28N1 to 28N6.

[0362] The route R31 is a route from the point P2 to a point P31 on the second end 111N4 side on the left end along the other end 111N. On the route R31, the second operator 200N22 operates the second transmitter 70N2 to make the drone 10 go straight.

[0363] The route R32 is a route from the point P31 to the point P32 along the second edge 111N4. In the route R32, the second operator 200N22 operates the second transmitter 70N2 to move the drone 10 to the left.

[0364] The route R33 is a route from the point P32 to the point P33 of the route R4 along the other end 111N. On the route R33, the second operator 200N22 operates the second transmitter 70N2 to move the drone 10 backward.

[0365] In this manner, as the drone 10 flies along routes R31, R32, and R33, the position of the safety area SA is memorized.

[0366] Thereafter, as described above, the drone 10 moves along route R4, and the control over the operation of the drone 10 is switched from the second transmitter 70N2 to the first transmitter 70N1 at the control switching point Pc2.

[0367] In further modified example 4, when the second transmitter 70N2 is switched to the first transmitter 70N1 at the control switching point Pc2, there is no switching of control thereafter, and the first operator 200N1 operates the first transmitter 70N1 to spray pesticides in the remaining area of ​​the field 111. When spraying pesticides in the remaining area, the drone 10 flies along the route R7 from one end 111N1 to the other end 111N2, compares the signal from the GPS (current position) with the position of the safety area SA, and when the drone 10 reaches the safety area SA, transmits a signal indicating that the safety area SA has been reached to the first transmitter 70N1.

[0368] The first transmitter 70N1 is equipped with a safety area SA arrival lamp (not shown). The first transmitter 70N1, which receives a signal from the drone 10 indicating that it has reached the safety area SA, turns on the safety area SA arrival lamp. This allows the first operator 200N1 to know that the drone 10 has reached the safety area SA. The first operator 200N1 then operates the first transmitter 70N1 to move the drone 10 left, backward, left, and forward, flying along the routes R8, R9, R10, and R11. This causes the drone 10 to reach the safety area SA again. The above is repeated. This causes the pesticide to be sprayed in the remaining area of ​​the field 111.

[0369] (Further variation 5) In the first to third embodiments, the first to fifth modifications, and further modifications 1 to 4, the control of the drone 10 is transferred between the first transmitter 70N1 and the second transmitter 70N2 in one field 111. The technology of the present disclosure is not limited to this.

[0370] Figure 36 is a diagram showing an example of a route over two fields 111A, 111B along which the drone 10 flies while spraying pesticides, with the first operator 200N1 operating the first transmitter 70N1 or the second operator 200N22 operating the second transmitter 70N2 in further variant example 5.

[0371] FIG. 36 shows only the first transmitter 70N1 and the second transmitter 70N2 and the flight route of the drone 10 in a schematic manner, and omits the first operator 200N1 and the second operator 200N22.

[0372] 36, for example, at dominance switching points Pc1, Pc2, Pc3, etc. between the field 111A and the field 111B, dominance is transferred between the first transmitter 70N1 and the second transmitter 70N2. Note that the locations of the dominance switching points Pc1, Pc2, Pc3, etc. are not limited to between the field 111A and the field 111B, and may be within the field 111A or within the field 111B.

[0373] In Fig. 36, the fields 111A and 111B are separated from each other. In this case, it is possible that no agricultural chemicals are sprayed between the fields 111A and 111B.

[0374] (Further Variation 6) In the above-mentioned further modified example 5, there are two fields 111A and 111B, and the field 111A is separated from the field 111B. The technology of the present disclosure is not limited to this.

[0375] Figure 37 is a diagram showing an example of a route over four fields 111A to 111D along which the drone 10 flies while spraying pesticides, with the first operator to the fourth operator operating the first transmitter 70N1 to the fourth transmitter 70N4, respectively, in further variant example 6.

[0376] FIG. 37 diagrammatically illustrates only the first through fourth transmitters 70N1 through 70N4 and the flight route of the drone 10, and omits the first through fourth operators.

[0377] In further modified example 6, a first operator to a fourth operator respectively operate a first transmitter 70N1 to a fourth transmitter 70N4, causing drone 10 to fly while spraying pesticides.

[0378] In further modified example 6, for example, at dominance switching points Pc1, Pc2, Pc3, etc. on the boundary between field 111A and field 111B, dominance is transferred between first transmitter 70N1 and second transmitter 70N2. At dominance switching point Pd0 on the boundary between field 111A and field 111D, dominance is transferred between first transmitter 70N1 and fourth transmitter 70N4. At dominance switching points Pd1, Pd2, Pd3, etc. on the boundary between field 111D and field 111C, dominance is transferred between fourth transmitter 70N4 and third transmitter 70N3. The locations of the dominance switching points Pc1, Pc2, Pc3..., Pd0, Pd1, Pd2, Pd3... are not limited to being on the boundary between the fields, but may be within the field.

