Unmanned aircraft

Abstract

To enjoy a game obtaining a score by steering a drone.SOLUTION: A score obtaining game system 100 includes: a first drone 101 flying in a predetermined space by automatic steering; a second drone 102 flying in the predetermined space by manual steering; and a steering machine 104 wirelessly steering the second unmanned aircraft 102. By operation of the steering machine 104 by a steering person 105, the second drone 102 is steered to follow the flying first drone 101 to obtain a score in accordance with a degree of the following, or the following first drone 101 is avoided to obtain a score in accordance with a degree of the avoiding, and obtained score information on the obtained scores is stored. Thereby, a game of steering the second drone 102 and obtaining the scores can be enjoyed by one person. In addition, the person can improve in steering technique of a drone while enjoying the game. Further, the game also includes an imaging drone 103 imaging that state and a realistic sensation of the game can be provided.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a point-earning game system using an unmanned aerial vehicle, the unmanned aerial vehicle, and a control method and control program for the unmanned aerial vehicle. [Background technology]

[0002] In recent years, games using electronic devices such as smartphones, tablets, game consoles, and personal computers have become widespread. Electronic devices used for games are also widely used among so-called young users, such as children and students. In games using such electronic devices, for example, there are various technologies that aim to improve the convenience of users.

[0003] Specifically, in the past, there was technology that allowed the user to change the way a match progressed between manual mode and auto mode depending on the user's past match experience, thereby maintaining the playfulness of the match in manual mode while reducing the complexity of user operations in auto mode (for example, see Patent Document 1 below).

[0004] There was also technology relating to a game using unmanned aerial vehicles in which two operators collide their own unmanned aerial vehicle into the other player's unmanned aerial vehicle, causing the other player's unmanned aerial vehicle to crash (see, for example, Patent Document 2 below). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2020-124539 A [Patent Document 2] JP 2020-10985 A [Patent Document 3] JP 2019-158156 A [Patent Document 4] International Publication No. 2016 / 072132 Summary of the Invention [Problem to be solved by the invention]

[0006] However, in conventional competitive games, two or more people must play together, making it difficult to play alone. In addition, in games using electronic devices, the controls are placed in a virtual space, which means that the game lacks realism compared to actually controlling the robot.

[0007] In order to solve the problems associated with the conventional technology described above, the present invention aims to provide a point-earning game system that allows a player to enjoy the game alone and improve their unmanned aerial vehicle piloting skills while enjoying the game. [Means for solving the problem]

[0008] In order to solve the above-mentioned problems and achieve the objective, the score-earning game system of the present invention is a score-earning game system comprising a first unmanned aerial vehicle that flies within a specified space by automatic control, a second unmanned aerial vehicle that flies within a specified space by manual control, and a controller that wirelessly controls the second unmanned aerial vehicle, wherein the second unmanned aerial vehicle is piloted by operating the controller by a pilot, and caused to follow the flying first unmanned aerial vehicle, scores are earned according to the degree of following, and score information relating to the earned scores is stored in at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle.

[0009] In addition, the score acquisition game system according to the present invention is the above-mentioned invention, further comprising an objective sensor in at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle, The objective sensor detects the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined time intervals, and based on the detection result of the objective sensor, when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle comes within a predetermined distance after the start of the game, a predetermined score is earned according to the frequency of such close proximity.

[0010] In addition, the score-earning game system of the present invention is characterized in that, in the above invention, at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an object sensor, which detects the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined time intervals, and based on the detection result of the object sensor, when the time during which the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle is within a predetermined distance continuously reaches a predetermined time after the start of the game, a predetermined score is earned according to the time of the proximity.

[0011] In addition, the score-earning game system of the present invention is characterized in that, in the above invention, at least one of the piloted aircraft, the first unmanned aerial vehicle and the second unmanned aerial vehicle is provided with a lamp, and when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle comes within a predetermined distance, the lamp is turned on or flashes.

[0012] In addition, the score-earning game system of the present invention is characterized in that, in the above invention, at least one of the piloted aircraft, the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with a speaker, and when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle comes within a predetermined distance, a predetermined sound is output from the speaker.

[0013] In addition, the score-earning game system of the present invention is characterized in that, in the above invention, at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an object sensor, which detects the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined time intervals, and based on the detection result of the object sensor, if the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle becomes greater than a predetermined distance after the start of the game, a predetermined score is deducted according to the frequency of such distance.

[0014] In addition, the score-earning game system of the present invention is characterized in that, in the above invention, at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an object sensor, which detects the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined time intervals, and based on the detection result of the object sensor, when the time during which the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle is greater than a predetermined distance continuously reaches a predetermined time after the start of the game, a predetermined number of points is deducted according to the time of separation.

[0015] In addition, the score-earning game system of the present invention is characterized in that, in the above invention, at least one of the piloted aircraft, the first unmanned aerial vehicle and the second unmanned aerial vehicle is provided with a lamp, and when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle becomes greater than a predetermined distance, the lamp is turned on or flashes.

[0016] In addition, the score-earning game system of the present invention is characterized in that, in the above invention, at least one of the piloted aircraft, the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with a speaker, and when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle becomes greater than a predetermined distance, a predetermined sound is output from the speaker.

[0017] In addition, the score acquisition game system according to the present invention is the above-mentioned invention, further comprising an acceleration sensor in at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle, the acceleration sensor detecting a collision between the first unmanned aerial vehicle and the second unmanned aerial vehicle. The present invention is characterized in that, based on the detection result of the acceleration sensor, a predetermined score is acquired when the first unmanned aerial vehicle and the second unmanned aerial vehicle collide after the start of the game.

[0018] In addition, the score-earning game system of the present invention is characterized in that, in the above invention, at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an acceleration sensor, which detects a collision between the first unmanned aerial vehicle and the second unmanned aerial vehicle, and based on the detection result of the acceleration sensor, if the first unmanned aerial vehicle collides with the second unmanned aerial vehicle after the start of the game, a predetermined number of points is deducted.

[0019] In addition, the score-earning game system of the present invention is characterized in that, in the above invention, at least one of the piloted aircraft, the first unmanned aerial vehicle and the second unmanned aerial vehicle is provided with a lamp, and when the first unmanned aerial vehicle collides with the second unmanned aerial vehicle, the lamp is turned on or flashes.

[0020] In addition, the score-earning game system of the present invention is characterized in that, in the above invention, at least one of the piloted aircraft, the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with a speaker, and a predetermined sound is output from the speaker when the first unmanned aerial vehicle collides with the second unmanned aerial vehicle.

[0021] In addition, the score-earning game system of the present invention is characterized in that, in the above invention, at least one of the piloted aircraft, the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with a timer, and the timer measures time after the game starts, and when the time measured by the timer reaches a predetermined time, the game ends and score information stored in at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is output.

[0022] In addition, the score-earning game system of the present invention is characterized in that, in the above invention, when the timer's time reaches a predetermined time, score information stored in at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is obtained, and if the score has reached a predetermined value based on the obtained score information, the game is extended for a predetermined time, and if the score has not reached the predetermined value, the game is ended.

[0023] In addition, the score-earning game system of the present invention is characterized in that, in the above invention, at least one of the piloted aircraft, the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with a timer, and the timer measures time after the game starts, and when the score reaches a predetermined value based on the score information stored in at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle, ends the game and outputs the time measured by the timer.

[0024] In addition, in the score-earning game system of the present invention, in the above invention, the first unmanned aerial vehicle changes its flight speed during the game based on the points earned.

[0025] In addition, the score acquisition game system according to the present invention is characterized in that, in the above invention, when the acquired score reaches or exceeds a predetermined score, the flying speed is increased.

[0026] In addition, the score acquisition game system according to the present invention is characterized in that, in the above invention, when the acquired score falls below a predetermined score, the flying speed is reduced.

[0027] In addition, the score acquisition game system according to the present invention is the above-mentioned invention, further comprising a display device for displaying an image, and At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with a camera, and at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle wirelessly transmits video information relating to images captured by the camera during the game to the display device, and the display device displays the received video.

[0028] In addition, the score-earning game system of the present invention, in the above invention, is characterized in that it comprises a third unmanned aerial vehicle that flies around the first unmanned aerial vehicle or the second unmanned aerial vehicle by automatic pilot and is equipped with a camera that photographs at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle, and the third unmanned aerial vehicle wirelessly transmits video information related to the images captured by the camera during the game to the display device, and the display device displays the received video.

[0029] In addition, the score-earning game system of the present invention is characterized in that, in the above invention, at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle wirelessly transmits stored score information to the display device, and the display device displays the received score information.

[0030] In addition, the point acquisition game system according to the present invention is characterized in that, in the above-mentioned invention, the display device is provided on the controller.

[0031] In addition, the score acquisition game system according to the present invention is characterized in that, in the above invention, the display device is a goggle-type display device worn by the operator.

[0032] In addition, the score-earning game system of this invention is characterized in that, in the above invention, the second unmanned aerial vehicle acquires position information of its own current position and transmits the position information and drive control information of its own aircraft to the first unmanned aerial vehicle, and the first unmanned aerial vehicle acquires position information of its own aircraft and determines or changes its own flight pattern based on the acquired position information of its own aircraft and the position information and drive control information of the second unmanned aerial vehicle received from the second unmanned aerial vehicle.

[0033] In addition, the score-earning game system of the present invention is characterized in that, in the above invention, the first unmanned aerial vehicle is equipped with an object sensor that measures the distance to the second unmanned aerial vehicle, and determines or changes the flight pattern of the first unmanned aerial vehicle based on the acquired position information of the first unmanned aerial vehicle, the position information and drive control information of the second unmanned aerial vehicle received from the second unmanned aerial vehicle, and the distance to the second unmanned aerial vehicle measured by the object sensor.

[0034] In addition, the score-earning game system of the present invention is characterized in that, in the above invention, the flight pattern is a flight pattern that avoids close contact with the second unmanned aerial vehicle.

[0035] In addition, in the score acquisition game system according to the present invention, in the above invention, the location information is latitude / longitude information and altitude information calculated by a GPS (Global Positioning System).

[0036] In addition, the score-earning game system of the present invention is characterized in that, in the above invention, the drive control information is a control signal that controls the drive of a motor that rotates a propeller that drives the second unmanned aerial vehicle.

[0037] In addition, in the point acquisition game system according to the present invention, in the above invention, the controller is an information processing terminal device equipped with a display screen.

[0038] In order to solve the above-mentioned problems and achieve the objective, the unmanned aerial vehicle of the present invention is an unmanned aerial vehicle used in a score-winning game, which flies within a specified space by automatic control, and is characterized in that it acquires position information of its own aircraft, and determines or changes its own flight pattern based on the acquired position information of its own aircraft, as well as position information of a manually piloted unmanned aerial vehicle received from a manually piloted unmanned aerial vehicle flying within a specified space by manual control, and drive control information of the manually piloted unmanned aerial vehicle.

[0039] In addition, the unmanned aerial vehicle of this invention is characterized in that, in the above invention, it is equipped with an objective sensor that measures the distance to the manually piloted unmanned aerial vehicle, and determines or changes the flight pattern of the aircraft based on the acquired position information of the aircraft, the position information of the manually piloted unmanned aerial vehicle and drive control information of the manually piloted unmanned aerial vehicle received from the manually piloted unmanned aerial vehicle, and the distance to the manually piloted unmanned aerial vehicle measured by the objective sensor.

[0040] In addition, the unmanned aerial vehicle of the present invention is characterized in that, in the above invention, the flight pattern is a flight pattern that avoids close contact with the manually piloted unmanned aerial vehicle.

[0041] In addition, the unmanned aerial vehicle according to the present invention is characterized in that, in the above invention, the location information is latitude / longitude information and altitude information calculated by a GPS (Global Positioning System).

[0042] In addition, the unmanned aerial vehicle of the present invention is characterized in that, in the above invention, the drive control information is a control signal that controls the drive of a motor that rotates a propeller that drives the manually piloted unmanned aerial vehicle.

[0043] In order to solve the above-mentioned problems and achieve the objective, the control method of the present invention is a control method for an unmanned aerial vehicle used in a score-winning game, flying within a specified space by automatic control, which is characterized by acquiring position information of the own aircraft, and determining or changing the flight pattern of the own aircraft based on the acquired position information of the own aircraft, position information of the manually piloted unmanned aerial vehicle received from a manually piloted unmanned aerial vehicle flying within a specified space by manual control, and drive control information of the manually piloted unmanned aerial vehicle.

[0044] In addition, the control method of the present invention is characterized in that, in the above invention, the distance to the manually piloted unmanned aerial vehicle is measured, and the flight pattern of the own aircraft is determined or changed based on the acquired position information of the own aircraft, the position information of the manually piloted unmanned aerial vehicle and drive control information of the manually piloted unmanned aerial vehicle received from the manually piloted unmanned aerial vehicle, and the measured distance to the manually piloted unmanned aerial vehicle.

[0045] In addition, the control method of the present invention is characterized in that, in the above invention, the flight pattern is a flight pattern that avoids close contact with the manually piloted unmanned aerial vehicle.

[0046] In addition, in the control method according to the present invention, in the above invention, the location information is latitude / longitude information and altitude information calculated by a GPS (Global Positioning System).

[0047] In addition, the control method of the present invention is characterized in that, in the above invention, the drive control information is a control signal that controls the drive of a motor that rotates a propeller that drives the manually operated unmanned aerial vehicle.

[0048] In order to solve the above problems and achieve the object, the present invention provides a control program for an unmanned aerial vehicle that flies in a predetermined space by automatic control, for use in a point acquisition game. The RAM acquires position information of its own aircraft, and causes the unmanned aircraft to execute a process to determine or change the flight pattern of its own aircraft based on the acquired position information of its own aircraft, position information of a manually piloted unmanned aircraft received from a manually piloted unmanned aircraft flying within a specified space by manual control, and drive control information of the manually piloted unmanned aircraft.

[0049] In addition, the control program of the present invention is characterized in that, in the above invention, the control program measures the distance to the manually piloted unmanned aerial vehicle, and determines or changes the flight pattern of the aircraft based on the acquired position information of the aircraft, the position information of the manually piloted unmanned aerial vehicle received from the manually piloted unmanned aerial vehicle and the drive control information of the manually piloted unmanned aerial vehicle, and the measured distance to the manually piloted unmanned aerial vehicle.

[0050] In addition, the control program according to the present invention is characterized in that, in the above invention, the flight pattern is a flight pattern that avoids approaching the manually piloted unmanned aerial vehicle.

[0051] In the control program according to the present invention, in the above invention, the position information is latitude / longitude information and altitude information calculated by a GPS (Global Positioning System).

[0052] In addition, the control program of the present invention, in the above invention, is characterized in that the drive control information is a control signal that controls the drive of a motor that rotates a propeller that drives the manually operated unmanned aerial vehicle.

[0053] In order to solve the above-mentioned problems and achieve the objective, the score-earning game system of the present invention is a score-earning game system comprising a first unmanned aerial vehicle that flies within a specified space by automatic control, a second unmanned aerial vehicle that flies within a specified space by manual control, and a controller that wirelessly controls the second unmanned aerial vehicle, wherein the second unmanned aerial vehicle is piloted by a pilot operating the controller to avoid the first unmanned aerial vehicle that is following, scores are earned according to the degree of such avoidance, and score information related to the earned scores is stored in at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle.

[0054] In addition, the score-earning game system of the present invention is characterized in that, in the above invention, at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an object sensor, which detects the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined time intervals, and based on the detection result of the object sensor, when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle becomes greater than a predetermined distance after the start of the game, a predetermined score is earned according to the frequency of such distance.

[0055] In addition, the score-earning game system of the present invention is characterized in that, in the above invention, at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an object sensor, which detects the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined time intervals, and based on the detection result of the object sensor, when the time during which the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle is greater than or equal to a predetermined distance continuously reaches a predetermined time after the start of the game, a predetermined score is earned according to the time of separation.

[0056] In addition, the score-earning game system of the present invention is characterized in that, in the above invention, at least one of the piloted aircraft, the first unmanned aerial vehicle and the second unmanned aerial vehicle is provided with a lamp, and when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle becomes greater than a predetermined distance, the lamp is turned on or flashes.

[0057] In addition, the point acquisition game system according to the present invention is the above-mentioned invention, At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with a speaker, and a predetermined sound is output from the speaker when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle becomes greater than a predetermined distance.

[0058] In addition, the score-earning game system of the present invention is characterized in that, in the above invention, at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an object sensor, which detects the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined time intervals, and based on the detection result of the object sensor, if the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle comes within a predetermined distance after the start of the game, a predetermined score is deducted according to the frequency of such close proximity.

[0059] In addition, the score-earning game system of the present invention is characterized in that, in the above invention, at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an object sensor, which detects the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined time intervals, and based on the detection result of the object sensor, when the time during which the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle is within a predetermined distance continuously reaches a predetermined time after the start of the game, a predetermined number of points is deducted according to the time of the proximity.

[0060] In addition, the score-earning game system of the present invention is characterized in that, in the above invention, at least one of the piloted aircraft, the first unmanned aerial vehicle and the second unmanned aerial vehicle is provided with a lamp, and when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle comes within a predetermined distance, the lamp is turned on or flashes.

[0061] In addition, the score-earning game system of the present invention is characterized in that, in the above invention, at least one of the piloted aircraft, the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with a speaker, and when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle comes within a predetermined distance, a predetermined sound is output from the speaker.

[0062] In addition, the score-earning game system of the present invention is characterized in that, in the above invention, at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an acceleration sensor, which detects a collision between the first unmanned aerial vehicle and the second unmanned aerial vehicle, and based on the detection result of the acceleration sensor, if the first unmanned aerial vehicle collides with the second unmanned aerial vehicle after the start of the game, a predetermined number of points is deducted.

[0063] In addition, the score-earning game system of the present invention is characterized in that, in the above invention, at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an acceleration sensor, which detects a collision between the first unmanned aerial vehicle and the second unmanned aerial vehicle, and based on the detection result of the acceleration sensor, a predetermined score is earned when the first unmanned aerial vehicle and the second unmanned aerial vehicle collide after the start of the game.

[0064] In addition, the score-earning game system of the present invention is characterized in that, in the above invention, at least one of the piloted aircraft, the first unmanned aerial vehicle and the second unmanned aerial vehicle is provided with a lamp, and when the first unmanned aerial vehicle collides with the second unmanned aerial vehicle, the lamp is turned on or flashes.

[0065] In addition, the score-earning game system of the present invention is characterized in that, in the above invention, at least one of the piloted aircraft, the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with a speaker, and a predetermined sound is output from the speaker when the first unmanned aerial vehicle collides with the second unmanned aerial vehicle.

[0066] In addition, the score-earning game system of the present invention is characterized in that, in the above invention, at least one of the piloted aircraft, the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with a timer, and the timer measures time after the game starts, and when the time measured by the timer reaches a predetermined time, the game ends and score information stored in at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is output.

[0067] In addition, the score-earning game system of the present invention is characterized in that, in the above invention, when the timer's time reaches a predetermined time, score information stored in at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is obtained, and if the score has reached a predetermined value based on the obtained score information, the game is extended for a predetermined time, and if the score has not reached the predetermined value, the game is ended.

[0068] In addition, the score-earning game system of the present invention is characterized in that, in the above invention, at least one of the piloted aircraft, the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with a timer, and the timer measures time after the game starts, and when the score reaches a predetermined value based on the score information stored in at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle, ends the game and outputs the time measured by the timer.

[0069] In addition, in the score-earning game system of the present invention, in the above invention, the first unmanned aerial vehicle changes its flight speed during the game based on the points earned.

[0070] In addition, the score acquisition game system according to the present invention is characterized in that, in the above invention, when the acquired score reaches or exceeds a predetermined score, the flying speed is increased.

[0071] In addition, the score acquisition game system according to the present invention is characterized in that, in the above invention, when the acquired score falls below a predetermined score, the flying speed is reduced.

[0072] In addition, the score-earning game system of the present invention is characterized in that, in the above invention, it is equipped with a display device for displaying images, and a camera is mounted on at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle, and at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle wirelessly transmits image information relating to images captured by the camera during the game to the display device, and the display device displays the received image.

[0073] In addition, the score-earning game system of the present invention, in the above invention, is characterized in that it comprises a third unmanned aerial vehicle that flies around the first unmanned aerial vehicle or the second unmanned aerial vehicle by automatic pilot and is equipped with a camera that photographs at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle, and the third unmanned aerial vehicle wirelessly transmits video information related to the images captured by the camera during the game to the display device, and the display device displays the received video.

[0074] In addition, the score-earning game system of the present invention is characterized in that, in the above invention, at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle wirelessly transmits stored score information to the display device, and the display device displays the received score information.

[0075] In addition, the point acquisition game system according to the present invention is characterized in that, in the above-mentioned invention, the display device is provided on the controller.

[0076] In addition, the score acquisition game system according to the present invention is characterized in that, in the above invention, the display device is a goggle-type display device worn by the operator.

[0077] In addition, the score-earning game system of this invention is characterized in that, in the above invention, the second unmanned aerial vehicle acquires position information of its own current position and transmits the position information and drive control information of its own aircraft to the first unmanned aerial vehicle, and the first unmanned aerial vehicle acquires position information of its own aircraft and determines or changes its own flight pattern based on the acquired position information of its own aircraft and the position information and drive control information of the second unmanned aerial vehicle received from the second unmanned aerial vehicle.

[0078] In addition, the score-earning game system of the present invention is characterized in that, in the above invention, the first unmanned aerial vehicle is equipped with an object sensor that measures the distance to the second unmanned aerial vehicle, and determines or changes the flight pattern of the first unmanned aerial vehicle based on the acquired position information of the first unmanned aerial vehicle, the position information and drive control information of the second unmanned aerial vehicle received from the second unmanned aerial vehicle, and the distance to the second unmanned aerial vehicle measured by the object sensor.

[0079] In addition, the score-earning game system of the present invention is characterized in that, in the above invention, the flight pattern is a flight pattern of approaching the second unmanned aerial vehicle or colliding with the second unmanned aerial vehicle.

[0080] In addition, in the score acquisition game system according to the present invention, in the above invention, the location information is latitude / longitude information and altitude information calculated by a GPS (Global Positioning System).

[0081] In addition, the score-earning game system of the present invention is characterized in that, in the above invention, the drive control information is a control signal that controls the drive of a motor that rotates a propeller that drives the second unmanned aerial vehicle.

[0082] In addition, in the point acquisition game system according to the present invention, in the above invention, the controller is an information processing terminal device equipped with a display screen.

[0083] In order to solve the above-mentioned problems and achieve the objective, the unmanned aerial vehicle of the present invention is an unmanned aerial vehicle used in a score-winning game, which flies within a specified space by automatic control, and is characterized in that it acquires position information of its own aircraft, and determines or changes its own flight pattern based on the acquired position information of its own aircraft, as well as position information of a manually piloted unmanned aerial vehicle received from a manually piloted unmanned aerial vehicle flying within a specified space by manual control, and drive control information of the manually piloted unmanned aerial vehicle.

[0084] In addition, the unmanned aerial vehicle of this invention is characterized in that, in the above invention, it is equipped with an objective sensor that measures the distance to the manually piloted unmanned aerial vehicle, and determines or changes the flight pattern of the aircraft based on the acquired position information of the aircraft, the position information of the manually piloted unmanned aerial vehicle and drive control information of the manually piloted unmanned aerial vehicle received from the manually piloted unmanned aerial vehicle, and the distance to the manually piloted unmanned aerial vehicle measured by the objective sensor.

[0085] In addition, the unmanned aerial vehicle of the present invention is characterized in that, in the above invention, the flight pattern is a flight pattern that comes close to or collides with the manually piloted unmanned aerial vehicle.

[0086] In the unmanned aerial vehicle according to the present invention, the position information is latitude and longitude information calculated by a GPS (Global Positioning System). It is characterized by being information and advanced information.

[0087] In addition, the unmanned aerial vehicle of the present invention is characterized in that, in the above invention, the drive control information is a control signal that controls the drive of a motor that rotates a propeller that drives the manually piloted unmanned aerial vehicle.

[0088] In order to solve the above-mentioned problems and achieve the objective, the control method of the present invention is a control method for an unmanned aerial vehicle used in a score-winning game, flying within a specified space by automatic control, which is characterized by acquiring position information of the own aircraft, and determining or changing the flight pattern of the own aircraft based on the acquired position information of the own aircraft, position information of the manually piloted unmanned aerial vehicle received from a manually piloted unmanned aerial vehicle flying within a specified space by manual control, and drive control information of the manually piloted unmanned aerial vehicle.

[0089] In addition, the control method of the present invention is characterized in that, in the above invention, the distance to the manually piloted unmanned aerial vehicle is measured, and the flight pattern of the own aircraft is determined or changed based on the acquired position information of the own aircraft, the position information of the manually piloted unmanned aerial vehicle and drive control information of the manually piloted unmanned aerial vehicle received from the manually piloted unmanned aerial vehicle, and the measured distance to the manually piloted unmanned aerial vehicle.

[0090] In addition, the control method of the present invention is characterized in that, in the above invention, the flight pattern is a flight pattern that approaches or collides with the manually piloted unmanned aerial vehicle.

[0091] In addition, in the control method according to the present invention, in the above invention, the location information is latitude / longitude information and altitude information calculated by a GPS (Global Positioning System).

[0092] In addition, the control method of the present invention is characterized in that, in the above invention, the drive control information is a control signal that controls the drive of a motor that rotates a propeller that drives the manually operated unmanned aerial vehicle.

[0093] In order to solve the above-mentioned problems and achieve the objective, the control program of the present invention is a control program for an unmanned aerial vehicle used in a score-winning game, flying within a specified space by automatic control, and is characterized in that it acquires position information of the vehicle itself, and causes the unmanned aerial vehicle to execute a process of determining or changing the flight pattern of the vehicle itself based on the acquired position information of the vehicle itself, position information of a manually piloted unmanned aerial vehicle flying within a specified space by manual control received from the manually piloted unmanned aerial vehicle, and drive control information of the manually piloted unmanned aerial vehicle.

[0094] In addition, the control program of the present invention is characterized in that, in the above invention, the control program measures the distance to the manually piloted unmanned aerial vehicle, and determines or changes the flight pattern of the aircraft based on the acquired position information of the aircraft, the position information of the manually piloted unmanned aerial vehicle received from the manually piloted unmanned aerial vehicle and the drive control information of the manually piloted unmanned aerial vehicle, and the measured distance to the manually piloted unmanned aerial vehicle.

[0095] In addition, the control program according to the present invention is characterized in that, in the above invention, the flight pattern is a flight pattern that approaches or collides with the manually piloted unmanned aerial vehicle.

[0096] In the control program according to the present invention, in the above invention, the position information is latitude / longitude information and altitude information calculated by a GPS (Global Positioning System).

[0097] In addition, the control program of the present invention, in the above invention, is characterized in that the drive control information is a control signal that controls the drive of a motor that rotates a propeller that drives the manually operated unmanned aerial vehicle. Effect of the Invention

[0098] The score-earning game system, unmanned aerial vehicle, control method, and control program of the present invention have the effect of allowing a player to enjoy the game alone, and improving their unmanned aerial vehicle piloting skills while enjoying the game. [Brief description of the drawings]

[0099] [Figure 1] 1 is an explanatory diagram showing an example of an overview of a point acquisition game system according to an embodiment of the present invention; [Diagram 2] FIG. 1 is an explanatory diagram showing an example of the appearance of the first to third unmanned aerial vehicles (target drone 101, piloting drone 102, and photographing drone 103) according to an embodiment of the present invention. [Diagram 3] This is an explanatory diagram showing an example of hardware of the first to third unmanned aerial vehicles (target drone 101, piloting drone 102, and photographing drone 103) of an embodiment of this invention. [Figure 4] FIG. 2 is an explanatory diagram showing an example of hardware of a controller 104 according to an embodiment of the present invention. [Figure 5A] FIG. 1 is an explanatory diagram (part 1) showing a functional configuration of a point acquisition game system according to an embodiment of the present invention. [Figure 5B] FIG. 2 is an explanatory diagram (part 2) showing the functional configuration of the point acquisition game system according to the embodiment of the present invention. [Figure 6] 1 is a flowchart (part 1) showing the processing procedure of a first unmanned aerial vehicle (target drone 101) according to an embodiment of the present invention. [Figure 7] 2 is a flowchart (part 2) showing the processing procedure of the first unmanned aerial vehicle (target drone 101) according to the embodiment of the present invention. [Figure 8] 1 is a flowchart (part 1) showing a processing procedure of the point acquisition game system according to the embodiment of the present invention. [Figure 9] 13 is a second flowchart showing the processing procedure of the point acquisition game system according to the embodiment of the present invention. [Figure 10]11 is a flowchart (part 3) showing the processing procedure of the point acquisition game system according to the embodiment of the present invention. [Figure 11] FIG. 11 is an explanatory diagram showing an example of an overview of a point acquisition game system according to another embodiment (embodiment 2) of the present invention. [Figure 12] 11 is a flowchart showing a processing procedure of a first unmanned aerial vehicle (pursuit drone 1101) according to another embodiment (embodiment 2) of the present invention. [Figure 13] 13 is a flowchart (part 1) showing a processing procedure of a point acquisition game system in another embodiment (embodiment 2) of the present invention. [Figure 14] 13 is a flowchart (part 2) showing the processing procedure of a point acquisition game system in another embodiment (embodiment 2) according to the present invention. [Figure 15] 13 is a flowchart (part 3) showing the processing procedure of a point acquisition game system in another embodiment (embodiment 2) according to the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0100] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the score acquisition game system, the unmanned aerial vehicle, the control method, and the control program according to the present invention will be described in detail below with reference to the accompanying drawings.

[0101] (An example of a summary of a scoring game system) First, an example of an outline of a score acquisition game system according to an embodiment of the present invention will be described. Reveal.

[0102] FIG. 1 is an explanatory diagram showing an example of an outline of a score acquisition game system according to an embodiment of the present invention. In FIG. 1, the score acquisition game system 100 is composed of a target drone 101 which is an example of a first unmanned aerial vehicle, a pilot drone 102 which is an example of a second unmanned aerial vehicle, a photographing drone 103 which is an example of a third unmanned aerial vehicle, and a pilot 104 which wirelessly controls the pilot drone 102. As shown in FIG. 2, the unmanned aerial vehicles 101 to 103 are drones. Hereinafter, the unmanned aerial vehicle is referred to as a drone.

[0103] The target drone 101, the control drone 102, and the photographic drone 103 may fly indoors or outdoors. The pilot 105 controls only the control drone 102. The target drone 101 and the photographic drone 103 are autopilot drones, and the pilot 105 does not directly control the target drone 101 and the photographic drone 103.

[0104] In this score acquisition game system 100, the target drone 101 flies within a predetermined space by automatic control. The controlled drone 102 flies within a predetermined space by manual control by a control device 104 controlled by a pilot 105. When the game starts, the target drone 101 flies along a flight path based on predetermined flight data. Alternatively, the target drone 101 may fly randomly within a predetermined range according to predetermined rules.

[0105] The pilot 105 directly (with the naked eye) or indirectly (through a monitor such as a display screen provided on the pilot 104) visually observes the movement (flight path) of the target drone 101, which flies by automatic control, and operates the pilot 104 to fly the pilot drone 102 so as to follow the target drone 101. In order to make the pilot drone 102 follow the target drone 101, the pilot 105 sometimes reflexively responds to the flight of the target drone 101, and sometimes predicts the flight path of the target drone 101, skillfully operating the pilot 104 to pilot the pilot drone 102.

[0106] Points can be earned according to the degree to which the controlled drone 102 follows the target drone 101. In other words, more points can be earned by flying the controlled drone 102 as close to the target drone 101 as possible along the same flight path and at the same speed as the target drone 101.

[0107] The inventor has named the point-earning game of this embodiment, in which the player pilots the pilot drone 102 to chase the automatically-piloted target drone 101 and earns points according to the degree of tracking of the target drone 101, "DRONE CHASE," or, as an abbreviation, "DRO-CHASE."

[0108] The target drone 101 is equipped with an object sensor (specifically, object sensor 306 shown in FIG. 3, which will be described later), and this object sensor repeatedly measures (detects) the distance to the controlled drone 102 at predetermined time intervals during the game. If the measurement result shows that the distance between the target drone 101 and the controlled drone 102 is within a predetermined distance, points can be earned. On the other hand, if the measurement by the object sensor shows that the distance is greater than the predetermined distance, no points can be earned.

[0109] Specifically, the distance between the target drone 101 and the pilot drone 102 is measured every predetermined time (for example, 0.1 seconds), and if the distance is within 20 cm, a positive point (for example, 1 point) is acquired. On the other hand, if the distance is more than 20 cm, 0 points are acquired. Let us assume that.

[0110] In this case, 10 measurements are taken per second, so a maximum of 10 points can be earned. The predetermined time is not limited to 0.1 seconds. The predetermined time indicating the interval between measurements, i.e., the measurement frequency, may be set and changed as appropriate based on the distance measurement performance of the objective sensor and the game content (accuracy of points earned).

[0111] Furthermore, in addition to the measurement frequency, the points acquired may be variable according to the distance. That is, the closer the tracking is, the more points can be acquired. Specifically, if the measured distance is within 20 cm, for example, 1 point can be awarded, and if the measured distance is within 10 cm, for example, 2 points can be awarded.

[0112] In this way, the degree of tracking of the target drone 101 can be determined based on the situation of approach to the target drone 101, more specifically, the frequency of approach per given time and the distance of approach.

[0113] Although the target drone 101 is provided with an object sensor, the control drone 102 may also be provided with an object sensor. Alternatively, the target drone 101 and the control drone 102 may each be provided with an object sensor. When both drones are provided with an object sensor, the determination may be based on the measurement results of either of the object sensors, or may be based on the measurement results of both object sensors.

[0114] If the measurement results of both objective sensors are different, the average value may be taken, or the measurement result of one of the objective sensors may be given priority.

[0115] In addition, in this score-earning game system 100, the degree of tracking may be determined from the viewpoint of how long tracking has been achieved continuously. In other words, when the time during which the target drone 101 and the pilot drone 102 are within a predetermined distance continuously reaches a predetermined time, a predetermined score may be earned according to the time of the approach.

[0116] Here, if the target drone 101 is continuously close for a certain period of time or more, points can be earned. Therefore, if the target drone 101 is close for only a moment, but then the distance between the target drone 101 and the target drone 101 increases immediately, no points can be earned. In this way, regardless of the piloting skill, it is possible to prevent the pilot from earning points when the piloted drone 102 accidentally approaches the target drone 101, and it is possible to earn points more appropriately according to the pilot's level of piloting skill, thereby making the game more interesting.

[0117] Specifically, the distance between the two is measured every 0.1 seconds, and if the measurement results are within 20 cm for one consecutive second, i.e. 10 measurements, 10 points can be earned. Therefore, even if the measurement results are within 20 cm for 0.9 seconds, i.e. 9 measurements, 0.1 seconds later, if the measurement result is greater than 20 cm away, no points can be earned (0 points will be awarded). In this way, the more consecutive tracking you can perform, the more points you can earn.

[0118] The target drone 101 and the control drone 102 are provided with LED lamps. When the target drone 101 and the control drone 102 approach within a predetermined distance, the LED lamps can be turned on or blinked. Spectators can know when a point has been scored by seeing the LED lamp light up or flashing.

[0119] In this way, the pilot drone 102 is able to track the target drone 101 well, and the LED lamps are used to indicate that a point has been earned. This allows players to more accurately grasp the score situation, especially in games played outdoors at night.

[0120] The intensity, color, blinking speed, and blinking rule (pattern) of the light can be changed depending on the approaching distance. In other words, the intensity, color, blinking speed, and blinking rule (pattern) of the light can be used to easily tell how many points have been gained.

[0121] The LED lamp can be freely set to light or blink, including on / off, allowing the operator to concentrate more on playing the game.

[0122] The LED lamp may be provided on the controller 104. By providing the LED lamp on the controller 104, even if the LED lamps of the target drone 101 and the controlled drone 102 cannot be confirmed to be lit or flashing, the controller 105 can be reliably informed that a point has been acquired.

[0123] The operator can freely set the lighting and blinking of the LED lamps provided on the controller 104, including turning them on and off. This allows the operator to concentrate more on playing the game.

[0124] In addition, the target drone 101 and the controlled drone 102 are provided with speakers (for example, speaker 203 shown in FIG. 2, which will be described later). When the target drone 101 and the controlled drone 102 approach within a predetermined distance, sound can be output from the speaker. The pilot 105 or a spectator of the point-earning game can confirm that a point has been earned by listening to the sound from the speaker.

[0125] In this way, the target drone 101 is tracked well, and audio (for example, audio such as "Score being scored!", "POINT GET!", "GOOD!", "65 points!", etc.) is used to notify the player that a point has been gained. In particular, in games played outdoors at night, the player can grasp the score situation more accurately. The volume and content of the sound or audio can be changed depending on the approaching distance. In other words, the volume and content of the sound or audio can make it easy to know how many points have been gained.

[0126] The sound output can be freely set by the operator, including its on / off setting, allowing the operator to concentrate more on playing the game.

[0127] A speaker (for example, speaker 407 in FIG. 4 described later) may be provided in the controller 104. The speaker may be headphones or earphones that the pilot wears on his / her ears. By providing a speaker in the controller 104, the pilot 105 can be reliably informed that points have been earned even if the pilot 105 cannot confirm that the LED lamps of the target drone 101 and the controlled drone 102 are lit or flashing.

[0128] The operator can freely set the sound output from the speaker provided in the controller 104, including turning it on or off. This allows the operator to concentrate more on playing the game.

[0129] The objective of the game is to get as many points as possible within the time limit. After the game ends, the points are announced (output). If different operators 105 play the game under the same conditions, the one who gets the most points is the winner.

[0130] Therefore, the feature (winning point) of this point acquisition game is how well the pilot drone 102 can be controlled using the pilot 104 to follow the target drone 101 flying by automatic control. This point acquisition game can also be used as a simulator to improve the proficiency of drone piloting skills.

[0131] The above describes how to gain points in this point-gathering game, but depending on how the piloted drone 102 is operated, it may be possible not only to gain points, but also to have the points currently held deducted instead of gaining points.

[0132] During the game, the target drone 101 is equipped with an objective sensor that repeatedly measures (detects) the distance to the controlled drone 102 at predetermined time intervals. If the measurement shows that the distance between the target drone 101 and the controlled drone 102 is greater than the predetermined distance, points are deducted. On the other hand, if the measurement shows that the distance is not greater than the predetermined distance, no points are deducted.

[0133] Specifically, the distance between the target drone 101 and the pilot drone 102 is measured every predetermined time (for example, 0.1 seconds), and if the distance is 40 cm or more, negative points (for example, -1 point) are awarded. On the other hand, if the distance is not 40 cm or more, the points do not change. Therefore, in this case, since 10 measurements are made per second, a maximum of 10 points are deducted from the points earned (the earned points become -10 points).

[0134] The predetermined time is not limited to 0.1 seconds. The predetermined time indicating the interval between measurements, i.e., the measurement frequency, can be set and changed as appropriate based on the distance measurement performance of the objective sensor, the game content (accuracy of score acquisition), etc. Also, the predetermined time may be the same as the predetermined time when points are acquired, or may be a different time from the predetermined time when points are acquired (a longer time than the predetermined time when points are acquired, or a shorter time than the predetermined time when points are acquired).

[0135] Furthermore, in addition to the frequency of measurement, the deduction points may be variable according to the distance. That is, the further away the distance is, the more points may be deducted. Specifically, if the measured distance is 40 cm or more, for example, -1 point (1 point deduction) may be applied, and if the measured distance is 60 cm or more, for example, -2 points (2 points deduction) may be applied.

[0136] In this way, the degree of tracking of the target drone 101 can be determined based on how far away the target drone 101 is, more specifically, the frequency of distance per given period of time and the distance away.

[0137] Alternatively, in this score-earning game system 100, the degree of tracking may be determined from the viewpoint of how long tracking has been continuously imperfect. In other words, when the time during which the distance between the target drone 101 and the controlled drone 102 is greater than a predetermined distance continues for a predetermined period of time, a predetermined score may be deducted according to the time of the separation.

[0138] In this case, if you are separated for a certain period of time, you will lose points. No points will be deducted if the drone moves away from the target drone 101, but then immediately moves back closer to the target drone 101. This makes it possible to prevent points from being deducted if the drone moves away from the target drone 101 by accident, regardless of the piloting skill, and allows points to be deducted more appropriately for poor piloting skills.

[0139] Specifically, the distance between the two is measured every 0.1 seconds, and if the measurement results are 40cm or more for 1 consecutive second, i.e. 10 measurements, 10 points can be deducted. Therefore, even if the measurement results are 40cm or more for 0.9 seconds, i.e. 9 measurements, 0.1 seconds later the distance is within 40cm, no points will be deducted (there will be no change in the score). In this way, it is possible to ensure that no points are deducted unless the distance is continuously increased.

[0140] By using LED lamps provided on the target drone 101 and the control drone 102, when the distance between the target drone 101 and the control drone 102 exceeds a predetermined distance, the LED lamps can be turned on or flashed. The pilot 105 or an observer of the point-earning game can confirm that points have been deducted by seeing the LED lamps being turned on or flashed.

[0141] In this way, the LED lamp is used to inform the player that the target drone 101 was not tracked well and points were deducted. In particular, in games played outdoors at night, the player can more accurately grasp the point deduction situation. The light intensity, color, blinking speed, and blinking rule (pattern) can be changed depending on the distance. In other words, the light intensity, color, blinking speed, and blinking rule (pattern) can make it easy to know how many points have been deducted.

[0142] In addition, the intensity, color, blinking speed, and blinking rule (pattern) of the LED lamp can be changed depending on whether a point is gained or lost. This makes it easy to tell whether a point is gained or lost.

[0143] In addition, the LED lamp can be set to light or flash only when a point is gained, and not to light or flash when a point is deducted, or conversely, the LED lamp can be set to light or flash only when a point is deducted, and not to light or flash when a point is gained.

[0144] The LED lamp can be freely set to light or blink, including on / off, allowing the operator to concentrate more on playing the game.

[0145] By turning on or blinking an LED lamp on the pilot 104 depending on the situation of the deduction, the pilot 105 can be reliably informed of the deduction of points even if the LED lamps on the target drone 101 and the pilot drone 102 cannot be confirmed to be lit or blinking.

[0146] The operator can freely set the lighting and blinking of the LED lamps provided on the controller 104, including turning them on and off. This allows the operator to concentrate more on playing the game.

[0147] In addition, the target drone 101 and the control drone 102 are equipped with speakers to When the distance between the target drone 101 and the controlled drone 102 exceeds a predetermined distance, a sound can be output from the speaker. The pilot 105 or a spectator of the point acquisition game can confirm that points have been deducted by hearing the sound from the speaker.

[0148] In this way, the fact that the target drone 101 has not been tracked well and points have been deducted is notified by voice (for example, voices such as "Points being deducted!" and "LOSE!"). In particular, in games played outdoors at night, the score situation can be grasped more accurately. The volume, content of the sound or voice, etc. can be changed depending on the approaching distance. In other words, the volume, content of the sound or voice, etc. can make it easy to know how many points have been gained.

[0149] The sound output can be freely set by the operator, including its on / off setting, allowing the operator to concentrate more on playing the game.

[0150] The speaker may be provided in the controller 104. The speaker may be headphones or earphones that the controller wears on the ears. By providing a speaker in the controller 104, the controller 105 can be reliably informed that a point has been acquired even if the LED lamps of the target drone 101 and the controlled drone 102 cannot be confirmed to be lit or flashing.

[0151] The operator can freely set the sound output from the speaker provided in the controller 104, including turning it on or off. This allows the operator to concentrate more on playing the game.

[0152] As mentioned above, the objective of the game is to get as many points as possible within the time limit. After the game ends, the points are announced (output). When different operators 105 play the game under the same conditions, the one who gets the most points is the winner.

[0153] Therefore, the feature (winning point) of this point acquisition game is how well the pilot drone 102 can be operated using the pilot 104 to follow the target drone 101 flying by automatic control. If the pilot 105 loses concentration until the end of the game, the points he has worked so hard to acquire will be deducted. This point acquisition game can be used as a simulator to improve the proficiency of drone piloting skills and also to improve concentration.

[0154] The target drone 101 also has an acceleration sensor (specifically, an acceleration sensor 308 shown in FIG. 3, which will be described later), and this acceleration sensor detects collision (contact) with the controlled drone 102 during the game. When a collision (contact) is detected, a predetermined score is acquired. Points may be acquired for each collision.

[0155] In addition, if the acceleration sensor detects a collision (contact) with the piloted drone 102 during the game, a predetermined score may be deducted. The score may be deducted for each collision.

[0156] Whether a collision results in a point being awarded or subtracted depends on the purpose of the game. If the game involves chasing down an object, a collision can be a point. On the other hand, if the game requires you to control your drone, follow it, and replicate the flight of the target drone, a collision is considered a lack of control and can result in a point deduction.

[0157] Furthermore, in addition to the number of collisions, the points acquired may be variable according to the degree (violence) of the collision. That is, the stronger (severe) the collision, the higher the points acquired. Specifically, one point may be acquired for a light contact, and five points may be acquired for a strong collision.

[0158] Similarly, when points are deducted due to a collision, the deducted points may be variable according to the degree (violence) of the collision. That is, the stronger (severe) the collision, the higher the points may be deducted. Specifically, one point may be deducted for a light contact, and five points may be deducted for a strong collision.

[0159] Furthermore, if there is a strong collision or if there are a predetermined number of collisions, the game may end (end midway) before the game end time is reached. If there is even one contact, the game may end immediately.

[0160] Although the target drone 101 is shown equipped with an acceleration sensor, the control drone 102 may also be equipped with one. Alternatively, both the target drone 101 and the control drone 102 may each be equipped with an acceleration sensor. If both are equipped with an acceleration sensor, the determination may be based on the measurement results of either one of the acceleration sensors, or may be based on the measurement results of both acceleration sensors.

[0161] If the measurement results from both acceleration sensors are different, the degree of impact may be determined by taking the average of the measurement results, or the measurement result from one of the acceleration sensors may be given priority.

[0162] In this way, the degree of tracking of the target drone 101 can be determined based on the situation of collision (contact) with the target drone 101.

[0163] By using LED lamps provided on the target drone 101 and the control drone 102, the LED lamps can be lit or flashed when the target drone 101 and the control drone 102 collide (contact) with each other. The pilot 105 or a spectator of the point-earning game can confirm that a point has been gained or lost due to the collision (contact) by seeing the LED lamps being lit or flashing.

[0164] In this way, when the controlled drone 102 collides with the target drone 101, the LED lamps light up to notify the player that a point has been gained or lost. This allows the player to more accurately grasp the score / loss situation, particularly in games played outdoors at night.

[0165] The intensity, color, blinking speed, and blinking rule (pattern) of the light can be changed depending on the strength of the impact at the time of collision. In other words, by changing the intensity, color, blinking speed, and blinking rule (pattern) of the light, it is possible to easily know how much impact there was and whether points have been gained or lost.

[0166] The LED lamp can be freely set to light or blink, including on / off, allowing the operator to concentrate more on playing the game.

[0167] By turning on or blinking an LED lamp on the pilot 104 depending on the score / penalty status, the pilot 105 can be reliably informed of the score / penalty even if the LED lamps on the target drone 101 and the pilot drone 102 cannot be seen to be lit or blinking.

[0168] The operator can freely set the lighting and blinking of the LED lamps provided on the controller 104, including turning them on and off. This allows the operator to concentrate more on playing the game.

[0169] In addition, by using speakers provided in the target drone 101 and the controlled drone 102, sound can be output from the speakers when the target drone 101 and the controlled drone 102 collide (come into contact). The pilot 105 or a spectator of the point-gathering game can confirm that points have been gained or lost by listening to the sound from the speakers.