[0379] In further modified example 6, the first operator to the fourth operator operate the first transmitter 70N1 to the fourth transmitter 70N4, respectively, to fly the drone 10 over the four fields 111A to 111D. The technology of the present disclosure is not limited to this. For example, five, six, seven, etc. operators may each operate their own transmitters to fly the drone 10 over five, six, seven, etc. fields.

[0380] In addition, when there is an odd number of fields, as described in further modified example 1, there are fields where the operator cannot enter the boundary between the field and another person's neighboring field due to topographical conditions or because the boundary between the field and another person's neighboring field is narrow. In this case, the operator of the field operates the remote control like the operator 200N2 in further modified example 1.

[0381] (Further Variation 7) In the first to third embodiments, the first to fifth variations, and further variations 1 to 6, the control of the drone 10 in the field is transferred between the first transmitter 70N1 and the second transmitter 70N2, etc. The technology of the present disclosure is not limited to this.

[0382] 38 is a diagram showing an example of a route in which the first operator 200N1 operates the first transmitter 70N1 or the second operator 200N22 operates the second transmitter 70N2 to fly while photographing one wall W1 and the other wall W2 of the bridge 115. From the image data obtained by photographing each wall, it is determined whether or not there is a crack in each wall.

[0383] As shown in FIG. 38, in further modified example 7, the first operator 200N1 operates the first transmitter 70N1 and flies the drone 10 while photographing the wall W1. For example, the drone 10 is moved to the left (or right) instead of moving up and down. When photographing the wall W1 is completed, the first operator 200N1 operates the first transmitter 70N1 and moves the drone 10 to the wall W2 side. At the control switching point Pc1 in the sky above (or the space below) the bridge 115 between the wall W1 and the wall W2, the control of the drone 10 is transferred to the second transmitter 70N2. The second operator 200N2 operates the second transmitter 70N2 and flies the drone 10 while photographing the wall W2.

[0384] As described above, the drone 10 photographs the walls W1 and W2 of the bridge 115, but the technology of the present disclosure is not limited to this and may also photograph buildings, airplanes, etc., and is not limited to photographing but may also paint objects. [Explanation of symbols]

[0385] 1070 Remote Control System 10. Drone 70N1 First R / C 70N2 Second R / C 20 Flight Controller 24 Spraying equipment 50 Switching Device 60N1 First Transceiver 60N2 Second Transceiver

Claims

1. A remote control target; A plurality of remote control devices that selectively operate the remote control objects; A remote control system comprising: When the remote control target is moved leftward or rightward from a first remote control device to a second remote control device among the plurality of remote control devices, the first remote operation device operates the remote operation target so as to move the remote operation target in a leftward or rightward direction when the remote operation target is viewed from the first remote operation device; The second remote control device operates the remote control object so as to move the remote control object to the right or left when the remote control object is seen from the second remote control device. Remote control system.

2. A remote control target; A plurality of remote control devices that selectively operate the remote control objects; A remote control system comprising: When the remote control target is moved closer to or farther away from a first remote control device side toward a second remote control device side among the plurality of remote control devices, The first remote control device controls the remote control target to move forward or backward, The second remote control device operates the remote control target to move backward or forward. Remote control system.

3. When the first remote control device is to operate the remote control object, the first remote control device transmits a first control instruction signal indicating that the first remote control device controls the operation of the remote control object to the remote control object in advance, When the second remote control device operates the remote control object, the second remote control device transmits a second control instruction signal indicating that the second remote control device controls the operation of the remote control object to the remote control object in advance. The remote control system according to claim 1 or 2.

4. each of the plurality of remote control devices transmits to the remote control object an operation signal for operating the remote control object and a control instruction signal for controlling the operation of the remote control object; When the remote control target receives a control instruction signal from a control remote control device that is to control the operation of the plurality of remote control devices, the remote control target ignores operation signals from other remote control devices other than the control remote control device among the plurality of remote control devices. The remote control system according to claim 1 or 2.

5. When the remote control object receives a control instruction signal from the master remote control device, the remote control object transmits a control completion signal to at least the master remote control device, the signal indicating that the master remote control device will control the remote control object. The remote control system according to claim 4.

6. The remote control system according to claim 5 , wherein the control remote control device comprises a notification unit that notifies the user that the control remote control device is controlling the operation of the remote control target when the control completion signal is received.

7. The remote control system according to claim 4 , wherein the remote control object includes a notification unit that notifies the user that the control remote control device is controlling the remote control object when the remote control object receives a control instruction signal from the control remote control device.

8. A remote control device among a plurality of remote control devices that selectively controls a remote control object, the remote control device transmits to the remote control object an operation signal for operating the remote control object and a control instruction signal for controlling the operation of the remote control object; When moving the remote control target to the left or right from a first remote control device toward a second remote control device among the plurality of remote control devices, the remote control device transmits the control instruction signal, and then transmits the following operation signals to the remote control target: (1) in the case of the first remote control device, a leftward movement instruction signal or a rightward movement instruction signal; and (2) in the case of the second remote control device, a rightward movement instruction signal or a leftward movement instruction signal. Remote control device.