[0170] In this way, the collision with the target drone 101 and the resulting score / point deduction are notified by sound (for example, sounds such as "Collision!" or "CRASH!"). In particular, in games played outdoors at night, the score / point deduction situation can be grasped more accurately.

[0171] The volume of the sound, the contents of the sound or voice, etc. can be changed depending on the impact of the collision. In other words, the volume of the sound, the contents of the sound or voice, etc. can make it easy to know how much of a collision there was and how many points / deductions there were.

[0172] The sound output can be freely set by the operator, including its on / off setting, allowing the operator to concentrate more on playing the game.

[0173] The speaker may be provided in the controller 104. The speaker may be headphones or earphones that the controller wears on the ears. By providing a speaker in the controller 104, the controller 105 can be reliably informed that a point has been acquired even if the LED lamps of the target drone 101 and the controlled drone 102 cannot be confirmed to be lit or flashing.

[0174] The operator can freely set the sound output from the speaker provided in the controller 104, including turning it on or off. This allows the operator to concentrate more on playing the game.

[0175] As mentioned above, the objective of the game is to get as many points as possible within the time limit. After the game ends, the points are announced (output). When different operators 105 play the game under the same conditions, the one who gets the most points is the winner.

[0176] Therefore, the feature (winning point) of this point acquisition game is how well the pilot drone 102 can be controlled using the pilot 104 to follow the target drone 101 flying by automatic control. Furthermore, if bonus points can be acquired by collision, the pilot 105 is required to actively maneuver the drone to hit the target drone 101.

[0177] Also, when points are deducted for collisions, the pilot 105 is required to operate more carefully and with a higher level of precision so as not to hit the target drone 101 by following too closely. Therefore, when points are deducted for collisions, this point-earning game can be used as a simulator to improve the proficiency of drone piloting skills and to improve concentration.

[0178] The target drone 101 and the controlled drone 102 are equipped with a game timer, and after the game starts, the game timer starts measuring time. Then, when a predetermined time (for example, 3 minutes) is reached, the game ends.

[0179] When the game ends, the target drone 101 stops flying and stops (hovers) at a predetermined location or returns to a predetermined location (e.g., to the pilot).

[0180] Then, the score information stored in the target drone 101 and the piloted drone 102 is output. The bonus information may be output and transmitted to the piloted device 104 via wireless communication. Also, the score information may be transmitted directly to a specified site on the Internet via wireless communication together with the pilot's ID information.

[0181] When the time counted by the game timer reaches a predetermined time (e.g., 3 minutes), score information stored in at least one of the target drone 101 and the controlled drone 102 is acquired, and if the score reaches a predetermined value based on the acquired score information, the game can be extended by a predetermined time (e.g., 1 minute). In other words, bonus time can be acquired.

[0182] In this way, bonus time is given, the game time is extended, and the player can play for a longer period of time, allowing them to aim for a higher score. The game time can also be extended again, again, and so on, depending on the points acquired.

[0183] On the other hand, when the time counted by the game timer reaches a predetermined time (for example, 3 minutes), score information stored in at least one of the target drone 101 and the controlled drone 102 is obtained, and if the score does not reach the predetermined value based on the obtained score information, the game time is not extended and the game ends.

[0184] In addition, the game timer provided in at least one of the target drone 101 and the controlled drone 102 starts timing after the game starts. Then, when the score related to the score information stored in at least one of the target drone 101 and the controlled drone 102 reaches a predetermined value (for example, 200 points), the game may be ended and the time until the predetermined value is reached may be output based on the time measured by the game timer.

[0185] In this way, it is possible to make it a time trial until the acquired points reach a predetermined point. When different operators 105 play the game under the same conditions, the one who takes the shortest time to acquire the acquired points to reach the predetermined point is the winner.

[0186] On the other hand, if the score is deducted and reaches a predetermined value (for example, -100 points), the game may be ended before the game time (for example, 3 minutes) has elapsed. In this case, the time until the predetermined value is reached may be output based on the time measured by the game timer.

[0187] When different operators 105 play the game under the same conditions, the player who takes the longest time until the deducted points reach a predetermined point and the game ends (ends midway) is declared the winner.

[0188] The target drone 101 may change its flight speed based on the points earned by the pilot drone 102 during the game.

[0189] Specifically, if the number of points acquired one minute after the start of the game reaches a certain number (for example, 50 points out of a maximum of 60 points that can be acquired in one minute), it may be assumed that the pilot's level is high, and the flying speed may be increased. This increases the difficulty of the game, making it more stimulating.

[0190] Also, if the acquired score falls below a certain score one minute after the start of the game (for example, -50 points, instead of a maximum of -60 points in one minute due to point deductions), it may be assumed that the pilot's level is low (beginner level), and the flight speed may be lowered. This makes it possible to lower the difficulty of the game, making it possible to make the game enjoyable even for beginners.

[0191] The score acquisition game system 100 includes a display device that displays images. The display device may be included in the controller 104, or may be a display device connectable to the controller 104 (for example, a smartphone or tablet terminal device). It may also be a communicable information processing device (notebook PC), display (television), projector, or the like. These display devices may be located near the controller, or may be provided in a remote location connected via a network.

[0192] In addition, the controller 104 itself may be an information processing terminal device (such as a smartphone or tablet terminal device) with a control application installed, thereby eliminating the need to prepare a dedicated controller 104.

[0193] The display device may be a goggle-type display device (VR (Virtual Reality) goggles) worn by the operator.

[0194] The target drone 101 and the control drone 102 are equipped with cameras that take pictures of each other's drones during the game. Then, the video information related to the taken video is wirelessly transmitted to the display device. The display device displays the received video.

[0195] In addition, the target drone 101 and the control drone 102 wirelessly transmit stored score information to the display device. The display device can display the score on the display screen in real time based on the received score information.

[0196] This allows the state of pursuit (chase) by the target drone 101 and the control drone 102 and the game situation (score situation, etc.) to be viewed on the display device. In particular, even if the drones are flying at a distance from the operator and are difficult to see with the naked eye, the game situation can be grasped more accurately by viewing the image displayed on the display device. In addition, the game situation can be viewed from a remote location via a network.

[0197] In addition, a photographing drone 103, which is an example of a third unmanned aerial vehicle, is equipped with a camera, and the camera photographs at least one of the target drone 101 and the controlled drone 102 during the game. Then, the camera wirelessly transmits video information related to the photographed video to a display device. The display device displays the received video.

[0198] In this way, using this point-earning game system 100, a point-earning game can be played by piloting the pilot drone 102. By making the flight conditions of the target drone 101 the same, a remote competition can be held. Participants can be invited from all over the world. It can also be applied to certification tests for drone piloting skills.

[0199] Unlike virtual e-sports using computer programs, you can experience the fun of piloting an actual drone.

[0200] (Target Drone 101 Flight) Next, the flight of the target drone 101 will be described.

[0201] In this score acquisition game system 100, when the game starts, the target drone 101 flies along a flight path based on predetermined flight data. The target drone 101 can fly randomly within a predetermined range and according to a predetermined rule (flight pattern).

[0202] This flight pattern may be a flight pattern that avoids approaching the controlled drone 102. By flying in a flight pattern that avoids approaching the controlled drone 102, it becomes more difficult for the controlled drone 102 to approach the target drone 101, and the difficulty of the game can be increased accordingly.

[0203] The controlled drone 102 acquires location information of its own current position, and transmits the acquired location information and drive control information of its own drone to the target drone 101 at predetermined time intervals.

[0204] The target drone 101 acquires its own position information, and determines or changes its own flight pattern based on the acquired position information and the position information and drive control information of the controlled drone 102 received from the controlled drone 102, thereby performing random flight.

[0205] The location information acquired by the control drone 102 and the target drone 101 may specifically be, for example, latitude and longitude information and altitude information calculated by a GPS (Global Positioning System).

[0206] Specifically, the drive control information acquired by the controlled drone 102 may be, for example, a control signal that controls the drive of a motor that rotates the propellers 201a-201d (see FIG. 2) that drive the controlled drone 102. By analyzing this control signal, the flight path and flight speed of the controlled drone 102 can be predicted. Then, from the predicted flight path and flight speed, a flight pattern that avoids approaching the controlled drone 102 can be calculated.

[0207] The target drone 101 may also be equipped with an objective sensor that measures the distance to the controlled drone 102, and may determine or change its own flight pattern based on the acquired position information of the target drone, the position information of the controlled drone 102 and the drive control information of the controlled drone 102 received from the controlled drone 102, and the distance to the controlled drone 102 measured by the objective sensor. By also referring to the distance to the controlled drone 102 measured by the objective sensor, a flight pattern that can more reliably avoid approaching the controlled drone 102 can be calculated.

[0208] (An example of the appearance of an unmanned aerial vehicle (drone)) Next, an example of the appearance of an unmanned aerial vehicle according to an embodiment of the present invention will be described.

[0209] FIG. 2 is an explanatory diagram showing an example of the appearance of the first to third unmanned aerial vehicles (target drone 101, piloting drone 102, and photographing drone 103) according to an embodiment of the present invention.

[0210] As shown in FIG. 2, the drones 200 (the target drone 101, the control drone 102, and the photographing drone 103) may specifically be, for example, quadcopters equipped with four propellers 201a to 201d around the periphery.

[0211] The drone 200 is not limited to a quadcopter, and various types of multicopters such as a hexacopter with six propellers, an octocopter with eight propellers, etc. The drone 200 can maintain the attitude of the drone 200 by independently controlling the rotation direction and rotation speed of multiple propellers (propellers 201a to 201d), and can also ascend, descend, move horizontally, etc.

[0212] Furthermore, the unmanned aerial vehicle is not limited to the drone 200 equipped with propellers. It may be one that flies by a drive other than a propeller.

[0213] Although not shown in the drawings, the drone 200 may have a shape imitating a bird such as a hawk flying in the air. The drone 200 is not limited to birds and beasts that exist in the present day, but may have a shape imitating an extinct animal such as a dinosaur, a mythical beast such as a dragon or a unicorn, or an insect, and may have parts corresponding to characteristic parts of birds and beasts, such as a beak, head, wings, and tail, as well as a tail, ears, feet (legs, limbs), horns, fangs, and whiskers.

[0214] The drone 200 may also have a shape that imitates an airplane, a fighter jet, a spaceship, etc. It may also have a shape that imitates a character that appears in an anime or movie.

[0215] The drone 200 also includes a camera 202. The camera 202 can be realized by, for example, a general-purpose digital camera. As shown in FIG. 2, it may be attached to the upper side of the housing of the drone 200. Although not shown, in the drone 200 having a shape imitating a bird such as a hawk, for example, the lens of the camera 202 may be provided in a portion corresponding to the eye. Alternatively, the camera 202 may be provided on the lower side (ventral side) of the housing of the drone 200.

[0216] The drone 200 uses the camera 202 to capture images of the surroundings of the drone 200. The drone 200 may be configured to recognize other drones and pilots based on the images captured by the camera 202.

[0217] Instead of a general-purpose digital camera, the camera 202 may be realized by a night vision camera that captures images in dark places by amplifying its sensitivity to light, an infrared camera that is sensitive to infrared rays, an infrared color night vision camera that captures color images by analyzing the black and white shading in images captured by an infrared camera, etc. By capturing images using a night vision camera, an infrared camera, an infrared color night vision camera, etc., the user can be recognized with high accuracy even at night or in a room with low illumination.

[0218] The drone 200 may be equipped with one or more cameras 202. In a drone 200 equipped with multiple cameras 202, the drone 200 is not limited to one type of camera 202, and may be equipped with multiple different types of cameras 202.

[0219] The camera 202 may be connected to the drone 200 in a state in which its attitude can be adjusted. Specifically, the camera 202 can be connected to the bottom of the drone 200 via a universal joint such as a ball joint, for example. By connecting the camera 202 to the drone 200 via a universal joint such as a ball joint, a high degree of freedom in adjusting the attitude of the camera 202 can be ensured.

[0220] Furthermore, the drone 200 may be equipped with a drive mechanism that changes the attitude of the camera 202 relative to the drone. This allows the attitude of the camera 202 relative to the drone 200 to be adjusted without human intervention. The drive mechanism may be, for example, a motor, a gear train, or the like. By making it possible to adjust the attitude of the camera 202 relative to the drone 200 without human intervention, the shooting direction can be adjusted arbitrarily while the drone 200 is flying, regardless of the attitude of the drone 200. The camera 202 may be equipped with a zoom function.

[0221] The drone 200 may include a power receiving coil for wireless power transfer (contactless power transmission). Wireless power transfer (wireless power supply) is a technology for receiving power from a battery (see FIG. 3) without going through a charging contact, and is also called non-contact power supply or wireless power supply.

[0222] The power receiving coil is provided inside the exterior surface of the housing of the drone 200. This makes it possible to avoid deterioration or failure of the power receiving coil due to water droplets from rain or dew, hand oil, etc. The drone 200 may be provided with a charging contact for charging the battery instead of or in addition to the power receiving coil.

[0223] The drone 200 also includes a speaker 203. Although not shown in the drawings, in a drone shaped like an animal, the speaker 203 may be provided in a part that corresponds to the mouth, for example.

[0224] The drone 200 also includes an LED lamp 204. Although not shown, in a drone shaped like an animal, the LED lamp 204 may be provided in a portion that corresponds to the eye. If the portion that corresponds to the eyeball is the lens of the camera 202, the LED lamp 204 may be provided so as to frame the lens.

[0225] The drone 200 may further include a solar cell (solar cell, see FIG. 3) that generates power from external light such as sunlight. The solar cell may be provided, for example, on the upper surface of the housing of the drone 200. This allows the drone 200 to reliably take in external light during flight and generate power efficiently. Furthermore, the inclusion of the solar cell allows the drone to be charged during flight, ensuring a long flight time per flight.

[0226] (Hardware configuration of unmanned aerial vehicles (drones)) Next, the hardware configuration of the drone 200 (the target drone 101, the pilot drone 102, and the photographing drone 103) will be described.

[0227] FIG. 3 is an explanatory diagram showing an example of hardware of the first to third unmanned aerial vehicles (target drone 101, pilot drone 102, and photographing drone 103) according to an embodiment of the present invention.

[0228] 3, the hardware of the drone 200 (the target drone 101, the control drone 102, and the photographing drone 103) includes a battery 301, a motor 302, a camera 202, a microphone 303, a speaker 203, a GPS sensor 305, an objective sensor 306, a control circuit 307, an acceleration sensor 308, a communication I / F 309, an LED lamp 204, and a solar cell 310. The units 202 to 204 and 301 to 309 of the drone 200 are connected by a bus 300.

[0229] The battery 301 supplies power required for the operation of each unit included in the drone 200. The battery 301 can be realized by, for example, a secondary battery (rechargeable battery, storage battery) such as a lithium battery. The battery 301 realized by a secondary battery may be detachable from the drone 200.

[0230] Motor 302 is controlled by control circuit 307, and rotates propellers 201a to 201d by rotating. Specifically, motor 302 may be, for example, a brushless motor in which the rotor is a permanent magnet and the stator is configured by a coil.

[0231] By providing the same number of motors 302 as the propellers 201a to 201d, each of the propellers 201a to 201d can be rotated independently, allowing the drone 200 to move forward, backward, and turn left and right.

[0232] If the drone 200 is equipped with a drive mechanism for adjusting the attitude of the camera 202, the control circuit 307 also controls the operation of the motor that constitutes the drive mechanism. This allows the drone 200 to adjust the attitude of the camera 202 while moving, without human intervention, and to capture any range or a wide range.

[0233] The camera 202 includes an image sensor and captures an image by having the image sensor receive light that passes through a photographing lens. The camera 202 outputs the captured image, i.e., image information (captured data) obtained by converting the optical signal received by the image sensor into an electrical signal, to the control circuit 307.

[0234] The camera 202 may be one that captures moving images. Moving images include still images captured continuously at a predetermined time interval. Image information may be encoded in accordance with a predetermined standard for compressing moving image and audio data (e.g., MPEG (Moving Picture Experts Group)). The image may be compressed using the Digital Signal Processor Group (DSP), etc. The camera 202 may also be capable of taking still images.

[0235] The microphone 303 collects sounds around the drone 200. The microphone 303 converts sounds input as analog data into electrical signals. Specifically, the microphone 303 performs analog / digital conversion on the analog audio signal input as analog data, and generates audio data in digital format.

[0236] The speaker 203 generates sound by vibrating a diaphragm with an electric signal, which is an audio signal. The speaker 203 may be an output terminal that outputs an audio signal, and an external speaker 203 may be connected to the output terminal to generate sound.

[0237] The GPS sensor 305 identifies the current position of the drone 200. Specifically, the GPS sensor 305 includes, for example, a GPS antenna, an RF (Radio Frequency) unit, and a baseband unit.

[0238] The GPS antenna receives radio waves broadcast by GPS satellites. The RF unit demodulates the pre-modulation signal received by the GPS antenna into a baseband signal. The baseband unit calculates the current position of the drone 200 based on the baseband signal demodulated by the RF unit.

[0239] The GPS sensor 305 may further include a filter for removing unnecessary components, and an amplifier such as an LNA (Low Noise Amplifier) ​​or a PA (Power Amplifier).

[0240] The current position of the drone 200 can be determined by positioning based on radio waves transmitted from multiple GPS satellites. The baseband unit calculates the distances to each of the four GPS satellites and calculates the position where the distances intersect to determine the position. Instead of GPS, which determines the geometric position between GPS satellites and drone 200 based on radio waves received from S satellites, the current position of drone 200 may be determined using a satellite positioning system such as Michibiki, GLONASS, or Galileo.

[0241] The object sensor 306 detects the presence or absence of an obstacle within a predetermined range from the drone 200. The object sensor 306 also detects the distance to the obstacle. An obstacle is an object that impedes the flight of the drone 200, and specifically, for example, a wall, a ceiling, furniture, a person, etc. When the drone 200 is flown outdoors, for example, all objects that impede the flight of the drone 200, such as a vehicle, a drone 200 other than the drone itself, trees, buildings, etc., are considered to be obstacles.

[0242] Specifically, the object sensor 306 can be realized by a non-contact sensor such as an infrared sensor, a capacitance sensor, an ultrasonic sensor, etc. The object sensor 306 can be realized by at least one of a non-contact sensor such as an infrared sensor, a capacitance sensor, an ultrasonic sensor, etc.

[0243] The drone 200 may be equipped with multiple types of non-contact sensors as the object sensor 306. The drone 200 may also detect the presence or absence of an obstacle present within a predetermined range from the drone 200 based on an image captured by the camera 202.

[0244] The acceleration sensor 308 detects gravity, motion such as vibration, and impacts acting on the unmanned aerial vehicle. For example, the acceleration sensor 308 may be a frequency change type acceleration sensor such as a low-noise and highly stable quartz acceleration sensor. Alternatively, the acceleration sensor 308 may be a piezoelectric acceleration sensor, a capacitance acceleration sensor, a piezo-resistance acceleration sensor, or the like.

[0245] Solar cell 310 is constructed by bonding a P-type silicon semiconductor, which tends to be positively charged, and an N-type silicon semiconductor, which tends to be negatively charged, together via a PN junction surface. When light energy from external light such as sunlight is applied to the PN junction surface of solar cell 310, the P-type silicon semiconductor becomes positively charged and the N-type silicon semiconductor becomes negatively charged. In solar cell 310, electrodes are connected to the P-type silicon semiconductor and the N-type silicon semiconductor, respectively, and the generated electricity can be extracted via electric wires connected to the electrodes.

[0246] The control circuit 307 drives and controls each unit of the drone 200. The control circuit 307 can be realized by a microcomputer including a CPU, a memory, etc. The memory stores various information such as the control program for the unmanned aerial vehicle according to the embodiment of the present invention, information about a specific person, and information input in advance by the user of the drone 200, etc.

[0247] Specifically, the control circuit 307 can be realized by, for example, a large scale integration (LSI) or a field programmable gate array (FPGA).

[0248] The CPU executes the programs stored in the memory to take charge of the overall control of the drone 200. The memory stores various types of information, such as the programs executed by the CPU, information on various conditions related to the operation of the drone 200, and information on images captured by the camera 202.

[0249] Specifically, memory is, for example, IC memory or SSD (Solid State Drive). The memory may be a memory card that is detachable from the drone 200 via a card slot provided in the drone 200.

[0250] The memory card can realize its functions by, for example, an IC card such as a Secure Digital (SD) memory card, etc. The memory may also realize its functions by an external USB memory or the like.

[0251] The control circuit 307 also includes a charging circuit that charges the battery 301 with power generated by the solar cell 310, a remaining capacity measuring circuit that measures the remaining capacity of the battery 301, and the like.

[0252] The charging circuit includes a DC / DC converter that adjusts the voltage of the power generated by the solar cell 310. The remaining charge measurement circuit measures the remaining charge of the battery 301 using various known methods, such as an impedance track method, a voltage measurement method, a coulomb counter method, or a battery cell modeling method.

[0253] The control circuit 307 also includes circuits such as an IMU (Inertial Measurement Unit), an ESC (Electronic Speed ​​Controller), a BEC (Battery Elimination Circuit), or a UBEC (Universal BEC).

[0254] The IMU is a type of sensor necessary for the drone to obtain external information, and is composed of, for example, an acceleration sensor 308, a gyro sensor, a barometric pressure sensor, an ultrasonic sensor, a magnetic direction sensor (compass), etc. The above-mentioned GPS sensor 305 is also included in the IMU.

[0255] The acceleration sensor 308 detects the amount of change in the drone's speed. The gyro sensor and the acceleration sensor 308 can calculate the amount of change in both the drone's tilt and the drone's speed, so the drone can continue flying even if it remains tilted.

[0256] The gyro sensor detects the amount of change in the angle of the drone. For example, the gyro sensor detects the amount of change in the angle of the drone by measuring the angular velocity using the Coriolis force. The gyro sensor allows the drone to fly stably.

[0257] The barometric pressure sensor detects the altitude of the drone. The barometric pressure sensor detects the altitude of the drone, for example, by detecting changes in air pressure. By measuring the altitude of the drone with the barometric pressure sensor, the altitude of the drone can be maintained.

[0258] The ultrasonic sensor detects the distance from an object (floor, obstacle, etc.) located below the drone. The ultrasonic sensor is provided, for example, on the underside of the drone, and detects the distance from an object located below the drone by utilizing the reflection of ultrasonic waves emitted below the drone.

[0259] This allows the drone to be stably tracked on the ground (floor, ground, etc.) and landed. When an ultrasonic sensor is used as the object sensor 306, ultrasonic waves may be emitted in all directions of the drone, and the ultrasonic sensor may function both as the object sensor 306 and as part of the IMU.

[0260] The magnetic orientation sensor detects whether the drone is facing north, south, east or west. Since the drone 200 is affected by magnetism depending on the flying location, it is preferable to perform compass calibration and adjust the magnetic orientation sensor when changing the flying location.

[0261] The IMU and the above-mentioned microcomputer constitute a flight controller. The flight controller performs calculations related to the rotation control of the motor 302, and outputs a control signal to the ESC to control the rotation direction and rotation speed of the propellers 201a to 201d (propeller motors 302). The ESC controls the rotation of the motor 302 based on the control signal output from the flight controller. During the flight of the drone 200, the flight controller detects the inclination of the drone 200 and the like, repeatedly performs calculations, and recursively outputs a control signal to the motor 302.

[0262] Specifically, the flight controller prevents the drone 200 from rotating by outputting a control signal that controls adjacent propellers 201a-201d to rotate in opposite directions. Also, the flight controller moves the drone 200 forward by controlling the propellers 201a-201d at the front in the traveling direction to rotate slower than the propellers 201a-201d at the rear in the traveling direction. Also, the flight controller turns the drone 200 to the right by controlling the propeller at the right in the traveling direction to rotate slower than the propeller at the left in the traveling direction.

[0263] The communication I / F 309 is a wireless communication interface that connects the controller 104 and the network N through a communication line, and is responsible for the interface between the network N and the inside of the drone 200, and controls the input of data from and the output of data to an external device connected via the network N. The network N may be, for example, the Internet, a LAN (Local Area Network), a WAN (Wide Area Network), or the like. This can be achieved through the use of technologies such as the Network.

[0264] The communication I / F 309 can be realized by, for example, a wireless interface using Wi-Fi (registered trademark). The communication I / F 309 may also be an interface for wireless communication such as a mobile phone line (e.g., LTE (Long Term Evolution) or PHS (Personal Handy-phone System).

[0265] The communication via the communication I / F 309 may be performed periodically, such as at a predetermined time or at predetermined intervals, or may be performed at any timing depending on the status of the communication line, etc. The above-mentioned memory may store information acquired by the communication via the communication I / F 309.

[0266] The LED lamp 204 is controlled by the control circuit 307 to turn on, turn off, or blink. The LED lamp 204 may also guide the state of the drone 200. Specifically, for example, when the remaining charge falls below a predetermined threshold, the LED lamp 204 blinks in a predetermined pattern. The color of the light emitted by the LED lamp 204 is not limited to one color, and may be multiple colors.

[0267] Although not shown in the figure, the drone 200 may also include an input / output device such as a key or button for inputting instructions to the drone 200, a power switch for turning the power of the drone 200 ON / OFF, and an LED lamp provided in a position other than the part corresponding to the eye. The input / output device may be realized by a connection terminal to which another information processing device can be connected.

[0268] (Pilot 104 Hardware) Next, the hardware of the pilot 104 that pilots the pilot drone 102 will be described. .

[0269] Figure 4 is an explanatory diagram showing an example of the hardware of the controller 104 in an embodiment of the present invention. In Figure 4, the hardware of the controller 104 is composed of a CPU 401, a memory 402, an input device 403, a communication I / F 404, a display device 405, an LED lamp 406, and a speaker 407. The units 401 to 407 equipped in the controller 104 are connected by a bus 400.

[0270] The CPU 401 is responsible for overall control of the drone 200 by executing programs stored in the memory 402. The memory 402 stores various information such as, for example, the programs executed by the CPU 401, information on various conditions related to the operation of the drone 200, images captured by the camera 202, and information on videos.

[0271] Specifically, the memory 402 can be realized by, for example, an IC memory, an SSD (Solid State Drive), etc. The memory 402 may also be a memory card that is detachable from the drone 200 via a card slot provided in the drone 200.

[0272] The memory card can realize its functions by, for example, an IC card such as a Secure Digital (SD) memory card, etc. The memory 402 may also realize its functions by an external USB memory or the like.

[0273] The input device 403 is a device that the operator 105 operates with his / her fingers or the like, and is realized by, for example, an operating lever, buttons, a cross key, a keyboard, a touch panel, or the like.

[0274] The communication I / F 404 is a wireless communication interface that connects the drone 200 and the network N via a communication line, and is responsible for the interface between the network N and the inside of the drone 200, and controls the input of data from and the output of data to external devices connected via the network N.

[0275] The network N is realized by, for example, the Internet, a LAN (Local Area Network), or a WAN (Wide Area Network).

[0276] The communication I / F 404 can be realized by, for example, a wireless interface using Wi-Fi (registered trademark). The communication I / F 404 may also be an interface for wireless communication such as a mobile phone line (e.g., LTE (Long Term Evolution) or PHS (Personal Handy-phone System).

[0277] The communication via the communication I / F 404 may be performed periodically, such as at a predetermined time or at predetermined intervals, or may be performed at any timing depending on the status of the communication line, etc. The above-mentioned memory may store information acquired by communication via the communication I / F 309.

[0278] The display device 405 displays images, videos, characters, etc. The display device 405 is realized by various displays such as a liquid crystal display, an organic EL display, etc. The display device 405 can be configured to allow information to be inputted via a touch panel.

[0279] The LED lamp 406 is controlled by the control circuit 307 to turn on, turn off, or blink. The LED lamp 406 may also guide the status of the drone 200. Specifically, for example, when the remaining charge falls below a predetermined threshold, the LED lamp 406 may blink in a predetermined pattern. The light emitted by the LED lamp 104 is not limited to one color, but may be multiple colors.

[0280] The speaker 407 generates sound by vibrating a diaphragm with an electric signal, which is an audio signal. The speaker 407 may be an output terminal that outputs an audio signal, and an external speaker 407 may be connected to the output terminal to generate sound. The speaker 407 may be headphones or earphones worn by the operator 105.

[0281] (Functional configuration of the score acquisition game system) Next, the functional configuration of the point acquisition game system 100 will be described.

[0282] 5A and 5B are explanatory diagrams showing the functional configuration of the point acquisition game system according to the embodiment of the present invention.

[0283] In FIG. 5A , the functions of the target drone 101 can be realized by a flight data acquisition unit 511, a drive information generation unit 512, a drive information output unit 513, a distance measurement unit 514, and a drive information receiving unit 515.

[0284] The flight data acquisition unit 511 acquires flight data of the target drone 101 itself. For example, flight data pre-stored in memory may be extracted, or may be received by communication. Specifically, the flight data acquisition unit 511 can realize its functions by, for example, the control circuit 307, the communication I / F 309, etc.

[0285] Drive information generation unit 512 generates drive information for the motors that rotate each of propellers 201a to 201d, based on the flight data acquired by flight data acquisition unit 511. Specifically, the function of drive information generation unit 512 can be realized by control circuit 307, for example.

[0286] The drive information output unit 513 outputs to each motor of the own device the drive information generated by the drive information generation unit 512. Specifically, the drive information output unit 513 can realize its function by, for example, the control circuit 307, the communication I / F 309, etc.

[0287] The distance measurement unit 514 measures the distance to the controlled drone 102. Specifically, the distance measurement unit 514 can realize its function by, for example, the object sensor 306.

[0288] The driving information receiving unit 515 receives driving information of the controlled drone 102 transmitted from the controlled drone 102. The driving information receiving unit 515 also receives driving information of the controlled drone 102 transmitted from the pilot 104. Specifically, the driving information receiving unit 515 can realize its function by, for example, the communication I / F 309 or the like.

[0289] The driving information generating unit 512 may generate driving information for the own device based on at least one of the distance measured by the distance measuring unit 514 and the driving information received by the driving information receiving unit 515.

[0290] The functions of the controlled drone 102 can be realized by a drive information receiving unit 521, a drive information output unit 522, and a drive information transmitting unit 523.

[0291] The driving information receiving unit 521 receives driving information of the controlled drone 102 transmitted from the controller 104. Specifically, the driving information receiving unit 521 can realize its function by, for example, the communication I / F 309 or the like.

[0292] Driving information output unit 522 outputs to each motor the driving information received from controller 104. Specifically, the function of driving information output unit 522 can be realized by control circuit 307, for example.

[0293] The driving information transmission unit 523 transmits the driving information received from the controller 104 to the target drone 101. Specifically, the driving information transmission unit 523 can realize its function by, for example, the communication I / F 309 or the like.

[0294] The functions of the photography drone 103 can be realized by a drive information receiving unit 531, a distance measuring unit 532, a drive information generating unit 533, and a drive information output unit 534.

[0295] The driving information receiving unit 531 receives driving information transmitted from the target drone 101, the controlled drone 102, and the control device 104. Specifically, the driving information receiving unit 531 can realize its function by, for example, the communication I / F 309 or the like.

[0296] The distance measurement unit 532 measures the distance between the target drone 101 and the control drone 102. Specifically, the distance measurement unit 532 can realize its function by, for example, the objective sensor 306.

[0297] The driving information generating unit 533 generates driving information for the own device based on at least one of the distance measured by the distance measuring unit 532 and the driving information received by the driving information receiving unit 531. The function of the driving information generating unit 533 can be realized by the control circuit 307, for example.

[0298] The drive information output unit 534 outputs to each motor of the own device the drive information generated by the drive information generation unit 533. Specifically, the function of the drive information output unit 534 can be realized by, for example, the control circuit 307 or the like.

[0299] The function of the controller 104 can be realized by the driving information transmission unit 541.

[0300] The driving information transmission unit 541 transmits the driving information generated based on the pilot's operation to the pilot drone 102, and also transmits it to the target drone 101 and the photographing drone 103. Specifically, the driving information transmission unit 541 can realize its function by, for example, the communication I / F 404 or the like.

[0301] Fig. 5B is a functional block diagram shown from a different perspective from Fig. 5A. In Fig. 5B, the functions of the target drone 101 can be realized by a distance measurement unit 551, a collision detection unit 552, a score / penalty determination processing unit 553, a score storage unit 554, a score output unit 555, and a notification unit 556.

[0302] The distance measurement unit 551 measures the distance to the controlled drone 102. Specifically, the distance measurement unit 551 can realize its function by, for example, the object sensor 306.

[0303] The collision detection unit 552 detects a collision (contact) with the controlled drone 102. Specifically, the collision detection unit 552 can realize its function by, for example, an acceleration sensor.

[0304] The score / penalty determination processing unit 553 determines the distance and collision distance measured by the distance measurement unit 551. The points to be acquired and points to be deducted are determined based on the collision detected by the detection unit 552. Specifically, the function of the point / point deducted determination processing unit 553 can be realized by the control circuit 307 or the like, for example.

[0305] The score storage unit 554 stores score information related to the score and deduction points determined by the score and deduction point determination processing unit 553. Specifically, the function of the score storage unit 554 can be realized by the memory of the control circuit 307 or the like.

[0306] The score output unit 555 outputs the score information stored in the score memory unit 554. Specifically, the function of the score output unit 555 can be realized by, for example, the control circuit 307 or the like.

[0307] The notification unit 556 notifies the player that a point has been gained or that a point has been deducted, based on the distance measured by the distance measurement unit 551 and the collision detected by the collision detection unit 552. Specifically, the notification unit 556 can realize its function by, for example, the speaker 203, the LED lamp 204, or the like.

[0308] Also, in Figure 5B, the functions of the controlled drone 102, similar to those of the target drone 101, can be realized by a distance measurement unit 561, a collision detection unit 562, a score / penalty determination processing unit 563, a score memory unit 564, a score output unit 565, and an alarm unit 566.

[0309] The distance measurement unit 561 measures the distance to the target drone 101. Specifically, the distance measurement unit 561 can realize its function by, for example, the object sensor 306 or the like.

[0310] The collision detection unit 562 detects a collision (contact) with the controlled drone 102. Specifically, the collision detection unit 562 can realize its function by, for example, an acceleration sensor.

[0311] The score / penalty determination processing unit 563 determines the score and deduction points to be acquired based on the distance measured by the distance measurement unit 561 and the collision detected by the collision detection unit 562. Specifically, the function of the score / penalty determination processing unit 563 can be realized by, for example, the control circuit 307 or the like.

[0312] The score storage unit 564 stores score information related to the score and deduction points determined by the score and deduction point determination processing unit 563. Specifically, the function of the score storage unit 564 can be realized by the memory of the control circuit 307 or the like.

[0313] The score output unit 565 outputs the score information stored in the score memory unit 564. Specifically, the function of the score output unit 565 can be realized by, for example, the control circuit 307 or the like.

[0314] The notification unit 566 notifies the player that a point has been gained or that a point has been deducted, based on the distance measured by the distance measurement unit 561 and the collision detected by the collision detection unit 562. Specifically, the notification unit 566 can realize its function by, for example, the speaker 203, the LED lamp 204, or the like.

[0315] (Processing procedure of the first unmanned aerial vehicle (target drone 101)) Next, the processing procedure of the target drone 101, which is an example of a first unmanned aerial vehicle, will be described.

[0316] 6 and 7 are flowcharts showing the processing procedure of the first unmanned aerial vehicle (target drone 101) according to the embodiment of the present invention. Fig. 6 shows the contents of normal processing of the autopilot of the target drone 101. Fig. 7 shows interrupt processing of the autopilot of the target drone 101.

[0317] In the flowchart of Fig. 6, the target drone 101 hovers at a predetermined position (for example, a position at a predetermined altitude at a predetermined distance from the pilot 104) (step S601). Then, flight data is acquired in advance (step S602).

[0318] The flight data includes a time series of drive patterns consisting of drive information for the four propellers 201a to 201d (information on the direction of rotation and rotation speed of the motors that independently rotate each of the four propellers 201a to 201d (information on whether the current is ON / OFF or the amount of current)) for each second.

[0319] Next, it is determined whether or not the game has started (step S603). Until the game starts, the drone remains stationary (hovering) at a predetermined three-dimensional position. Here, the drone waits for the game to start (step S603: No), and if the game has started (step S603: Yes), the drone extracts an initial drive pattern from the acquired flight data (step S604).

[0320] Then, the drive information based on the extracted drive pattern is output (step S605). Each motor that rotates the four propellers 201a to 201d rotates based on the output drive information, and the target drone 101 starts flying based on the first drive pattern of the flight data.

[0321] Then, it is determined whether or not there is interrupt data (step S606). If there is interrupt data (step S606: Yes), interrupt processing is performed (step S607). On the other hand, if there is no interrupt data (step S606: No), it is determined whether or not a predetermined time has elapsed (step S608).

[0322] Here, the predetermined time is, for example, 1 second. Therefore, flight based on the extracted drive pattern continues for 1 second after flight starts. If the predetermined time (1 second) has not elapsed (step S608: No), the process returns to step S606.

[0323] If the predetermined time has elapsed (step S608: Yes), it is then determined whether the game has ended (step S609). Whether the game has ended can be determined, for example, by whether a 3-minute game time has ended. If it is determined that the game has not ended yet (step S609: No), the next drive pattern is extracted from the flight data (step S610), and the process returns to step S605.

[0324] Thereafter, steps S604 to S609 are repeatedly executed, so that for the next second, flight is performed based on the drive pattern extracted in step S609.

[0325] In this way, the target drone 101 can fly by autopilot based on a different driving pattern every second until the game ends, unless an interrupt occurs. Then, in step S608, if it is determined that the game has ended (step S609: Yes), the series of processes ends.

[0326] Next, we will explain the interrupt process (step S607 in FIG. 6) of the automatic control of the target drone 101. In the flowchart of FIG. 7, the target drone 101 determines whether or not it has detected the controlled drone 102 within a predetermined distance (for example, 15 cm) (step S701).

[0327] Here, if the controlled drone 102 is detected (step S701: Yes), the direction in which the controlled drone 102 is located relative to the target drone 101 and the distance from the target drone 101 are calculated using the objective sensor 306 or the like (step S702).

[0328] Next, based on the calculated direction and distance, a direction that can avoid sudden approach or collision with the piloted drone 102 is determined as the flight direction and flight speed (step S703).

[0329] Here, when determining the flight direction and flight speed, the driving information of the controlled drone 102 received from the controlled drone 102 may be referred to to determine a direction that can avoid sudden approach or collision with the controlled drone 102.

[0330] Then, the controller 104 generates and outputs interrupt data based on the determined flight direction and speed (step S704). As a result, the target drone 101 moves in the flight direction and speed according to the interrupt data (collision avoidance flight).

[0331] In this state, it is determined whether or not a predetermined time has elapsed (step S705). Here, the process waits for the predetermined time (e.g., 3 seconds) to elapse (step S705: No), and if the predetermined time has elapsed (step S705: Yes), the process returns to step S701.

[0332] In step S701, it is determined again whether the controlled drone 102 is detected within a predetermined distance (for example, 15 cm) (step S701). If the controlled drone 102 is detected (step S701: Yes), the processes of steps S701 to S705 are repeatedly executed. On the other hand, if the controlled drone 102 is not detected (step S701: No), the series of processes ends and transitions to normal processing.

[0333] (Procedure of the scoring game system 100) Next, the processing procedure of the point acquisition game system 100 will be described.

[0334] 8, 9 and 10 are flow charts showing the processing steps of the point acquisition game system according to the embodiment of the present invention.

[0335] 8, first, it is determined whether or not the game has started (step S801). Here, it waits for the game to start (step S801: No), and if the game has started (step S801: Yes), it starts counting the time of the game timer (step S802).

[0336] Then, it is determined whether a predetermined time (for example, 3 minutes) has elapsed since the start of the game timer (step S803). If the predetermined time has not yet elapsed (step S803: No), the game is in progress, and the distance between the target drone 101 and the controlled drone 102 is measured (step S804).

[0337] Then, based on the measurement result, it is determined whether the distance between the two drones is within a predetermined distance (for example, within 20 cm) (step S805). If it is within the predetermined distance (step S805: Yes), a point addition process is performed (step S806). The stored score information is rewritten so that the acquired points are added to the existing points.

[0338] On the other hand, if it is not within the predetermined distance (step S805: No), it is determined whether it is outside the predetermined distance (for example, 40 cm or more) (step S807). If it is outside the predetermined distance (step S807: Yes), a point deduction process is performed (step S808). That is, the stored score information is rewritten so that the deduction point is subtracted from the stored score. If it is not outside the predetermined distance in step S807 (step S807: No), nothing is done and the process proceeds to step S810.

[0339] Next, it is determined whether the score related to the stored score information has reached a predetermined score (step S809). If the score has not reached the predetermined score (step S809: No), the process waits for a predetermined time (for example, 0.1 seconds) to elapse (step S810: No), and if the predetermined time has elapsed (step S810: Yes), the process returns to step S803. After that, the processes of steps S803 to S810 are repeated.

[0340] In step S809, if a predetermined score is reached (step S809: Yes), the game is ended (game over), and the game timer time at the time the predetermined score is reached is output (step S811). Then, the score related to the stored score information is output (step S812). This makes it possible to notify the operator of the game duration and score until the game is over.

[0341] In step S803, if a predetermined time (for example, 3 minutes) has elapsed since the start of the game timer (step S803: Yes), the game is ended (game over), and the score related to the stored score information is output (step S812). This makes it possible to notify the pilot of the score. In this way, the series of drone processes is completed.

[0342] This series of processes may be performed by the target drone 101 or by the pilot drone 102. In addition, the target drone 101 and the pilot drone 102 may each perform the processes separately, or the processes may be distributed and each drone may share the distributed processes.

[0343] 9, first, it is determined whether or not the game has started (step S901). Here, it waits for the game to start (step S901: No), and if the game has started (step S901: Yes), it starts counting the time of the game timer (step S902).

[0344] Then, it is determined whether a predetermined time (for example, 3 minutes) has elapsed since the start of the game timer (step S903). If the predetermined time has not yet elapsed (step S903: No), the game is in progress, and the distance between the target drone 101 and the controlled drone 102 is measured (step S904).

[0345] Then, based on the measurement result, it is determined whether the distance between the two drones is within a predetermined distance (for example, within 20 cm) (step S905). If it is within the predetermined distance (step S905: Yes), the subtraction counter is reset (step S906) and the addition counter is incremented by +1 (step S907).

[0346] Then, it is determined whether the counter value of the point addition counter has reached a predetermined value (for example, "10") (step S908). If not (step S908: No), the process proceeds to step S916.

[0347] On the other hand, if the counter value of the point addition counter has reached the predetermined value (step S908: Yes), a point addition process is performed (step S909). That is, the stored score information is rewritten so that the acquired points are added to the stored points. Then, the point addition counter is reset. Then, the process proceeds to step S915.

[0348] In step S905, if the distance between the drones is not within the predetermined distance (step S905: No), it is then determined whether the distance between the drones is outside the predetermined distance (for example, 40 cm or more) (step S910). If it is outside the predetermined distance (step S910: Yes), the point addition counter is reset (step S911) and the point deduction counter is incremented by +1 (step S912).

[0349] Then, it is determined whether the counter value of the point deduction counter has reached a predetermined value (for example, "10") (step S913). If the counter value of the point deduction counter has not reached the predetermined value (step S913: No), the process proceeds to step S916.

[0350] On the other hand, if the counter value of the counter has reached the predetermined value (step S913: Yes), a point deduction process is performed (step S914). That is, the stored score information is rewritten so that the deduction point is subtracted from the score related to the stored score information.

[0351] Then, the point deduction counter is reset. If it is determined in step S910 that the distance is not outside the predetermined distance (step S910: No), the process proceeds to step S916 without doing anything.

[0352] Next, it is determined whether the score related to the stored score information has reached a predetermined score (step S915). If the score has not reached the predetermined score (step S915: No), the process waits for a predetermined time (for example, 0.1 seconds) to elapse (step S916: No), and if the predetermined time has elapsed (step S916: Yes), the process returns to step S903. Then, the processes of steps S903 to S916 are repeated.

[0353] In step S915, if a predetermined score is reached (step S915: Yes), the game is ended (game over), and the game timer time at the time the predetermined score is reached is output (step S917). Then, the score related to the stored score information is output (step S918). This makes it possible to notify the operator of the game duration and score until the game is over.

[0354] In step S903, if a predetermined time (e.g., 3 minutes) has elapsed since the start of the game timer (step S903: Yes), the game is ended (game over) and the score related to the stored score information is output (step S918). This makes it possible to notify the operator of the score.

[0355] This completes the drone's processing sequence.

[0356] This series of processes may be performed by the target drone 101 or by the pilot drone 102. In addition, the target drone 101 and the pilot drone 102 may each perform the processes separately, or the processes may be distributed and each drone may share the distributed processes.

[0357] In the flowchart of FIG. 10, first, whether or not a collision is detected during the game is determined. A determination is made (step S1001). Here, the collision may be a collision between drones, or a collision with another obstacle.

[0358] Then, the system waits for a collision to be detected (step S1001: No), and if a collision is detected (step S1001: Yes), calculates the degree of the collision (step S1002). Next, based on the calculated degree of the collision, the system calculates an added or subtracted score (step S1003).

[0359] Then, the score is updated (step S1004). That is, the stored score information is rewritten so that the score related to the stored score information is increased or decreased by the calculated increase or decrease number of points. This ends the series of processes.

[0360] This completes the drone's processing sequence.

[0361] This series of processes may be performed by the target drone 101 or by the pilot drone 102. In addition, the target drone 101 and the pilot drone 102 may each perform the processes separately, or the processes may be distributed and each drone may share the distributed processes.

[0362] As described above, the score acquisition game system 100 according to the embodiment of the present invention includes a target drone 101 that flies in a predetermined space by automatic control, a controlled drone 102 that flies in a predetermined space by manual control, and a controller 104 that wirelessly controls the controlled drone 102. The controlled drone 102 is controlled by the operation of the controller 104 by the operator 105, and the controlled drone 102 follows the flying target drone 101, and scores are acquired according to the degree of the tracking. Since score information related to the acquired scores is stored in at least one of the target drone 101 and the controlled drone 102, a single person can enjoy the game of controlling the controlled drone 102 to track the target drone 101 and acquire points. In addition, the drone piloting skill can be improved while enjoying the game.

[0363] In addition, the score-earning game system 100 of the embodiment of the present invention, in the above invention, is equipped with an object sensor 306 in at least one of the target drone 101 and the controlled drone 102, and the object sensor 306 detects the distance between the target drone 101 and the controlled drone 102 at predetermined time intervals, and based on the detection result of the object sensor 306, if the distance between the target drone 101 and the controlled drone 102 comes within a predetermined distance after the start of the game, a predetermined score is earned according to the frequency of such approach, so that the degree of tracking of the controlled drone 102 with respect to the target drone 101 can be efficiently scored.

[0364] In addition, the score-earning game system 100 of the embodiment of the present invention, in the above invention, is equipped with an object sensor 306 in at least one of the target drone 101 and the controlled drone 102, and the object sensor 306 detects the distance between the target drone 101 and the controlled drone 102 at predetermined time intervals. Based on the detection result of the object sensor 306, if the time during which the target drone 101 and the controlled drone 102 are within a predetermined distance continuously reaches a predetermined time after the start of the game, a predetermined score is earned according to the time of the approach. Therefore, from another perspective, the degree of tracking of the controlled drone 102 with respect to the target drone 101 can be efficiently scored.

[0365] In addition, the score acquisition game system 100 according to the embodiment of the present invention is the above-mentioned invention, in which a lamp is provided on at least one of the pilot device 104, the target drone 101, and the pilot drone 102, and the distance between the target drone 101 and the pilot drone 102 is a predetermined distance. When the target comes within the range, the lamp is turned on or blinks, so that the acquisition of a point can be notified more reliably.