9. A remote control device among a plurality of remote control devices that selectively controls a remote control object, the remote control device transmits to the remote control object an operation signal for operating the remote control object and a control instruction signal for controlling the operation of the remote control object; When the remote control target is moved closer to or farther away from a first remote control device among the plurality of remote control devices to a second remote control device, the first remote control device transmits the control instruction signal, and then transmits the operation signal to the remote control target as follows: (1) in the case of the first remote control device, a forward instruction signal or a backward instruction signal; and (2) in the case of the second remote control device, a backward instruction signal or a forward instruction signal. Remote control device.

10. A remote control object that is selectively operated by a plurality of remote control devices, When the remote control target is operated by a first remote control device among the plurality of remote control devices to move in a leftward or rightward direction as viewed from the first remote control device, the remote control target moves in a leftward or rightward direction; When the remote control target is operated by a second remote control device among the plurality of remote control devices to move in a rightward or leftward direction as viewed from the second remote control device, the remote control target moves in the rightward or leftward direction. Remote control target.

11. A remote control object that is selectively operated by a plurality of remote control devices, when a command to move forward or backward is given from a first remote control device among the plurality of remote control devices along a route from a first remote control device to a second remote control device, the remote control target moves toward or away from the second remote control device; In the above-mentioned route, when a backward or forward movement is instructed by the second remote control device, the remote control target moves toward or away from the second remote control device. Remote control target.

12. A remote control target; a first remote control device and a second remote control device that selectively operate the remote control object; A remote control system comprising: (1) When the remote control object is moved forward or backward while being viewed from the first remote control device, The first remote control device controls the remote control target to move forward or backward, When a line connecting the first remote control device and the remote control target is viewed from above from the first remote control device side, (i) when the second remote operation device is located in a region to the right of the line, the second remote operation device operates the remote operation target to move in a rightward or leftward direction; (ii) when the second remote operation device is located in a region to the left of the line, the second remote operation device operates the remote operation target to move in a leftward or rightward direction; (2) When the remote control object is moved to the left or right as viewed from a first remote control device among the plurality of remote control devices, the first remote control device operates the remote control object to move in a leftward or rightward direction; When a line connecting the first remote control device and the remote control target is viewed from above from the first remote control device side, (i) when the second remote control device is located in a region to the right of the line, the second remote control device operates the remote control target to move forward or backward; (ii) when the second remote control device is located in a region to the left of the line, the second remote control device operates the remote control target to move backward or forward; Remote control system.

13. A remote control device among a first remote control device and a second remote control device that selectively controls a remote control object, The remote control device transmits an operation signal to the remote control object for operating the remote control object, (1) When the remote control object is moved forward or backward while being viewed from the first remote control device, When a line connecting the first remote control device and the remote control target is viewed from above from the first remote control device side, (i) when the second remote control device is located in the area to the right of the line, the second remote control device transmits a rightward movement instruction signal or a leftward movement instruction signal to the remote control target; (ii) when the remote control device is a second remote control device located in the area to the left of the line, the second remote control device transmits a leftward movement instruction signal or a rightward movement instruction signal as the operation signal to the remote control target; (2) When the remote control object is moved to the left or right as viewed from a first remote control device among the plurality of remote control devices, When a line connecting the first remote control device and the remote control target is viewed from above from the first remote control device side, (i) when the remote control device is the second remote control device located in the area to the right of the line, the second remote control device transmits a forward instruction signal or a backward instruction signal as the operation signal to the remote control target; (ii) when the remote control device is a second remote control device located in the area to the left of the line, the second remote control device transmits a retreat instruction signal or a forward instruction signal as the operation signal to the remote control target after transmitting the control instruction signal; Remote control device.

14. A remote control object selectively operated by a first remote control device and a second remote control device, (1) when an instruction is given by the first remote control device to move forward or backward while looking at the remote control target from the first remote control device, the remote control device moves forward or backward; When a line connecting the first remote control device and the remote control target is viewed from above from the first remote control device side, (i) moving forward or backward when instructed to move rightward or leftward by the second remote control device located in the area to the right of the line; (ii) moving forward or backward when instructed to move leftward or rightward by the second remote control device located in the area to the left of the line; (2) when the first remote control device instructs the remote control target to move leftward or rightward while looking at the remote control target from the first remote control device, the remote control target moves leftward or rightward; When a line connecting the first remote control device and the remote control target is viewed from above from the first remote control device side, (i) moving in the left direction or the right direction when instructed to move forward or backward by the second remote control device located in the area to the right of the line; (ii) when instructed to move backward or forward by the second remote control device located in the area to the left of the line, move in the left direction or the right direction; Remote control target.

Images