[0366] In addition, the score-earning game system 100 of the embodiment of the present invention, in the above-mentioned invention, is equipped with speakers 203, 407 in at least one of the pilot device 104, the target drone 101 and the pilot drone 102, and when the distance between the target drone 101 and the pilot drone 102 comes within a predetermined distance, a predetermined sound is output from the speakers 203, 407, thereby more reliably notifying the player that a point has been earned.

[0367] In addition, in the score-earning game system 100 of an embodiment of the present invention, in the above invention, at least one of the target drone 101 and the controlled drone 102 is equipped with an object sensor 306, which detects the distance between the target drone 101 and the controlled drone 102 at predetermined time intervals, and based on the detection result of the object sensor 306, if the distance between the target drone 101 and the controlled drone 102 becomes greater than a predetermined distance after the start of the game, a predetermined score is deducted according to the frequency of such distance, so that from another perspective, the degree of tracking of the controlled drone 102 with respect to the target drone 101 can be efficiently scored.

[0368] In addition, the score-earning game system 100 of the embodiment of the present invention, in the above invention, is equipped with an object sensor 306 in at least one of the target drone 101 and the controlled drone 102, and the object sensor 306 detects the distance between the target drone 101 and the controlled drone 102 at predetermined time intervals, and based on the detection result of the object sensor 306, if the time during which the distance between the target drone 101 and the controlled drone 102 is greater than a predetermined distance continues for a predetermined period of time after the start of the game, a predetermined number of points is deducted according to the time of separation.Therefore, from another perspective, the degree to which the controlled drone 102 follows the target drone 101 can be efficiently scored.

[0369] In addition, in the score-earning game system 100 of the embodiment of the present invention, in the above-mentioned invention, at least one of the pilot device 104, the target drone 101 and the pilot drone 102 is provided with a lamp, and when the distance between the target drone 101 and the pilot drone 102 becomes a predetermined distance or more, the lamp is turned on or flashes, thereby more reliably informing users that points have been deducted.

[0370] In addition, in the score-earning game system 100 of the embodiment of the present invention, in the above-mentioned invention, at least one of the pilot device 104, the target drone 101 and the pilot drone 102 is equipped with a speaker 203, 407, and when the distance between the target drone 101 and the pilot drone 102 becomes a predetermined distance or more, a predetermined sound is output from the speaker 203, 407, thereby more reliably informing the player that points have been deducted.

[0371] In addition, in the score-earning game system 100 of the embodiment of the present invention, in the above invention, an acceleration sensor is provided in at least one of the target drone 101 and the controlled drone 102, and the acceleration sensor detects a collision between the target drone 101 and the controlled drone 102, and based on the detection result of the acceleration sensor, a predetermined number of points is earned when the target drone 101 and the controlled drone 102 collide after the start of the game.Therefore, from another perspective, the degree of tracking of the controlled drone 102 with respect to the target drone 101 can be efficiently scored.

[0372] In addition, the score acquisition game system 100 according to the embodiment of the present invention is the above invention, and at least one of the target drone 101 and the controlled drone 102 is provided with an acceleration sensor, and the acceleration sensor detects a collision between the target drone 101 and the controlled drone 102, and determines whether the target drone 101 and the controlled drone 102 are in a collision state or not after the game starts based on the detection result of the acceleration sensor. If a collision occurs with the upright drone 102, a certain amount of points is deducted, so that the degree to which the piloted drone 102 follows the target drone 101 can be efficiently scored from another perspective.

[0373] In addition, in the score-earning game system 100 of the embodiment of the present invention, in the above-mentioned invention, at least one of the pilot device 104, the target drone 101 and the pilot drone 102 is provided with a lamp, and when the target drone 101 and the pilot drone 102 collide, the lamp is turned on or flashes, thereby more reliably notifying the user that the target drone 101 and the pilot drone 102 have collided.

[0374] In addition, in the score-earning game system 100 of the embodiment of the present invention, in the above-mentioned invention, at least one of the pilot device 104, the target drone 101 and the pilot drone 102 is equipped with a speaker 203, 407, and when the target drone 101 and the pilot drone 102 collide, a predetermined sound is output from the speaker 203, 407, so that a collision between the target drone 101 and the pilot drone 102 can be more reliably notified.

[0375] In addition, in the score-earning game system 100 of the embodiment of the present invention, in the above invention, a timer is provided in at least one of the pilot device 104, the target drone 101, and the piloted drone 102, and the timer measures time after the game starts, and when the timer's measured time reaches a predetermined time, the game ends and the score information stored in at least one of the target drone 101 and the piloted drone 102 is output, so that it is possible to know how many points have been earned in a specified time.

[0376] In addition, in the above-mentioned invention, the score-earning game system 100 of the embodiment of the present invention acquires score information stored in at least one of the target drone 101 and the piloting drone 102 when the timer reaches a predetermined time, and extends the game for a predetermined time if the score reaches a predetermined value based on the acquired score information, and ends the game if the score does not reach the predetermined value, so that by acquiring points, bonus time can be acquired and a higher score can be aimed for.

[0377] In addition, the score acquisition game system 100 according to the embodiment of the present invention is equipped with a timer in at least one of the pilot 104, the target drone 101, and the pilot drone 102 in the above invention, and the timer measures time after the game starts, and when the score reaches a predetermined value based on the score information stored in at least one of the target drone 101 and the pilot drone 102, the game ends and the timer's measured time is output, so that a time trial can be held to see how quickly a predetermined score can be acquired. Also, if the player's level of proficiency in the game is low, the game ends earlier than the normal game time, so a new game can be started immediately, and the player's level of proficiency can be improved by repeating the game.

[0378] In addition, in the score-earning game system 100 of the embodiment of the present invention, in the above invention, during the game, the target drone 101 changes its flight speed based on the points earned, so that the difficulty of the game can be changed during the game.

[0379] Furthermore, in the score-earning game system 100 according to the embodiment of the present invention, in the above-described invention, when the acquired score reaches or exceeds a predetermined score, the flight speed is increased, so that the difficulty level of the game can be increased for advanced players during the game.

[0380] In addition, the score acquisition game system 100 according to the embodiment of the present invention is In this case, when the acquired score falls below a predetermined score, the flying speed is reduced, so that the difficulty level of the game can be reduced for beginners during the game.

[0381] In addition, the score-earning game system 100 of the embodiment of the present invention, in the above-mentioned invention, is equipped with a display device for displaying images, and at least one of the target drone 101 and the controlled drone 102 is equipped with a camera, and at least one of the first unmanned aerial vehicle and the controlled drone 102 wirelessly transmits image information relating to the images captured by the camera during the game to the display device, and the display device displays the received images, thereby enabling the controlled drone 102 to reliably grasp the situation of its tracking of the target drone 101.

[0382] In addition, the score-earning game system 100 of the embodiment of the present invention, in the above invention, is equipped with a filming drone 103 that flies around the target drone 101 or the piloting drone 102 by automatic control and is equipped with a camera that photographs at least one of the target drone 101 and the piloting drone 102, and the filming drone 103 wirelessly transmits video information related to the image captured by the camera during the game to the display device, and the display device displays the received image, so that the status of the piloting drone 102 following the target drone 101 can be reliably grasped.

[0383] In addition, in the score-earning game system 100 of the embodiment of the present invention, in the above-mentioned invention, at least one of the target drone 101 and the piloting drone 102 wirelessly transmits stored score information to a display device, and the display device displays the received score information, so that the score situation during the game can be grasped.

[0384] In addition, in the score acquisition game system 100 according to the embodiment of the present invention, in the above-mentioned invention, the display device is provided in the controller 104, so that the operator can check the contents displayed on the display device at hand.

[0385] In addition, in the score-earning game system 100 of the embodiment of the present invention, in the above invention, the display device is a goggle-type display device worn by the pilot, so that the pilot can grasp the tracking situation of the target drone 101 as if he or she were on board the piloted drone 102.

[0386] In addition, in the score-earning game system 100 of the embodiment of the present invention, in the above invention, the piloted drone 102 acquires position information of its own aircraft's current position and transmits the position information and drive control information of its own aircraft to the target drone 101, and the target drone 101 acquires position information of its own aircraft and determines or changes its own aircraft's flight pattern based on the acquired position information of its own aircraft and the position information and drive control information of the piloted drone 102 received from the piloted drone 102, so that the target drone 101 can determine its own aircraft's flight pattern after understanding the movement of the piloted drone 102.

[0387] In addition, in the score-earning game system 100 of the embodiment of the present invention, in the above invention, the target drone 101 is equipped with an object sensor 306 that measures the distance to the controlled drone 102, and determines or changes the flight pattern of the target drone 101 based on the acquired position information of the target drone, the position information and drive control information of the controlled drone 102 received from the controlled drone 102, and the distance to the controlled drone 102 measured by the object sensor 306, so that the target drone 101 can determine the flight pattern of its own drone after understanding the approach situation of the controlled drone 102.

[0388] In addition, in the score acquisition game system 100 according to the embodiment of the present invention, in the above invention, the flight pattern is a flight pattern that avoids approaching the piloted drone 102. This makes it more difficult for the pilot drone 102 to approach the target drone 101, thereby increasing the difficulty of the game.

[0389] In addition, in the score acquisition game system 100 of the embodiment of the present invention, in the above invention, the location information is latitude / longitude information and altitude information calculated by GPS (Global Positioning System), so that more accurate location information can be obtained.

[0390] In addition, in the score-earning game system 100 of the embodiment of the present invention, in the above invention, the drive control information is a control signal that controls the drive of the motor that rotates the propellers 201a-201d that drive the controlled drone 102, so that the target drone 101 can more accurately grasp the movement (flight) of the controlled drone 102.

[0391] Furthermore, in the score acquisition game system 100 according to the embodiment of the present invention, since the controller 104 in the above-described invention is an information processing terminal device equipped with a display screen, there is no need to prepare a dedicated controller 104 .

[0392] In addition, the unmanned aerial vehicle (target drone 101) of an embodiment of the present invention is a target drone 101 used in a score-gathering game, which flies within a specified space by automatic control, and acquires its own position information, and determines or changes its own flight pattern based on the acquired position information of its own aircraft, as well as the position information of the controlled drone 102 received from the controlled drone 102 flying within a specified space by manual control and the drive control information of the controlled drone 102, so that it can determine its own flight pattern after understanding the movement (flight) of the controlled drone 102.

[0393] In addition, the unmanned aerial vehicle (target drone 101) of the embodiment of the present invention, in the above invention, is equipped with an object sensor 306 that measures the distance to the control drone 102, and determines or changes the flight pattern of the target drone based on the acquired position information of the target drone, the position information of the control drone 102 and drive control information of the control drone 102 received from the control drone 102, and the distance to the control drone 102 measured by the object sensor 306, so that the flight pattern of the target drone can be determined after understanding the approach situation of the control drone 102.

[0394] In addition, in the embodiment of the unmanned aerial vehicle (target drone 101) of the present invention, in the above invention, the flight pattern is a flight pattern that avoids approaching the controlled drone 102, making it difficult for the controlled drone 102 to approach the target drone 101, thereby increasing the difficulty of the game.

[0395] In addition, in the unmanned aerial vehicle (target drone 101) of the embodiment of the present invention, in the above invention, the location information is latitude and longitude information and altitude information calculated by GPS (Global Positioning System), so that more accurate location information can be obtained.

[0396] In addition, in the unmanned aerial vehicle (target drone 101) of the embodiment of the present invention, in the above invention, the drive control information is a control signal that controls the drive of the motor that rotates the propellers 201a to 201d that drive the piloted drone 102, so that the target drone 101 can more accurately grasp the movement (flight) of the piloted drone 102.

[0397] In addition, the control method according to the embodiment of the present invention is a control method for an unmanned aerial vehicle (target drone 101) that flies in a predetermined space by automatic control, for use in a score acquisition game, The system acquires position information of its own aircraft, and determines or changes its own flight pattern based on the acquired position information of its own aircraft, as well as the position information of the controlled drone 102 received from the controlled drone 102 flying within a specified space by manual control and the drive control information of the controlled drone 102, so that the system can determine the flight pattern of its own aircraft after understanding the movement (flight) of the controlled drone 102.

[0398] In addition, in the control method of the embodiment of the present invention, in the above invention, the distance to the controlled drone 102 is measured, and the flight pattern of the own aircraft is determined or changed based on the acquired position information of the own aircraft, the position information of the controlled drone 102 and the drive control information of the controlled drone 102 received from the controlled drone 102, and the measured distance to the controlled drone 102, so that the flight pattern of the own aircraft can be determined after understanding the approach situation of the controlled drone 102.

[0399] In addition, in the control method of the embodiment of the present invention, in the above invention, the flight pattern is a flight pattern that avoids approaching the controlled drone 102, making it difficult for the controlled drone 102 to approach the target drone 101, thereby increasing the difficulty of the game.

[0400] In addition, in the control method of the embodiment of the present invention, in the above invention, the location information is latitude / longitude information and altitude information calculated by GPS (Global Positioning System), so that more accurate location information can be obtained.

[0401] In addition, in the control method of the embodiment of the present invention, in the above invention, the drive control information is a control signal that controls the drive of the motor that rotates the propellers 201a-201d that drive the controlled drone 102, so that the target drone 101 can more accurately grasp the movement (flight) of the controlled drone 102.

[0402] In addition, the control program of an embodiment of the present invention is a control program for an unmanned aerial vehicle used in a score-winning game, which flies within a specified space by automatic control, and acquires position information of the vehicle itself, and causes the unmanned aerial vehicle to execute a process to determine or change the flight pattern of the vehicle itself based on the acquired position information of the vehicle itself, as well as position information of the controlled drone 102 that flies within a specified space by manual control and drive control information of the controlled drone 102, and is able to determine the flight pattern of the vehicle itself after understanding the movement (flight) of the controlled drone 102.

[0403] In addition, in the above invention, the control program of the embodiment of the present invention measures the distance to the controlled drone 102, and determines or changes the flight pattern of the own aircraft based on the acquired position information of the own aircraft, the position information of the controlled drone 102 and the drive control information of the controlled drone 102 received from the controlled drone 102, and the measured distance to the controlled drone 102, so that the flight pattern of the own aircraft can be determined after understanding the approach situation of the controlled drone 102.

[0404] In addition, in the control program of the embodiment of the present invention, in the above invention, the flight pattern is a flight pattern that avoids approaching the controlled drone 102, making it difficult for the controlled drone 102 to approach the target drone 101, thereby increasing the difficulty of the game.

[0405] In the control program according to the embodiment of the present invention, in the above invention, the location information is latitude and longitude information and altitude information calculated by a GPS (Global Positioning System), so that more accurate location information can be obtained. .

[0406] In addition, in the control program of the embodiment of the present invention, in the above invention, the drive control information is a control signal that controls the drive of the motor that rotates the propellers 201a to 201d that drive the controlled drone 102, so that the target drone 101 can more accurately grasp the movement (flight) of the controlled drone 102.

[0407] The control method described in this embodiment can be realized by executing a prepared control program on a computer included in the unmanned aerial vehicle. This program is recorded on a computer-readable recording medium such as a hard disk, a flexible disk, a CD-ROM, an MO, or a DVD, and is executed by being read from the recording medium by the computer. This program may also be a transmission medium that can be distributed via a network such as the Internet.

[0408] The contents of the embodiment will be described below as supplementary notes.

[0409] (Appendix 1) A first unmanned aerial vehicle that flies within a predetermined space by autopilot; A second unmanned aerial vehicle that flies within a predetermined space by manual control; A controller that wirelessly controls the second unmanned aerial vehicle; A point acquisition game system comprising: A score-earning game system characterized in that a pilot operates the control device to pilot the second unmanned aerial vehicle, have it follow the flying first unmanned aerial vehicle, earn points based on the degree of following, and store score information related to the earned points in at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle.

[0410] (Appendix 2) At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is provided with an objective sensor; The objective sensor detects a distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined time intervals; The score-earning game system described in Appendix 1 is characterized in that, based on the detection results of the objective sensor, if the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle comes within a predetermined distance after the start of the game, a predetermined score is earned according to the frequency of such approach.

[0411] (Appendix 3) At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is provided with an objective sensor; The objective sensor detects a distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined time intervals; The score-earning game system described in Appendix 1 is characterized in that, based on the detection results of the objective sensor, when the time during which the first unmanned aerial vehicle and the second unmanned aerial vehicle are within a predetermined distance continuously reaches a predetermined time after the start of the game, a predetermined score is earned according to the time of such proximity.

[0412] (Appendix 4) a lamp is provided on at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle; The scoring system according to claim 2 or 3, characterized in that when the first unmanned aerial vehicle and the second unmanned aerial vehicle come within a predetermined distance, the lamp is turned on or blinks. Great game system.

[0413] (Appendix 5) At least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle is provided with a speaker; A score-earning game system described in any one of Appendices 2 to 4, characterized in that when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle comes within a predetermined distance, a predetermined sound is output from the speaker.

[0414] (Appendix 6) At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is provided with an objective sensor; The objective sensor detects a distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined time intervals; A score-earning game system as described in Appendix 1 or 2, characterized in that, based on the detection results of the objective sensor, if the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle becomes greater than a predetermined distance after the start of the game, a predetermined number of points is deducted depending on the frequency of such distance.

[0415] (Appendix 7) At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is provided with an objective sensor; The objective sensor detects a distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined time intervals; A score-earning game system as described in Appendix 1 or 3, characterized in that, based on the detection results of the objective sensor, if the time during which the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle is greater than a predetermined distance continues for a predetermined period of time after the start of the game, a predetermined number of points is deducted according to the time during which they are apart.

[0416] (Appendix 8) a lamp is provided on at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle; A score-earning game system as described in Appendix 6 or 7, characterized in that the lamp is turned on or flashes when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle becomes greater than a predetermined distance.

[0417] (Appendix 9) At least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle is provided with a speaker; A score-earning game system described in any one of Appendices 6 to 8, characterized in that a predetermined sound is output from the speaker when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle becomes greater than a predetermined distance.

[0418] (Appendix 10) At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is provided with an acceleration sensor; the acceleration sensor detects a collision between the first unmanned aerial vehicle and the second unmanned aerial vehicle; A score-earning game system described in any one of Appendices 1 to 9, characterized in that a predetermined score is earned when the first unmanned aerial vehicle and the second unmanned aerial vehicle collide after the start of the game, based on the detection results of the acceleration sensor.

[0419] (Appendix 11) At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is provided with an acceleration sensor; the acceleration sensor detects a collision between the first unmanned aerial vehicle and the second unmanned aerial vehicle; A score-earning game system described in any one of Appendices 1 to 9, characterized in that a predetermined number of points are deducted if the first unmanned aerial vehicle and the second unmanned aerial vehicle collide after the start of the game, based on the detection results of the acceleration sensor.

[0420] (Appendix 12) a lamp is provided on at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle; A score-earning game system as described in Appendix 10 or 11, characterized in that the lamp is turned on or flashes when the first unmanned aerial vehicle collides with the second unmanned aerial vehicle.

[0421] (Appendix 13) At least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle is provided with a speaker; A score-earning game system described in any one of Appendices 10 to 12, characterized in that when the first unmanned aerial vehicle and the second unmanned aerial vehicle collide, a predetermined sound is output from the speaker.

[0422] (Appendix 14) a timer is provided on at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle; The timer measures time after the game starts, A score-earning game system described in any one of Appendices 1 to 13, characterized in that when the timer's time reaches a predetermined time, the game is terminated and score information stored in at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is output.

[0423] (Appendix 15) The score-earning game system described in Appendix 14 is characterized in that when the timer reaches a predetermined time, score information stored in at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is obtained, and if the score has reached a predetermined value based on the obtained score information, the game is extended for a predetermined time, and if the score has not reached the predetermined value, the game is ended.

[0424] (Appendix 16) a timer is provided on at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle; The timer measures time after the game starts, A score-earning game system described in any one of Appendices 1 to 13, characterized in that when a score reaches a predetermined value based on score information stored in at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle, the game is ended and the timer's measured time is output.

[0425] (Appendix 17) During the game, the first unmanned aerial vehicle can change its flight speed based on the score acquired. 17. A point acquisition game system according to any one of claims 1 to 16,

[0426] (Appendix 18) 18. The point-earning game system according to claim 17, wherein the flying speed is increased when the earned point reaches or exceeds a predetermined point.

[0427] (Appendix 19) 18. The point-earning game system according to claim 17, wherein the flying speed is reduced when the earned point falls below a predetermined point.

[0428] (Appendix 20) A display device for displaying an image is provided, At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with a camera; At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle wirelessly transmits image information related to an image captured by the camera during a game to the display device; 20. The point acquisition game system according to any one of claims 1 to 19, wherein the display device displays the received video.

[0429] (Appendix 21) a third unmanned aerial vehicle equipped with a camera that flies around the first unmanned aerial vehicle or the second unmanned aerial vehicle by automatic pilot and photographs at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle; the third unmanned aerial vehicle wirelessly transmits to the display device image information relating to the image captured by the camera during the game; 21. The point acquisition game system according to any one of claims 1 to 20, wherein the display device displays the received video.

[0430] (Appendix 22) at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle wirelessly transmits stored score information to the display device; 22. The score acquisition game system according to claim 20 or 21, wherein the display device displays the received score information.

[0431] (Appendix 23) 23. The point acquisition game system according to any one of claims 20 to 22, wherein a display device is provided on the controller.

[0432] (Appendix 24) 23. The point acquisition game system according to any one of claims 20 to 22, wherein the display device is a goggle-type display device worn by the operator.

[0433] (Appendix 25) The second unmanned aerial vehicle acquires location information of its current location, Transmitting the position information and the drive control information of the first unmanned aerial vehicle to the first unmanned aerial vehicle; A score-earning game system described in any one of Appendices 1 to 24, characterized in that the first unmanned aerial vehicle acquires its own position information, and determines or changes its own flight pattern based on the acquired position information of its own vehicle and the position information and drive control information of the second unmanned aerial vehicle received from the second unmanned aerial vehicle.

[0434] (Appendix 26) the first unmanned aerial vehicle includes an objective sensor that measures a distance to the second unmanned aerial vehicle; A score-earning game system as described in Appendix 25, characterized in that the flight pattern of the aircraft is determined or changed based on the acquired position information of the aircraft, the position information and drive control information of the second unmanned aircraft received from the second unmanned aircraft, and the distance to the second unmanned aircraft measured by the objective sensor.

[0435] (Appendix 27) A score-earning game system as described in Appendix 25 or 26, characterized in that the flight pattern is a flight pattern that avoids close contact with the second unmanned aerial vehicle.

[0436] (Appendix 28) 28. The point acquisition game system according to any one of claims 25 to 27, wherein the location information is latitude / longitude information and altitude information calculated by a GPS (Global Positioning System).

[0437] (Appendix 29) A score-earning game system described in any one of Appendices 25 to 28, characterized in that the drive control information is a control signal that controls the drive of a motor that rotates a propeller that drives the second unmanned aerial vehicle.

[0438] (Appendix 30) 30. The point acquisition game system according to any one of claims 1 to 29, wherein the controller is an information processing terminal device equipped with a display screen.

[0439] (Appendix 31) An unmanned aerial vehicle for use in a point-acquisition game that flies within a predetermined space by automatic control, An unmanned aerial vehicle characterized by acquiring its own position information, and determining or changing its own flight pattern based on the acquired position information, the position information of a manually piloted unmanned aerial vehicle received from a manually piloted unmanned aerial vehicle flying within a specified space by manual control, and the drive control information of the manually piloted unmanned aerial vehicle.

[0440] (Appendix 32) An objective sensor for measuring a distance to the manually-operated unmanned aerial vehicle; An unmanned aerial vehicle as described in Appendix 31, characterized in that it determines or changes its own flight pattern based on the acquired position information of its own aircraft, the position information of the manually piloted unmanned aerial vehicle and drive control information of the manually piloted unmanned aerial vehicle received from the manually piloted unmanned aerial vehicle, and the distance to the manually piloted unmanned aerial vehicle measured by the objective sensor.

[0441] (Appendix 33) The unmanned aerial vehicle described in Appendix 31 or 32, characterized in that the flight pattern is a flight pattern that avoids close contact with the manually piloted unmanned aerial vehicle.

[0442] (Appendix 34) 34. The unmanned aerial vehicle described in any one of appendices 31 to 33, wherein the location information is latitude / longitude information and altitude information calculated by a GPS (Global Positioning System).

[0443] (Appendix 35) An unmanned aerial vehicle described in any one of Appendices 31 to 34, characterized in that the drive control information is a control signal that controls the drive of a motor that rotates a propeller that drives the manually piloted unmanned aerial vehicle.

[0444] (Appendix 36) A method for controlling an unmanned aerial vehicle that flies in a predetermined space by automatic control, for use in a point acquisition game, comprising: A control method characterized by acquiring position information of the own aircraft, and determining or changing the flight pattern of the own aircraft based on the acquired position information of the own aircraft, position information of a manually piloted unmanned aircraft received from a manually piloted unmanned aircraft flying within a specified space by manual control, and drive control information of the manually piloted unmanned aircraft.

[0445] (Appendix 37) Measure the distance to the manually piloted unmanned aerial vehicle; A control method as described in Appendix 36, characterized in that a flight pattern of the own aircraft is determined or changed based on the acquired position information of the own aircraft, the position information of the manually piloted unmanned aircraft and drive control information of the manually piloted unmanned aircraft received from the manually piloted unmanned aircraft, and the measured distance to the manually piloted unmanned aircraft.

[0446] (Appendix 38) The control method described in Appendix 36 or 37, characterized in that the flight pattern is a flight pattern that avoids close contact with the manually piloted unmanned aerial vehicle.

[0447] (Appendix 39) 39. The control method according to any one of claims 36 to 38, wherein the location information is latitude / longitude information and altitude information calculated by a GPS (Global Positioning System).

[0448] (Appendix 40) A control method described in any one of Appendices 36 to 39, characterized in that the drive control information is a control signal that controls the drive of a motor that rotates a propeller that drives the manually operated unmanned aerial vehicle.

[0449] (Appendix 41) A control program for an unmanned aerial vehicle that flies in a predetermined space by automatic control, for use in a point acquisition game, comprising: A control program characterized by acquiring position information of the aircraft itself, and having the unmanned aircraft execute a process of determining or changing the flight pattern of the aircraft based on the acquired position information of the aircraft itself, position information of a manually piloted unmanned aircraft received from a manually piloted unmanned aircraft flying within a specified space by manual control, and drive control information of the manually piloted unmanned aircraft.

[0450] (Appendix 42) Measure the distance to the manually piloted unmanned aerial vehicle; A control program as described in Appendix 41, characterized in that it determines or changes the flight pattern of its own aircraft based on the acquired position information of its own aircraft, the position information of the manually piloted unmanned aircraft and drive control information of the manually piloted unmanned aircraft received from the manually piloted unmanned aircraft, and the measured distance to the manually piloted unmanned aircraft.

[0451] (Appendix 43) The control program described in Appendix 41 or 42, characterized in that the flight pattern is a flight pattern that avoids close contact with the manually piloted unmanned aerial vehicle.

[0452] (Appendix 44) 44. The control program according to any one of appendices 41 to 43, wherein the location information is latitude / longitude information and altitude information calculated by a GPS (Global Positioning System).

[0453] (Appendix 45) A control program described in any one of Appendices 41 to 44, characterized in that the drive control information is a control signal that controls the drive of a motor that rotates a propeller that drives the manually operated unmanned aerial vehicle.

[0454] <Embodiment 2> Next, another embodiment will be described.

[0455] (An example of the outline of the point acquisition game system (part 2)) First, an example of an outline of a point acquisition game system according to another embodiment (embodiment 2) of the present invention will be described.

[0456] Fig. 11 is an explanatory diagram showing an example of an outline of a score acquisition game system according to another embodiment (embodiment 2) of the present invention. In Fig. 11, the score acquisition game system 1100 is composed of a pursuit drone 1101 which is an example of a first unmanned aerial vehicle, a piloted drone 1102 which is an example of a second unmanned aerial vehicle, a photographing drone 1103 which is an example of a third unmanned aerial vehicle, and a piloted device 1104 which wirelessly controls the piloted drone 1102. The unmanned aerial vehicles 1101 to 1103 are in the form of drones as shown in Fig. 2. Hereinafter, the unmanned aerial vehicle will be referred to as a drone.

[0457] The pursuit drone 1101, the control drone 1102, and the photographic drone 1103 may fly indoors or outdoors. The pilot 1105 controls only the control drone 1102. The pursuit drone 1101 and the photographic drone 1103 are autopilot drones, and the pilot 1105 does not directly control the pursuit drone 1101 and the photographic drone 1103.

[0458] In this score-earning game system 1100, a pursuit drone 1101 flies within a predetermined space by automatic control. Also, a controlled drone 1102 flies within a predetermined space by manual control by a controlled device 1104 operated by a pilot 1105. When the game starts, the pursuit drone 1101 chases the flying controlled drone 1102, approaches the controlled drone 1102, and comes to collide with it.

[0459] The pilot 1105 directly (with the naked eye) or indirectly (through a monitor such as a display screen provided on the pilot 1104) visually observes the movement (flight path) of the pursuit drone 1101, which flies by automatic control, and operates the pilot 1104 to fly the pilot drone 1102 so as to escape from the approaching pursuit drone 1101. In order to prevent the pilot drone 1102 from being pursued (approached) by the pursuit drone 1101 and to maintain a distance from the pursuit drone 1101, the pilot 1105 sometimes reflexively responds to the flight of the pursuit drone 1101 and sometimes predicts the flight path of the pursuit drone 1101, and skillfully operates the pilot 1104 to pilot the pilot drone 1102.

[0460] And the degree of avoidance of the pilot drone 1102 against the pursuing drone 1101 that is following In other words, by flying the controlled drone 1102 so as to escape from the pursuing drone 1101 and keep a distance from it, the pilot can earn more points (minimize deductions).

[0461] The inventor has named the score acquisition game according to the present embodiment, in which the player pilots the pilot drone 1102, flies while avoiding the pursuit of the automatically piloted pursuit drone 1101, and can acquire points according to the degree of avoidance of the pursuing drone 1101, as "DRONE RUNAWAY" or its abbreviation "DRO-RA". In addition, the inventor has named it as "DRONE ESCAPE" or its abbreviation "DRO-ES" as another name.

[0462] The pursuit drone 1101 is equipped with an object sensor (specifically, the object sensor 306 shown in FIG. 3), and this object sensor repeatedly measures (detects) the distance to the controlled drone 1102 at predetermined time intervals during the game. If the measurement result shows that the distance between the pursuit drone 1101 and the controlled drone 1102 is greater than a predetermined distance, points can be earned. On the other hand, if the measurement result by the object sensor shows that they are not greater than the predetermined distance, no points can be earned.

[0463] Specifically, the distance between the pursuit drone 1101 and the pilot drone 1102 is measured at a predetermined time interval (for example, 0.1 seconds), and if the distance is 40 cm or more, a positive point (for example, 1 point) is acquired. On the other hand, if the distance is not 40 cm or more, 0 points are assigned.

[0464] In this case, 10 measurements are taken per second, so a maximum of 10 points can be earned. The predetermined time is not limited to 0.1 seconds. The predetermined time indicating the interval between measurements, i.e., the measurement frequency, may be set and changed as appropriate based on the distance measurement performance of the objective sensor and the game content (accuracy of points earned).

[0465] Furthermore, in addition to the measurement frequency, the points acquired may be variable according to the distance. That is, the closer the tracking is, the more points the robot can acquire. Specifically, if the measured distance is 40 cm or more, for example, 1 point may be acquired, and if the measured distance is 60 cm or more, for example, 2 points may be acquired.

[0466] In this way, the degree of avoidance of the following pursuit drone 1101 can be determined based on the situation of approach to the pursuit drone 1101, more specifically, the frequency of approach per specified time and the distance of approach.

[0467] The pursuit drone 1101 is provided with an object sensor, but the control drone 1102 may also be provided with one. Alternatively, the pursuit drone 1101 and the control drone 1102 may each be provided with an object sensor. When both drones are provided with an object sensor, the determination may be based on the measurement results of either of the object sensors, or may be based on the measurement results of both object sensors.

[0468] If the measurement results of both objective sensors are different, the average value may be taken, or the measurement result of one of the objective sensors may be given priority.

[0469] In addition, in this score acquisition game system 1100, the pursuit drone 11 that follows The degree of avoidance of 01 may be determined from the viewpoint of how long the pursuit drone 1101 has been able to avoid being followed. In other words, when the time during which the distance between the pursuit drone 1101 and the controlled drone 1102 is greater than or equal to a predetermined distance continues for a predetermined period of time, a predetermined score may be acquired according to the time of the separation.

[0470] Here, if the pilot continues to stay away from the pursuit drone 1101 for a certain period of time or more, points can be earned. Therefore, if the pilot only leaves the pursuit drone 1101 for a moment, but then immediately closes in on the pursuit drone 1101, points cannot be earned. In this way, regardless of piloting skill, it is possible to prevent the pilot from earning points when the piloted drone 1102 accidentally leaves the pursuit drone 1101, and it is possible to earn points more appropriately according to the pilot's level of piloting skill, making the game more interesting.

[0471] Specifically, the distance between the two is measured every 0.1 seconds, and if the measurement results are 40 cm or more for 1 consecutive second, i.e., 10 consecutive measurements, 10 points can be earned. Therefore, even if the measurement results are 40 cm or more for 0.9 seconds, i.e., 9 consecutive measurements, if the measurement result 0.1 seconds later is closer than 40 cm, no points can be earned (0 points will be earned). In this way, if you can avoid the pursuing drone 1101 that is following you as many times as possible, you can earn points accordingly.

[0472] The pursuit drone 1101 and the controlled drone 1102 are provided with LED lamps. When the distance between the pursuit drone 1101 and the controlled drone 1102 exceeds a predetermined distance, the LED lamp can be turned on or blinked. The pilot 1105 or a spectator of the point-earning game can confirm that a point has been earned by seeing the LED lamp turn on or blink.

[0473] In this way, the pilot drone 1102 successfully avoids the pursuit drone 1101, and the LED lamps light up to notify the player that a point has been earned. This allows the player to more accurately grasp the score situation, particularly in games played outdoors at night.

[0474] Depending on the distance avoided, the intensity, color, blinking speed, and blinking rule (pattern) of the light can be changed. In other words, by changing the intensity, color, blinking speed, and blinking rule (pattern) of the light, it is possible to easily know how many points have been gained.

[0475] The LED lamp can be freely set to light or blink, including on / off, allowing the operator to concentrate more on playing the game.

[0476] The LED lamp may be provided on the controller 1104. By providing the LED lamp on the controller 1104, even if the LED lamps of the pursuit drone 1101 and the control drone 1102 cannot be confirmed to be lit or flashing, the controller 1105 can be reliably informed that a point has been acquired.

[0477] The operator can freely set the lighting and blinking of the LED lamps provided on the controller 1104, including turning them on and off. This allows the operator to concentrate more on playing the game.

[0478] In addition, the pursuit drone 1101 and the controlled drone 1102 are provided with speakers (for example, the speaker 203 shown in FIG. 2 described above). When the distance between the pursuit drone 1101 and the controlled drone 1102 becomes greater than a predetermined distance, sound can be output from the speaker. The pilot 1105 or a spectator of the point-earning game can listen to the sound from the speaker. You can confirm that you have earned points by listening to the audio from the game.

[0479] In this way, the player is notified by voice (for example, voices such as "Score being gained!", "POINT GET!", "GOOD!", "65 points!", etc.) that the player has successfully avoided being followed by the pursuit drone 1101 and has gained points. In particular, in games played outdoors at night, the player can grasp the score situation more accurately. The volume and content of the sound or voice can be changed depending on the distance. In other words, the volume and content of the sound or voice can make it easy to know how many points have been gained.

[0480] The sound output can be freely set by the operator, including its on / off setting, allowing the operator to concentrate more on playing the game.

[0481] A speaker (for example, speaker 407 in FIG. 4 described above) may be provided in the controller 1104. The speaker may be headphones or earphones that the controller wears on the ears. By providing a speaker in the controller 1104, the controller 1105 can be reliably informed that points have been earned even if the LED lamps of the pursuit drone 1101 and the controlled drone 1102 cannot be confirmed to be lit or flashing.

[0482] The operator can freely set the sound output from the speaker provided in the controller 1104, including turning it on or off, allowing the operator to concentrate more on playing the game.

[0483] The objective of the game is to get as many points as possible within the time limit. After the game ends, the points are announced (output). If different operators 1105 play the game under the same conditions, the one who gets the most points is the winner.

[0484] Therefore, the feature (winning point) of this point acquisition game is how well the pilot drone 1102 can be operated using the pilot 1104 to avoid being pursued by the pursuit drone 1101 flying by automatic control. This point acquisition game can also be used as a simulator for improving the proficiency of drone piloting skills.

[0485] The above describes how to gain points in this point-gathering game, but depending on how the piloted drone 1102 is operated, it may be possible not only to gain points, but also to have the points currently held deducted instead of gaining points.

[0486] During the game, the pursuit drone 1101 is equipped with an objective sensor that repeatedly measures (detects) the distance between the pursuit drone 1101 and the controlled drone 1102 at predetermined time intervals. If the measurement shows that the pursuit drone 1101 and the controlled drone 1102 are within a predetermined distance, the score is deducted. On the other hand, if the measurement shows that they are not within the predetermined distance, no score is deducted.

[0487] Specifically, the distance between the pursuit drone 1101 and the pilot drone 1102 is measured every predetermined time (for example, 0.1 seconds), and if the distance approaches within 20 cm, negative points (for example, -1 point) are awarded. On the other hand, if the distance is not within 20 cm, the points do not change. Therefore, in this case, since measurements are taken 10 times per second, a maximum of 10 points are deducted from the points earned (the earned points become -10 points).

[0488] The predetermined time is not limited to 0.1 seconds. Distance measurement performance by the object sensor The predetermined time indicating the interval for performing measurements, i.e., the measurement frequency, can be set and changed as appropriate based on the game content (accuracy of acquiring points), etc. Also, the predetermined time may be the same as the predetermined time for acquiring points, or may be a time different from the predetermined time for acquiring points (a time longer than the predetermined time for acquiring points, or a time shorter than the predetermined time for acquiring points).

[0489] Furthermore, in addition to the frequency of measurement, the deduction points may be variable according to the distance. That is, the further away the distance is, the more points may be deducted. Specifically, if the measured distance is within 20 cm, for example, -1 point (1 point deduction) may be applied, and if the measured distance is 15 cm or more, for example, -2 points (2 points deduction) may be applied.

[0490] In this way, the degree of avoidance of the pursuit drone 1101 from being followed can be determined based on how close the pursuit drone 1101 is to the pursuit drone 1101, more specifically, the frequency of approach per given period of time and the distance away.

[0491] Alternatively, in this score acquisition game system 1100, the degree of avoidance of following may be determined from the viewpoint of how long the avoidance of following has been continuously unsuccessful. In other words, when the time during which the distance between the pursuit drone 1101 and the pilot drone 1102 is within a predetermined distance continuously reaches a predetermined time, a predetermined score may be deducted according to the time of the approach.

[0492] Here, points are deducted if the drone is continuously close for a certain period of time or more. Therefore, points are not deducted if the drone is close for only a moment, but then quickly moves away from the pursuit drone 1101. This makes it possible to prevent points from being deducted if the drone accidentally comes close to the pursuit drone 1101 regardless of the piloting skill, and makes it possible to more appropriately deduct points for poor piloting skill.

[0493] Specifically, the distance between the two is measured every 0.1 seconds, and if the measurement results are within 20 cm for one consecutive second, i.e. 10 measurements, 10 points can be deducted. Therefore, even if the measurement results are within 20 cm for 0.9 seconds, i.e. 9 measurements, 0.1 seconds later, if the measurement result is greater than 20 cm away, no points will be deducted (there will be no change in the score). In this way, it is possible to prevent points from being deducted unless the two objects are continuously close to each other.

[0494] By using LED lamps provided on the pursuit drone 1101 and the control drone 1102, when the pursuit drone 1101 and the control drone 1102 approach within a predetermined distance, the LED lamps can be lit or flashed. The pilot 1105 or a spectator of the point-earning game can confirm that points have been deducted by seeing the LED lamps being lit or flashing.

[0495] In this way, the LED lamps are used to inform the player that the player was not able to avoid the pursuit of the pursuing drone 1101 and that points were deducted. In particular, in games played outdoors at night, the player can more accurately grasp the point deduction situation. The light intensity, color, blinking speed, and blinking rule (pattern) can be changed depending on the distance. In other words, the light intensity, color, blinking speed, and blinking rule (pattern) can make it easy to know how many points have been deducted.

[0496] In addition, the intensity, color, blinking speed, and blinking pattern of the LED lamp can be changed depending on whether a point is gained or lost. It is possible to easily know when points are gained and when points are deducted.

[0497] In addition, the LED lamp can be set to light or flash only when a point is gained, and not to light or flash when a point is deducted, or conversely, the LED lamp can be set to light or flash only when a point is deducted, and not to light or flash when a point is gained.

[0498] The LED lamp can be freely set to light or blink, including on / off, allowing the operator to concentrate more on playing the game.

[0499] By turning on or blinking the LED lamps on the pilot 1104 depending on the situation of the points deduction, the pilot 1105 can be reliably informed that points have been deducted even if the LED lamps on the pursuit drone 1101 and the pilot drone 1102 cannot be confirmed to be lit or blinking.

[0500] The operator can freely set the lighting and blinking of the LED lamps provided on the controller 1104, including turning them on and off. This allows the operator to concentrate more on playing the game.

[0501] In addition, by using speakers provided in the pursuit drone 1101 and the controlled drone 1102, when the distance between the pursuit drone 1101 and the controlled drone 1102 becomes a predetermined distance or more, a sound can be output from the speaker. The pilot 1105 or a spectator of the point acquisition game can confirm that points have been deducted by listening to the sound from the speaker.

[0502] In this way, the pursuit drone 1101 is not able to track well and points are deducted by using audio (for example, audio such as "points deducted!", "LOSE!", "locked on" etc.). In particular, in games played outdoors at night, the score situation can be grasped more accurately. The volume, content of the sound or audio, etc. can be changed depending on the approaching distance. In other words, the volume, content of the sound or audio, etc. can make it easy to know how many points have been deducted.

[0503] The sound output can be freely set by the operator, including its on / off setting, allowing the operator to concentrate more on playing the game.

[0504] The speaker may be provided in the pilot 1104. The speaker may be headphones or earphones that the pilot wears on his / her ears. By providing a speaker in the pilot 1104, even if the LED lamps of the pursuit drone 1101 and the pilot drone 1102 cannot be confirmed to be lit or flashing, the pilot 1105 can be reliably informed that points have been deducted.

[0505] The operator can freely set the sound output from the speaker provided in the controller 1104, including turning it on or off, allowing the operator to concentrate more on playing the game.

[0506] As mentioned above, the objective of the game is to get as many points as possible within the time limit. After the game ends, the points are announced (output). Different operators 1105 play the game under the same conditions. If a team is played, the person with the most points will be the winner.

[0507] Therefore, the feature (winning point) of this point acquisition game is how well the pilot drone 1102 can be operated using the pilot 1104 to follow the pursuit drone 1101 flying by automatic control. If the pilot 1105 loses concentration until the end of the game, the points he has worked so hard to acquire will be deducted. This point acquisition game can be used as a simulator to improve the proficiency of drone piloting skills and to improve concentration.

[0508] In addition, the pursuit drone 1101 is equipped with an acceleration sensor (specifically, the acceleration sensor 308 shown in FIG. 3 described above), and this acceleration sensor detects a collision (contact) with the controlled drone 1102 during the game. When a collision (contact) is detected, a predetermined score is deducted. The score may be deducted for each collision.

[0509] In addition, if the acceleration sensor detects a collision (contact) with the controlled drone 1102 during the game, a predetermined score may be acquired. The score may be acquired for each collision.

[0510] Whether a collision results in a point being awarded or subtracted depends on the purpose of the game. If the game is about avoiding being followed by an object, a collision will be a point. On the other hand, if the game emphasizes drone control, a light collision (contact) is considered to be a high level of control and will be eligible for points.

[0511] In addition to the number of collisions, the points acquired may be variable depending on the degree (violence) of the collision. That is, the stronger (severe) the collision, the more points may be deducted. Specifically, one point may be deducted for a light contact, and five points may be deducted for a strong collision. Alternatively, one point may be acquired for a light contact (rub).

[0512] Depending on the purpose of the game, you can earn points by intentionally (intentionally) rubbing up against the pursuing drone 1101. However, if you lose control and collide with it hard, you will lose a large number of points, so you need to be careful.

[0513] Furthermore, if there is a strong collision or if there are a predetermined number of collisions, the game may end (end midway) before the game end time is reached. If there is even one contact, the game may end immediately.

[0514] Although the pursuit drone 1101 is shown equipped with an acceleration sensor, the control drone 1102 may also be equipped with one. Alternatively, both the pursuit drone 1101 and the control drone 1102 may each be equipped with an acceleration sensor. If both are equipped with an acceleration sensor, the determination may be based on the measurement results of either one of the acceleration sensors, or may be based on the measurement results of both acceleration sensors.

[0515] If the measurement results from both acceleration sensors are different, the degree of impact may be determined by taking the average of the measurement results, or the measurement result from one of the acceleration sensors may be given priority.

[0516] In this way, the degree of following of the pursuit drone 1101 can be determined based on the situation of collision (contact) with the pursuit drone 1101.

[0517] By using LED lamps provided on the pursuit drone 1101 and the control drone 1102, the LED lamps can be lit or flashed when the pursuit drone 1101 and the control drone 1102 collide (contact) with each other. The pilot 1105 or a spectator of the point-earning game can confirm that a point has been gained or lost due to the collision (contact) by seeing the LED lamps being lit or flashing.

[0518] In this way, when the pilot drone 1102 collides with the pursuit drone 1101, the LED lamps light up to notify the player that a point has been gained or lost. In particular, in games played outdoors at night, the player can more accurately grasp the score / loss situation.

[0519] The intensity, color, blinking speed, and blinking rule (pattern) of the light can be changed depending on the strength of the impact at the time of collision. In other words, by changing the intensity, color, blinking speed, and blinking rule (pattern) of the light, it is possible to easily know how much impact there was and whether points have been gained or lost.

[0520] The LED lamp can be freely set to light or blink, including on / off, allowing the operator to concentrate more on playing the game.

[0521] By turning on or blinking the LED lamps on the pilot drone 1104 depending on the score / penalty status, the pilot 1105 can be reliably informed of the score / penalty even if the LED lamps on the pursuit drone 1101 and the pilot drone 1102 cannot be seen to be lit or blinking.

[0522] The operator can freely set the lighting and blinking of the LED lamps provided on the controller 1104, including turning them on and off. This allows the operator to concentrate more on playing the game.

[0523] In addition, by using speakers provided in the pursuit drone 1101 and the controlled drone 1102, sound can be output from the speakers when the pursuit drone 1101 and the controlled drone 1102 collide (come into contact). The pilot 1105 or a spectator of the point-gathering game can confirm that points have been gained or lost by listening to the sound from the speakers.

[0524] In this way, the collision with the pursuit drone 1101 and the resulting score / point deduction are notified by sound (for example, sounds such as "point deduction", "collision!", and "CRASH!"). In particular, in games played outdoors at night, the score / point deduction situation can be grasped more accurately.

[0525] The volume of the sound, the contents of the sound or voice, etc. can be changed depending on the impact of the collision. In other words, the volume of the sound, the contents of the sound or voice, etc. can make it easy to know how much of a collision there was and how many points / deductions there were.

[0526] The sound output can be freely set by the operator, including its on / off setting, allowing the operator to concentrate more on playing the game.

[0527] The speaker may be provided in the controller 1104. The speaker may be headphones or earphones that the controller wears on the ears. By providing the speaker in the controller 1104, even if the LED lamps of the pursuit drone 1101 and the controlled drone 1102 cannot be confirmed to be lit or flashing, the controller 1105 can be reliably informed that a point has been acquired. It is possible to do so.

[0528] The operator can freely set the sound output from the speaker provided in the controller 1104, including turning it on or off, allowing the operator to concentrate more on playing the game.

[0529] As mentioned above, the objective of the game is to get as many points as possible within the time limit. After the game ends, the points are announced (output). When different operators 1105 play the game under the same conditions, the one who gets the most points is the winner.

[0530] Therefore, the feature (winning point) of this score acquisition game is how well the pilot 1102 can be controlled using the pilot 1104 to fly by automatic control and dodge the pursuit of the pursuit drone 1101 that is following. Furthermore, if bonus points can be acquired by collision, the pilot 1105 is required to perform more advanced maneuvering by actively trying to hit the pursuit drone 1101 (deliberately trying to make light contact) while escaping from the pursuit drone 1101, at the risk of falling on it. Therefore, if points are acquired by collision, this score acquisition game can be used as a simulator to improve the proficiency of drone piloting skills and to improve concentration.

[0531] The pursuit drone 1101 and the controlled drone 1102 are equipped with a game timer, and after the game starts, the game timer starts measuring time. Then, when a predetermined time (for example, 3 minutes) is reached, the game ends.

[0532] When the game ends, the pursuit drone 1101 stops flying and stops (hovers) at a predetermined position or returns to a predetermined position (for example, to the pilot's location).

[0533] Then, the pursuit drone 1101 and the piloted drone 1102 output the score information (in some cases, points are deducted and negative points are given) stored therein. The bonus information may be output and transmitted to the piloted device 1104 via wireless communication. Also, the score information may be transmitted directly to a specified site on the Internet via wireless communication together with the pilot's ID information.

[0534] When the time counted by the game timer reaches a predetermined time (for example, 3 minutes), score information stored in at least one of the pursuit drone 1101 and the controlled drone 1102 is acquired, and if the score reaches a predetermined value based on the acquired score information, the game can be extended by a predetermined time (for example, 1 minute). In other words, bonus time can be acquired.

[0535] In this way, bonus time is given, the game time is extended, and the player can play for a longer period of time, allowing them to aim for a higher score. The game time can also be extended again, again, and so on, depending on the points acquired.

[0536] On the other hand, when the time counted by the game timer reaches a predetermined time (for example, 3 minutes), the score information stored in at least one of the pursuit drone 1101 and the control drone 1102 is obtained, and if the score does not reach a predetermined value based on the obtained score information (for example, the score is a negative point), the game time is not extended and the game ends.

[0537] In addition, a game timer provided in at least one of the pursuit drone 1101 and the pilot drone 1102 starts measuring time after the game starts. When the score related to the score information stored in at least one of the pursuit drone 1101 and the control drone 1102 reaches a predetermined value (for example, 200 points), the game may be ended and the time until the predetermined value is reached may be output based on the time measured by the game timer.

[0538] In this way, it is possible to make it a time trial until the acquired points reach a predetermined point. When different operators 1105 play the game under the same conditions, the one who takes the shortest time to acquire the acquired points to reach the predetermined point is the winner.

[0539] On the other hand, if the score is deducted and reaches a predetermined value (for example, -100 points), the game may be ended before the game time (for example, 3 minutes) has elapsed. In this case, the time until the predetermined value is reached may be output based on the time measured by the game timer.

[0540] When different operators 1105 play the game under the same conditions, the player who takes the longest time until the deducted points reach a predetermined point and the game ends (ends midway) is declared the winner.

[0541] The pursuit drone 1101 may change its flight speed based on the points earned by the piloted drone 1102 during the game.

[0542] Specifically, if the score reaches a certain level or more (for example, 50 points out of a maximum of 60 points that can be earned in one minute) one minute after the start of the game, it may be assumed that the pilot's level is high, and the flying speed may be increased. This makes it more difficult to avoid being followed by the pursuit drone 1101, increasing the difficulty of the game and making it more exciting.

[0543] Also, if the acquired score falls below a certain score one minute after the start of the game (for example, -50 points, instead of a maximum of -60 points in one minute due to point deductions), it may be assumed that the pilot's level is low (beginner level), and the flight speed may be reduced. This makes it easier (simpler) to avoid being followed by the pursuit drone 1101, lowering the difficulty of the game and making it possible for even beginners to enjoy the game.

[0544] 11, there is one pursuit drone 1101, but there may be multiple pursuit drones. By having multiple pursuit drones pursue one controlled drone 1102, the difficulty of the game can be increased.

[0545] The score acquisition game system 1100 includes a display device that displays images. The display device may be included in the controller 1104, or may be a display device connectable to the controller 1104 (for example, a smartphone or tablet terminal device). It may also be a communicable information processing device (notebook PC), display (television), projector, or the like. These display devices may be located near the controller, or may be provided in a remote location connected via a network.

[0546] In addition, the controller 1104 itself may be an information processing terminal device (such as a smartphone or tablet terminal device) with a control application installed, thereby eliminating the need for a dedicated controller 1104.

[0547] The display device may be a goggle-type display device (VR (Virtual Reality) goggles) worn by the operator.

[0548] The pursuit drone 1101 and the control drone 1102 are equipped with cameras that take pictures of each other's drones during the game. Then, the video information related to the taken video is wirelessly transmitted to the display device. The display device displays the received video.

[0549] In addition, the pursuit drone 1101 and the control drone 1102 wirelessly transmit stored score information to the display device. The display device can display the score on the display screen in real time based on the received score information.

[0550] This allows the state of the chase by the pursuit drone 1101 and the control drone 1102 and the game situation (score situation, etc.) to be seen on the display device. In particular, even if the drones are flying at a distance from the operator and are difficult to see with the naked eye, the game situation can be grasped more accurately by looking at the image displayed on the display device. In addition, the game situation can be viewed from a remote location via a network.

[0551] Moreover, a camera is mounted on the photographing drone 1103, which is an example of a third unmanned aerial vehicle, and the camera photographs at least one of the pursuit drone 1101 and the pilot drone 1102 during the game. Then, the camera wirelessly transmits video information related to the photographed video to the display device. The display device displays the received video.

[0552] In this way, using this point-earning game system 1100, a point-earning game can be played by piloting the pilot drone 1102. By making the flight conditions of the pursuit drone 1101 the same, a remote competition can be held. Participants can be invited from all over the world. The system can also be applied to certification tests for drone piloting skills.

[0553] Unlike virtual e-sports using computer programs, you can experience the fun of piloting an actual drone.

[0554] (Flight of Pursuit Drone 1101) Next, the flight of the pursuit drone 1101 will be explained.

[0555] In this score-earning game system 1100, when the game starts, the pursuit drone 1101 obtains position information and drive control information of the current position of the piloted drone 1102 from the piloted drone 1102.

[0556] Specifically, the piloted drone 1102 acquires position information of its own current position, and transmits the acquired position information and drive control information of its own aircraft to the pursuit drone 1101 at predetermined time intervals. The pursuit drone 1101 then acquires its own position information, and determines its own flight pattern based on the acquired position information of its own aircraft and the position information and drive control information of the piloted drone 1102 received from the piloted drone 1102.

[0557] The location information acquired by the pursuit drone 1101 and the piloting drone 1102 may specifically be, for example, latitude and longitude information and altitude information calculated by a GPS (Global Positioning System).

[0558] The drive control information of the controlled drone 1102 acquired by the pursuit drone 1101 may specifically be, for example, a control signal that controls the drive of a motor that rotates the propellers 201a to 201d shown in FIG. 2 that drive the controlled drone 1102. By doing so, it is possible to predict the flight path and flight speed of the controlled drone 1102. Then, from the predicted flight path and flight speed, it is possible to calculate a flight pattern that will result in approach or collision with the controlled drone 1102.

[0559] In addition, the pursuit drone 1101 may be equipped with an objective sensor that measures the distance to the controlled drone 1102, and may determine or change the flight pattern of the subject drone based on the acquired position information of the subject drone, the position information of the controlled drone 1102 and the drive control information of the controlled drone 1102 received from the controlled drone 1102, and the distance to the controlled drone 1102 measured by the objective sensor. By also referring to the distance to the controlled drone 1102 measured by the objective sensor, a flight pattern that can more reliably prevent approach or collision with the controlled drone 1102 can be calculated.

[0560] In addition, the appearances of the pursuit drone 1101, the piloting drone 1102, and the photographing drone 1103 are the same as those shown in Figure 2, so illustrations and descriptions thereof will be omitted.

[0561] In addition, the hardware configurations of the pursuit drone 1101, the piloting drone 1102, and the photographing drone 1103 are the same as those shown in Figure 3, so illustration and description thereof will be omitted.

[0562] In addition, the hardware configuration of the controller 1104 that controls the controller drone 1102 is similar to that shown in Figure 4, so illustration and description thereof will be omitted.

[0563] The functional configuration of the point acquisition game system 1100 is similar to that shown in FIGS. 5A and 5B, and therefore illustration and description thereof will be omitted.

[0564] (Processing procedure for the first unmanned aerial vehicle (pursuit drone 1101)) Next, the processing procedure of the pursuit drone 1101, which is an example of the first unmanned aerial vehicle, will be described.

[0565] FIG. 12 is a flowchart showing the processing procedure of the first unmanned aerial vehicle (pursuit drone 1101) according to another embodiment (embodiment 2) of the present invention.

[0566] In the flowchart of FIG. 12, the pursuit drone 1101 hovers at a predetermined position (for example, a position at a predetermined altitude and a predetermined distance away from the piloted aircraft 1104) (step S1201).

[0567] Next, it is determined whether or not the game has started (step S1202). Until the game starts, the drone remains stationary (hovering) at a specified three-dimensional position. Here, it waits for the game to start (step S1202: No), and if the game has started (step S1202: Yes), it calculates the direction in which the pilot drone 1102 is located relative to the pursuit drone 1101 and the distance from the pursuit drone 1101 using the objective sensor 306, etc. (step S1203).

[0568] Next, based on the calculated direction and distance, the flight direction is determined to be the direction in which approach or collision with the piloted drone 1102 is possible, and the flight speed is also determined (step S1204).

[0569] Here, when determining the flight direction and flight speed, the driving information of the controlled drone 1102 received from the controlled drone 1102 may be referenced to determine a direction in which approach or collision with the controlled drone 1102 is possible.

[0570] Then, based on the determined flight direction and speed, the pursuit drone 1101 generates and outputs driving information for the drone itself (step S1205). As a result, the pursuit drone 1101 moves in a flight direction and speed that will result in approach or collision.

[0571] In this state, it is determined whether or not a predetermined time has elapsed (step S1206). Here, it waits for the predetermined time (for example, 1 second) to elapse (step S1206: No), and if the predetermined time has elapsed (step S1206: Yes), it is then determined whether or not the game is over (step S1207).

[0572] For example, it can be determined that the game is over when a predetermined time has elapsed since the start of the game or when a predetermined score has been reached.

[0573] If the game is not over (step S1207: No), the process returns to step S1203. Then, the process again calculates the direction in which the controlled drone 1102 is located relative to the pursuit drone 1101 and the distance from the pursuit drone 1101. After that, the process of steps S1203 to S1207 is repeated.

[0574] In this way, the pursuit drone 1101 calculates the direction and distance of the controlled drone 1102 at predetermined time (1 second) intervals until the game ends, and continues to change its flight direction and flight speed each time, thereby allowing it to continue pursuing (tracking) the controlled drone 1102.

[0575] In step S1207, if the game is over (step S1207: Yes), the series of processes ends.

[0576] (Procedure of the scoring game system 1100) Next, the processing procedure of the point acquisition game system 1100 will be described.

[0577] 13, 14 and 15 are flow charts showing the processing steps of a point acquisition game system according to another embodiment (embodiment 2) of the present invention.

[0578] 13, first, it is determined whether or not the game has started (step S1301). Here, the process waits for the game to start (step S1301: No), and if the game has started (step S1301: Yes), the process starts a game timer (step S1302).

[0579] Then, it is determined whether a predetermined time (for example, 3 minutes) has elapsed since the start of the game timer (step S1303). If the predetermined time has not yet elapsed (step S1303: No), the game is in progress, and the distance between the pursuit drone 1101 and the pilot drone 1102 is measured (step S1304).

[0580] Then, based on the measurement result, it is determined whether the distance between the two drones is within a predetermined distance (for example, within 20 cm) (step S1305). If it is within the predetermined distance (step S1305: Yes), it is determined that the drone is being pursued, and a deduction process is performed (step S1306). In other words, the stored score information is rewritten so that the deduction points are subtracted from the stored score.

[0581] On the other hand, if the distance is not within the predetermined distance (step S1305: No), it is determined whether the distance is outside the predetermined distance (for example, 40 cm or more) (step S1307). If the distance is outside the predetermined distance (step S1307: Yes), a point addition process is performed (step S1308). That is, the stored score is added to the stored score by adding the added score. If it is determined in step S1307 that the point is not outside the predetermined distance (step S1307: No), the process proceeds to step S1310 without doing anything.

[0582] Next, it is determined whether the score related to the stored score information has reached a predetermined score (step S1309). If the score has not reached the predetermined score (step S1309: No), the process waits for a predetermined time (e.g., 0.1 seconds) to elapse (step S1310: No), and if the predetermined time has elapsed (step S1310: Yes), the process returns to step S1303. After that, the processes of steps S1303 to S1310 are repeated.

[0583] In step S1309, if a predetermined score is reached (step S1309: Yes), the game is ended (game over), and the game timer time at the time the predetermined score is reached is output (step S1311). Then, the score related to the stored score information is output (step S1312). This makes it possible to notify the operator of the game duration and score until the game is over.

[0584] In step S1303, if a predetermined time (e.g., 3 minutes) has elapsed since the start of the game timer (step S1303: Yes), the game is ended (game over), and the score related to the stored score information is output (step S1312). This makes it possible to notify the pilot of the score. In this way, a series of drone processes is completed.

[0585] This series of scoring processes may be performed by the pursuit drone 1101 or by the pilot drone 1102. In addition, the pursuit drone 1101 and the pilot drone 1102 may each perform the processes separately, or the processes may be distributed and each drone may share the distributed processes.

[0586] 14, first, it is determined whether or not the game has started (step S1401). Here, the process waits for the game to start (step S1401: No), and if the game has started (step S1401: Yes), the process starts a game timer (step S1402).

[0587] Then, it is determined whether a predetermined time (for example, 3 minutes) has elapsed since the start of the game timer (step S1403). If the predetermined time has not yet elapsed (step S1403: No), the game is in progress, and the distance between the pursuit drone 1101 and the pilot drone 1102 is measured (step S1404).

[0588] Then, based on the measurement result, it is determined whether the distance between the two drones is outside the predetermined distance (for example, 40 cm or more) (step S1405). If it is outside the predetermined distance (step S1405: Yes), the point deduction counter is reset (step S1406) and the point addition counter is incremented by +1 (step S1407).

[0589] Then, it is determined whether the counter value of the point addition counter has reached a predetermined value (for example, "10") (step S1408). If the counter value of the point addition counter has not reached the predetermined value (step S1408: No), the process proceeds to step S1416.

[0590] On the other hand, if the counter value of the point addition counter has reached the predetermined value (step S1408: Yes), a point addition process is performed (step S1409). That is, the stored score information is rewritten so that the acquired points are added to the stored points. Then, the point addition counter is reset. Then, the process proceeds to step S1415.

[0591] In step S1405, if the distance between the drones is not outside the predetermined distance (step S1405: No), then it is determined whether the distance between the drones is within the predetermined distance (for example, within 40 cm) (step S1410). If it is within the predetermined distance (step S1410: Yes), the point addition counter is reset (step S1411) and the point subtraction counter is incremented by +1 (step S1412).

[0592] Then, it is determined whether the counter value of the point deduction counter has reached a predetermined value (for example, "10") (step S1413). If the counter value of the point deduction counter has not reached the predetermined value (step S1413: No), the process proceeds to step S1416.

[0593] On the other hand, if the counter value of the counter has reached the predetermined value (step S1413: Yes), a point deduction process is performed (step S1414). That is, the stored score information is rewritten so that the deduction point is subtracted from the score related to the stored score information.

[0594] Then, the demerit counter is reset. If it is determined in step S1410 that the distance is not within the predetermined distance (step S1410: No), the process proceeds to step S1416 without carrying out any steps.

[0595] Next, it is determined whether the score related to the stored score information has reached a predetermined score (step S1415). If the predetermined score has not been reached (step S1415: No), the process waits for a predetermined time (e.g., 0.1 seconds) to elapse (step S1416: No), and if the predetermined time has elapsed (step S1416: Yes), the process returns to step S1403. After that, the processes of steps S1403 to S1416 are repeated.

[0596] In step S1415, if a predetermined score is reached (step S1415: Yes), the game is ended (game over), and the game timer time at the time the predetermined score is reached is output (step S1417). Then, the score related to the stored score information is output (step S1418). This makes it possible to notify the operator of the game duration and score until the game is over.

[0597] In step S1403, if a predetermined time (e.g., 3 minutes) has elapsed since the start of the game timer (step S1403: Yes), the game is ended (game over) and the score related to the stored score information is output (step S1418). This makes it possible to notify the operator of the score.

[0598] This completes the drone's processing sequence.

[0599] This series of scoring processes may be performed by the pursuit drone 1101 or by the pilot drone 1102. In addition, the pursuit drone 1101 and the pilot drone 1102 may each perform the processes separately, or the processes may be distributed and each drone may share the distributed processes.

[0600] 15, first, it is determined whether or not a collision has been detected during the game (step S1501). Here, the collision may be a collision between drones, or may be a collision with another obstacle.

[0601] Then, the process waits for a collision to be detected (step S1501: No), and if a collision is detected (step S1501: Yes), the degree of the collision is calculated (step S1502). Next, based on the calculated degree of the collision, a deducted or added point is calculated (step S1503).

[0602] Specifically, the greater the degree of collision (impact), the higher the deduction points, and the smaller the degree of collision (impact), the lower the deduction points. In addition, when the degree of collision is extremely small (just a scrape), the collision may be avoided at the last moment and may be subject to additional points. In other words, the pilot 1105 may be able to earn points by performing advanced maneuvering (skill) such as intentionally causing the pilot drone 1102 to scrape against the pursuit drone 1101.

[0603] This technique requires advanced technique as there is a risk of points being deducted depending on the degree of collision, and can earn bonus points.

[0604] Then, the score is updated (step S1504). That is, the stored score information is rewritten so that the score related to the stored score information is increased or decreased by the calculated increase or decrease number of points. This ends the series of processes.

[0605] This completes the drone's processing sequence.

[0606] This series of scoring processes may be performed by the pursuit drone 1101 or by the pilot drone 1102. In addition, the pursuit drone 1101 and the pilot drone 1102 may each perform the processes separately, or the processes may be distributed and each drone may share the distributed processes.

[0607] As described above, the score acquisition game system 1100 of the second embodiment of the present invention includes the pursuit drone 1101 that flies in a predetermined space by automatic control, the controlled drone 1102 that flies in a predetermined space by manual control, and the control device 1104 that wirelessly controls the controlled drone 1102. The controlled drone 1102 is controlled by the control device 1104 operated by the pilot 1105 to avoid the pursuing drone 1101 that is following, and points are acquired according to the degree of the avoidance. Since the score information related to the acquired points is stored in at least one of the pursuit drone 1101 and the controlled drone 1102, the player can enjoy the game of piloting the controlled drone 1102 to avoid the pursuing drone 1101 and acquire points by himself. In addition, the player can improve his drone piloting skills while enjoying the game.

[0608] In addition, the score-earning game system 1100 of the second embodiment of the present invention, in the above invention, is equipped with an object sensor 306 in at least one of the pursuit drone 1101 and the controlled drone 1102, and the object sensor 306 detects the distance between the pursuit drone 1101 and the controlled drone 1102 at predetermined time intervals, and based on the detection result of the object sensor 306, when the distance between the pursuit drone 1101 and the controlled drone 1102 becomes a predetermined distance or more after the start of the game, a predetermined score is earned according to the frequency of such distance, so that the degree of evasion of the controlled drone 1102 against the pursuit drone 1101 can be efficiently scored.

[0609] In addition, the score-earning game system 1100 of the second embodiment of the present invention, in the above invention, is equipped with an object sensor 306 in at least one of the pursuit drone 1101 and the controlled drone 1102, and the object sensor 306 detects the distance between the pursuit drone 1101 and the controlled drone 1102 at predetermined time intervals. Based on the detection result of the object sensor 306, when the time during which the pursuit drone 1101 and the controlled drone 1102 are apart from each other by a predetermined distance or more continuously reaches a predetermined time after the start of the game, a predetermined score is earned according to the time of separation. Therefore, from another perspective, the degree of evasion of the controlled drone 1102 against the pursuit drone 1101 can be efficiently scored.

[0610] In addition, in the score-earning game system 1100 of the second embodiment of the present invention, in the above-mentioned invention, at least one of the pilot device 1104, the pursuit drone 1101, and the piloted drone 1102 is provided with a lamp, and when the distance between the pursuit drone 1101 and the piloted drone 1102 becomes a predetermined distance or more, the lamp is turned on or blinks, thereby more reliably notifying the player that a point has been earned.

[0611] In addition, the score-earning game system 1100 of the second embodiment of the present invention, in the above-mentioned invention, is equipped with speakers 203, 407 in at least one of the pilot device 1104, the pursuit drone 1101 and the piloted drone 1102, and when the distance between the pursuit drone 1101 and the piloted drone 1102 becomes a predetermined distance or more, a predetermined sound is output from the speakers 203, 407, so that it is possible to more reliably notify the player that a point has been earned.

[0612] In addition, the score-earning game system 1100 of the second embodiment of the present invention, in the above invention, is equipped with an object sensor 306 in at least one of the pursuit drone 1101 and the controlled drone 1102, and the object sensor 306 detects the distance between the pursuit drone 1101 and the controlled drone 1102 at predetermined time intervals, and based on the detection result of the object sensor 306, if the pursuit drone 1101 and the controlled drone 1102 come within a predetermined distance after the start of the game, a predetermined score is deducted according to the frequency of such approach. Therefore, from another perspective, the degree of evasion of the controlled drone 1102 against the pursuit drone 1101 can be efficiently scored.

[0613] In addition, the score-earning game system 1100 of the second embodiment of the present invention, in the above invention, is equipped with an object sensor 306 in at least one of the pursuit drone 1101 and the controlled drone 1102, and the object sensor 306 detects the distance between the pursuit drone 1101 and the controlled drone 1102 at predetermined time intervals, and based on the detection result of the object sensor 306, if the time during which the pursuit drone 1101 and the controlled drone 1102 are within a predetermined distance continuously reaches a predetermined time after the start of the game, a predetermined number of points is deducted according to the time of such close proximity, so that from another perspective, the degree of evasion of the controlled drone 1102 against the pursuit drone 1101 can be efficiently scored.

[0614] In addition, in the score-earning game system 1100 of the second embodiment of the present invention, in the above-mentioned invention, at least one of the pilot device 1104, the pursuit drone 1101, and the piloted drone 1102 is provided with a lamp, and when the distance between the pursuit drone 1101 and the piloted drone 1102 comes within a predetermined distance, the lamp is turned on or flashes, thereby more reliably informing the player that points have been deducted.

[0615] In addition, the score-earning game system 1100 of the second embodiment of the present invention, in the above invention, is equipped with speakers 203, 407 in at least one of the pilot device 1104, the pursuit drone 1101 and the piloted drone 1102, and when the distance between the pursuit drone 1101 and the piloted drone 1102 comes within a predetermined distance, a predetermined sound is output from the speakers 203, 407, so that it is possible to more reliably notify that points have been deducted.

[0616] In addition, in the score-earning game system 1100 of the second embodiment of the present invention, in the above invention, at least one of the pursuit drone 1101 and the controlled drone 1102 is equipped with an acceleration sensor, and the acceleration sensor detects a collision between the pursuit drone 1101 and the controlled drone 1102, and based on the detection result of the acceleration sensor, if the pursuit drone 1101 and the controlled drone 1102 collide after the game starts, a predetermined number of points is deducted. Therefore, from another perspective, the degree of evasion of the controlled drone 1102 against the pursuit drone 1101 can be efficiently scored.

[0617] In addition, in the score-earning game system 1100 of the second embodiment of the present invention, in the above invention, at least one of the pursuit drone 1101 and the piloted drone 1102 is equipped with an acceleration sensor, and the acceleration sensor detects a collision between the pursuit drone 1101 and the piloted drone 1102. Based on the detection result of the acceleration sensor, a predetermined number of points are earned when the pursuit drone 1101 and the piloted drone 1102 collide after the start of the game. Therefore, from another perspective, the degree of evasion of the piloted drone 1102 against the pursuit drone 1101 and the level of piloting skill can be efficiently scored.

[0618] In addition, the score-earning game system 1100 of the second embodiment of the present invention, in the above invention, is provided with a lamp in at least one of the piloted device 1104, the pursuit drone 1101, and the piloted drone 1102, and when the pursuit drone 1101 and the piloted drone 1102 collide, the lamp is turned on or flashes, thereby more reliably notifying the user that the pursuit drone 1101 and the piloted drone 1102 have collided.

[0619] In addition, the score-earning game system 1100 of the second embodiment of the present invention, in the above invention, is equipped with speakers 203, 407 in at least one of the piloted device 1104, the pursuit drone 1101 and the piloted drone 1102, and when the pursuit drone 1101 and the piloted drone 1102 collide, a predetermined sound is output from the speakers 203, 407, so that a collision between the pursuit drone 1101 and the piloted drone 1102 can be more reliably notified.

[0620] In addition, the score-earning game system 1100 of the second embodiment of the present invention, in the above invention, is equipped with a timer in at least one of the pilot device 1104, the pursuit drone 1101, and the piloted drone 1102, and the timer measures time after the game starts, and when the timer's measured time reaches a predetermined time, the game ends and score information stored in at least one of the pursuit drone 1101 and the piloted drone 1102 is output, so that it is possible to know how many points have been earned in a specified time.

[0621] In addition, in the score-earning game system 1100 of the second embodiment of the present invention, when the timer reaches a predetermined time, score information stored in at least one of the pursuit drone 1101 and the piloting drone 1102 is acquired, and if the score reaches a predetermined value based on the acquired score information, the game is extended for a predetermined time, and if the score does not reach the predetermined value, the game is ended. Therefore, by acquiring points, bonus time can be acquired, allowing the player to aim for a higher score.

[0622] In addition, the score acquisition game system 1100 of the second embodiment according to the present invention is provided with a timer in at least one of the pilot device 1104, the pursuit drone 1101, and the pilot drone 1102 in the above invention, and the timer measures time after the game starts, and when the score reaches a predetermined value based on the score information stored in at least one of the pursuit drone 1101 and the pilot drone 1102, the game ends and the timer's measured time is output, so that a time trial can be held to see how quickly a predetermined score can be acquired. Also, if the player's level of proficiency in the game is low, the game ends earlier than the normal game time, so a new game can be started immediately, and the player's level of proficiency can be improved by repeating the game.

[0623] In addition, in the score-earning game system 1100 of the second embodiment of the present invention, in the above invention, the pursuit drone 1101 changes its flight speed during the game based on the points earned, so that the difficulty of the game can be changed during the game.

[0624] Furthermore, in the score-earning game system 1100 of the second embodiment of the present invention, in the above-mentioned invention, when the acquired score reaches or exceeds a predetermined score, the flight speed is increased, so that the difficulty level of the game can be increased for advanced players during the game.

[0625] Furthermore, in the score-earning game system 1100 of the second embodiment of the present invention, in the above-mentioned invention, when the earned score falls below a predetermined score, the flight speed is reduced, so that the difficulty level of the game can be reduced for beginners during the game.

[0626] In addition, the score-earning game system 1100 of the second embodiment of the present invention, in the above-mentioned invention, is equipped with a display device for displaying images, and at least one of the pursuit drone 1101 and the piloted drone 1102 is equipped with a camera, and at least one of the first unmanned aerial vehicle and the piloted drone 1102 wirelessly transmits image information relating to the images captured by the camera during the game to the display device, and the display device displays the received images, thereby enabling the piloted drone 1102 to reliably grasp the situation of evasion against the pursuit drone 1101.

[0627] In addition, the score-earning game system 1100 of the second embodiment of the present invention, in the above invention, is equipped with a photography drone 1103 that flies around the pursuit drone 1101 or the piloting drone 1102 by automatic control and is equipped with a camera that photographs at least one of the pursuit drone 1101 and the piloting drone 1102, and the photography drone 1103 wirelessly transmits video information related to the image captured by the camera during the game to the display device, and the display device displays the received image, so that the situation of the piloting drone 1102's evasion of the pursuit drone 1101 can be reliably grasped.

[0628] In addition, in the score-earning game system 1100 of the second embodiment of the present invention, in the above invention, at least one of the pursuit drone 1101 and the piloting drone 1102 wirelessly transmits stored score information to the display device, and the display device displays the received score information, so that the score situation during the game can be grasped.

[0629] In addition, in the score acquisition game system 1100 of the second embodiment of the present invention, in the above invention, the display device is provided in the controller 1104, so that the operator 1105 can check the content displayed on the display device at hand.

[0630] In addition, in the score-earning game system 1100 of the second embodiment of the present invention, in the above invention, the display device is a goggle-type display device worn by the pilot 1105, so that the pilot 1105 can grasp the tracking situation of the pursuit drone 1101 as if he or she were on board the piloted drone 1102.

[0631] In addition, in the score-earning game system 1100 of the second embodiment of the present invention, in the above invention, the piloted drone 1102 acquires position information of its own aircraft's current position and transmits the position information and drive control information of its own aircraft to the pursuit drone 1101, and the pursuit drone 1101 acquires position information of its own aircraft and determines or changes its own aircraft's flight pattern based on the acquired position information of its own aircraft and the position information and drive control information of the piloted drone 1102 received from the piloted drone 1102, so that the pursuit drone 1101 can determine its own aircraft's flight pattern after understanding the movements of the piloted drone 1102.

[0632] In addition, in the score acquisition game system 1100 of the second embodiment according to the present invention, in the above invention, the pursuit drone 1101 is equipped with an object sensor 306 that measures the distance to the controlled drone 1102, and determines the flight pattern of the own drone based on the acquired position information of the own drone, the position information and drive control information of the controlled drone 1102 received from the controlled drone 1102, and the distance to the controlled drone 1102 measured by the object sensor 306. The pursuit drone 1101 can determine its own flight pattern after grasping the approaching situation of the pilot drone 1102.

[0633] In addition, in the score-earning game system 1100 of the second embodiment of the present invention, in the above invention, the flight pattern is a flight pattern of approaching or colliding with the controlled drone 1102, making it difficult for the controlled drone 1102 to approach the pursuit drone 1101, thereby increasing the difficulty of the game.

[0634] In addition, in the score acquisition game system 1100 of the second embodiment of the present invention, in the above invention, the location information is latitude / longitude information and altitude information calculated by GPS (Global Positioning System), so that more accurate location information can be obtained.

[0635] In addition, in the score-earning game system 1100 of the second embodiment of the present invention, in the above invention, the drive control information is a control signal that controls the drive of the motor that rotates the propellers 201a to 201d that drive the controlled drone 1102, so that the pursuit drone 1101 can more accurately grasp the movement (flight) of the controlled drone 1102.

[0636] In the score acquisition game system 1100 of the second embodiment of the present invention, the controller 1104 in the above-described invention is an information processing terminal device equipped with a display screen, so that there is no need to prepare a dedicated controller 1104 .

[0637] In addition, the unmanned aerial vehicle (pursuit drone 1101) of embodiment 2 of the present invention is a pursuit drone 1101 used in a score-gathering game, which flies within a specified space by automatic control, and acquires its own position information, and determines or changes its own flight pattern based on the acquired position information of its own vehicle, as well as the position information of the piloted drone 1102 that flies within a specified space by manual control and the drive control information of the piloted drone 1102.Therefore, it is possible to determine the flight pattern of its own vehicle after understanding the movement (flight) of the piloted drone 1102.

[0638] In addition, the unmanned aerial vehicle (pursuit drone 1101) of embodiment 2 of the present invention, in the above invention, is equipped with an object sensor 306 that measures the distance to the controlled drone 1102, and determines or changes the flight pattern of the own aircraft based on the acquired position information of the own aircraft, the position information of the controlled drone 1102 and drive control information of the controlled drone 1102 received from the controlled drone 1102, and the distance to the controlled drone 1102 measured by the object sensor 306, so that the flight pattern of the own aircraft can be determined after understanding the approach situation of the controlled drone 1102.

[0639] In addition, the unmanned aerial vehicle (pursuit drone 1101) of embodiment 2 of the present invention, in the above invention, has a flight pattern of approaching or colliding with the controlled drone 1102, making it difficult for the controlled drone 1102 to approach the pursuit drone 1101, thereby increasing the difficulty of the game.

[0640] In addition, in the unmanned aerial vehicle (pursuit drone 1101) of embodiment 2 of the present invention, in the above invention, the location information is latitude and longitude information and altitude information calculated by GPS (Global Positioning System), so that more accurate location information can be obtained.

[0641] In addition, in the unmanned aerial vehicle (pursuit drone 1101) according to the second embodiment of the present invention, in the above invention, the drive control information is provided to the propellers 201a to 201b that drive the pilot drone 1102. Since this is a control signal that controls the drive of the motor that rotates 201d, the pursuit drone 1101 can more accurately grasp the movement (flight) of the piloted drone 1102.

[0642] In addition, the control method of embodiment 2 of the present invention is a control method for an unmanned aerial vehicle (pursuit drone 1101) used in a score-gaining game, which flies within a specified space by automatic control, and acquires position information of the own aircraft, and determines or changes the flight pattern of the own aircraft based on the acquired position information of the own aircraft, as well as position information of the controlled drone 1102 received from a controlled drone 1102 flying within a specified space by manual control and drive control information of the controlled drone 1102, so that the flight pattern of the own aircraft can be determined after understanding the movement (flight) of the controlled drone 1102.

[0643] In addition, in the control method of embodiment 2 of the present invention, in the above invention, the distance to the controlled drone 1102 is measured, and the flight pattern of the own aircraft is determined or changed based on the obtained position information of the own aircraft, the position information of the controlled drone 1102 and the drive control information of the controlled drone 1102 received from the controlled drone 1102, and the measured distance to the controlled drone 1102, so that the flight pattern of the own aircraft can be determined after understanding the approach situation of the controlled drone 1102.

[0644] In addition, in the control method of embodiment 2 of the present invention, in the above invention, the flight pattern is a flight pattern of approaching or colliding with the controlled drone 1102, making it difficult for the controlled drone 1102 to approach the pursuit drone 1101, thereby increasing the difficulty of the game.

[0645] In addition, in the control method of embodiment 2 of the present invention, in the above invention, the location information is latitude / longitude information and altitude information calculated by GPS (Global Positioning System), so that more accurate location information can be obtained.

[0646] In addition, in the control method of embodiment 2 of the present invention, in the above invention, the drive control information is a control signal that controls the drive of the motor that rotates the propellers 201a to 201d that drive the controlled drone 1102, so that the pursuit drone 1101 can more accurately grasp the movement (flight) of the controlled drone 1102.

[0647] In addition, the control program of embodiment 2 of the present invention is a control program for an unmanned aerial vehicle used in a score-winning game, which flies within a specified space by automatic control, and acquires position information of the vehicle itself, and causes the unmanned aerial vehicle to execute a process to determine or change the flight pattern of the vehicle itself based on the acquired position information of the vehicle itself, as well as position information of the controlled drone 1102 that flies within a specified space by manual control and drive control information of the controlled drone 1102, and is able to determine the flight pattern of the vehicle itself after understanding the movement (flight) of the controlled drone 1102.

[0648] In addition, in the above invention, the control program of embodiment 2 of the present invention measures the distance to the controlled drone 1102, and determines or changes the flight pattern of the own aircraft based on the acquired position information of the own aircraft, the position information of the controlled drone 1102 and the drive control information of the controlled drone 1102 received from the controlled drone 1102, and the measured distance to the controlled drone 1102, so that the flight pattern of the own aircraft can be determined after understanding the approach situation of the controlled drone 1102.

[0649] In addition, the control program of the second embodiment of the present invention is a flight pattern in the above invention that approaches the controlled drone 1102 or collides with the controlled drone 1102, so that it is difficult for the controlled drone 1102 to approach the pursuit drone 1101. This allows you to increase the difficulty of the game.

[0650] In addition, in the control program of the second embodiment of the present invention, in the above invention, the location information is latitude / longitude information and altitude information calculated by GPS (Global Positioning System), so that more accurate location information can be obtained.

[0651] In addition, in the control program of embodiment 2 of the present invention, in the above invention, the drive control information is a control signal that controls the drive of the motor that rotates the propellers 201a to 201d that drive the controlled drone 1102, so that the pursuit drone 1101 can more accurately grasp the movement (flight) of the controlled drone 1102.

[0652] The control method described in this embodiment can be realized by executing a prepared control program on a computer included in the unmanned aerial vehicle. This program is recorded on a computer-readable recording medium such as a hard disk, a flexible disk, a CD-ROM, an MO, or a DVD, and is executed by being read from the recording medium by the computer. This program may also be a transmission medium that can be distributed via a network such as the Internet.

[0653] The contents of the second embodiment will be described below as an addendum.

[0654] (Appendix 1) A first unmanned aerial vehicle that flies within a predetermined space by autopilot; A second unmanned aerial vehicle that flies within a predetermined space by manual control; A controller that wirelessly controls the second unmanned aerial vehicle; A point acquisition game system comprising: A score-earning game system characterized in that a pilot operates the control device to pilot the second unmanned aerial vehicle, avoid the following first unmanned aerial vehicle, earn points according to the degree of said avoidance, and store score information related to the earned points in at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle.

[0655] (Appendix 2) At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is provided with an objective sensor; The objective sensor detects a distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined time intervals; The score-earning game system described in Appendix 1 is characterized in that, based on the detection results of the objective sensor, when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle becomes greater than a predetermined distance after the start of the game, a predetermined score is earned according to the frequency of such distance.

[0656] (Appendix 3) At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is provided with an objective sensor; The objective sensor detects a distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined time intervals; The score-earning game system described in Appendix 1 is characterized in that, based on the detection results of the objective sensor, when the time during which the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle is greater than a predetermined distance continues for a predetermined period of time after the start of the game, a predetermined score is earned according to the time during which they are apart.

[0657] (Appendix 4) a lamp is provided on at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle; A score-earning game system as described in Appendix 2 or 3, characterized in that the lamp is turned on or flashes when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle becomes greater than a predetermined distance.

[0658] (Appendix 5) At least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle is provided with a speaker; A score-earning game system described in any one of Appendices 2 to 4, characterized in that a predetermined sound is output from the speaker when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle becomes greater than a predetermined distance.

[0659] (Appendix 6) At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is provided with an objective sensor; The objective sensor detects a distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined time intervals; A score-earning game system as described in Appendix 1 or 2, characterized in that, based on the detection results of the objective sensor, if the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle comes within a predetermined distance after the start of the game, a predetermined number of points is deducted depending on the frequency of such close proximity.

[0660] (Appendix 7) At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is provided with an objective sensor; The objective sensor detects a distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined time intervals; A score-earning game system as described in Appendix 1 or 3, characterized in that, based on the detection results of the objective sensor, if the time during which the first unmanned aerial vehicle and the second unmanned aerial vehicle are within a predetermined distance continuously reaches a predetermined time after the start of the game, a predetermined number of points are deducted according to the time of such close proximity.

[0661] (Appendix 8) a lamp is provided on at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle; A score-earning game system as described in Appendix 6 or 7, characterized in that the lamp is turned on or flashes when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle comes within a predetermined distance.

[0662] (Appendix 9) At least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle is provided with a speaker; A score-earning game system described in any one of Appendices 6 to 8, characterized in that when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle comes within a predetermined distance, a predetermined sound is output from the speaker.

[0663] (Appendix 10) At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is provided with an acceleration sensor. Equipped with a the acceleration sensor detects a collision between the first unmanned aerial vehicle and the second unmanned aerial vehicle; A score-earning game system described in any one of Appendices 1 to 9, characterized in that a predetermined number of points are deducted if the first unmanned aerial vehicle and the second unmanned aerial vehicle collide after the start of the game, based on the detection results of the acceleration sensor.

[0664] (Appendix 11) At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is provided with an acceleration sensor; the acceleration sensor detects a collision between the first unmanned aerial vehicle and the second unmanned aerial vehicle; A score-earning game system described in any one of Appendices 1 to 9, characterized in that a predetermined score is earned when the first unmanned aerial vehicle and the second unmanned aerial vehicle collide after the start of the game, based on the detection results of the acceleration sensor.

[0665] (Appendix 12) a lamp is provided on at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle; A score-earning game system as described in Appendix 10 or 11, characterized in that the lamp is turned on or flashes when the first unmanned aerial vehicle collides with the second unmanned aerial vehicle.

[0666] (Appendix 13) At least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle is provided with a speaker; A score-earning game system described in any one of Appendices 10 to 12, characterized in that when the first unmanned aerial vehicle and the second unmanned aerial vehicle collide, a predetermined sound is output from the speaker.

[0667] (Appendix 14) a timer is provided on at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle; The timer measures time after the game starts, A score-earning game system described in any one of Appendices 1 to 13, characterized in that when the timer's time reaches a predetermined time, the game is terminated and score information stored in at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is output.

[0668] (Appendix 15) The score-earning game system described in Appendix 14 is characterized in that when the timer reaches a predetermined time, score information stored in at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is obtained, and if the score has reached a predetermined value based on the obtained score information, the game is extended for a predetermined time, and if the score has not reached the predetermined value, the game is ended.

[0669] (Appendix 16) a timer is provided on at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle; The timer measures time after the game starts, stored in at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle, 14. The point-earning game system according to claim 1, wherein, when the point reaches a predetermined value based on the point information stored in the memory, the game ends and the time measured by the timer is output.

[0670] (Appendix 17) 17. The score-earning game system according to any one of claims 1 to 16, wherein during the game, the first unmanned aerial vehicle changes its flight speed based on the score earned.

[0671] (Appendix 18) 18. The point-earning game system according to claim 17, wherein the flying speed is increased when the earned point reaches or exceeds a predetermined point.

[0672] (Appendix 19) 18. The point-earning game system according to claim 17, wherein the flying speed is reduced when the earned point falls below a predetermined point.

[0673] (Appendix 20) A display device for displaying an image is provided, At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with a camera; At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle wirelessly transmits image information related to an image captured by the camera during a game to the display device; 20. The point acquisition game system according to any one of claims 1 to 19, wherein the display device displays the received video.

[0674] (Appendix 21) a third unmanned aerial vehicle equipped with a camera that flies around the first unmanned aerial vehicle or the second unmanned aerial vehicle by automatic pilot and photographs at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle; the third unmanned aerial vehicle wirelessly transmits to the display device image information relating to the image captured by the camera during the game; 21. The point acquisition game system according to any one of claims 1 to 20, wherein the display device displays the received video.

[0675] (Appendix 22) at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle wirelessly transmits stored score information to the display device; 22. The score acquisition game system according to claim 20 or 21, wherein the display device displays the received score information.

[0676] (Appendix 23) 23. The point acquisition game system according to any one of claims 20 to 22, wherein a display device is provided on the controller.

[0677] (Appendix 24) 23. The point acquisition game system according to any one of claims 20 to 22, wherein the display device is a goggle-type display device worn by the operator.

[0678] (Appendix 25) The second unmanned aerial vehicle acquires location information of its current location, Transmitting the position information and the drive control information of the first unmanned aerial vehicle to the first unmanned aerial vehicle; A score-earning game system described in any one of Appendices 1 to 24, characterized in that the first unmanned aerial vehicle acquires its own position information, and determines or changes its own flight pattern based on the acquired position information of its own vehicle and the position information and drive control information of the second unmanned aerial vehicle received from the second unmanned aerial vehicle.

[0679] (Appendix 26) the first unmanned aerial vehicle includes an objective sensor that measures a distance to the second unmanned aerial vehicle; A score-earning game system as described in Appendix 25, characterized in that the flight pattern of the aircraft is determined or changed based on the acquired position information of the aircraft, the position information and drive control information of the second unmanned aircraft received from the second unmanned aircraft, and the distance to the second unmanned aircraft measured by the objective sensor.

[0680] (Appendix 27) A score-earning game system as described in Appendix 25 or 26, characterized in that the flight pattern is a flight pattern that approaches or collides with the second unmanned aerial vehicle.

[0681] (Appendix 28) 28. The point acquisition game system according to any one of claims 25 to 27, wherein the location information is latitude / longitude information and altitude information calculated by a GPS (Global Positioning System).

[0682] (Appendix 29) A score-earning game system described in any one of Appendices 25 to 28, characterized in that the drive control information is a control signal that controls the drive of a motor that rotates a propeller that drives the second unmanned aerial vehicle.

[0683] (Appendix 30) 30. The point acquisition game system according to any one of claims 1 to 29, wherein the controller is an information processing terminal device equipped with a display screen.

[0684] (Appendix 31) An unmanned aerial vehicle for use in a point-acquisition game that flies within a predetermined space by automatic control, An unmanned aerial vehicle characterized by acquiring its own position information, and determining or changing its own flight pattern based on the acquired position information, the position information of a manually piloted unmanned aerial vehicle received from a manually piloted unmanned aerial vehicle flying within a specified space by manual control, and the drive control information of the manually piloted unmanned aerial vehicle.

[0685] (Appendix 32) An objective sensor for measuring a distance to the manually-operated unmanned aerial vehicle; An unmanned aerial vehicle as described in Appendix 31, characterized in that it determines or changes its own flight pattern based on the acquired position information of its own aircraft, the position information of the manually piloted unmanned aerial vehicle and drive control information of the manually piloted unmanned aerial vehicle received from the manually piloted unmanned aerial vehicle, and the distance to the manually piloted unmanned aerial vehicle measured by the objective sensor.

[0686] (Appendix 33) The flight pattern is a flight pattern that approaches or collides with the manually piloted unmanned aerial vehicle. 33. An unmanned aerial vehicle as described in appendix 31 or 32, characterized in that

[0687] (Appendix 34) 34. The unmanned aerial vehicle described in any one of appendices 31 to 33, wherein the location information is latitude / longitude information and altitude information calculated by a GPS (Global Positioning System).

[0688] (Appendix 35) An unmanned aerial vehicle described in any one of Appendices 31 to 34, characterized in that the drive control information is a control signal that controls the drive of a motor that rotates a propeller that drives the manually piloted unmanned aerial vehicle.

[0689] (Appendix 36) A method for controlling an unmanned aerial vehicle that flies in a predetermined space by automatic control, for use in a point acquisition game, comprising: A control method characterized by acquiring position information of the own aircraft, and determining or changing the flight pattern of the own aircraft based on the acquired position information of the own aircraft, position information of a manually piloted unmanned aircraft received from a manually piloted unmanned aircraft flying within a specified space by manual control, and drive control information of the manually piloted unmanned aircraft.

[0690] (Appendix 37) Measure the distance to the manually piloted unmanned aerial vehicle; A control method as described in Appendix 36, characterized in that a flight pattern of the own aircraft is determined or changed based on the acquired position information of the own aircraft, the position information of the manually piloted unmanned aircraft and drive control information of the manually piloted unmanned aircraft received from the manually piloted unmanned aircraft, and the measured distance to the manually piloted unmanned aircraft.

[0691] (Appendix 38) The control method described in Appendix 36 or 37, characterized in that the flight pattern is a flight pattern that approaches or collides with the manually piloted unmanned aerial vehicle.

[0692] (Appendix 39) 39. The control method according to any one of claims 36 to 38, wherein the location information is latitude / longitude information and altitude information calculated by a GPS (Global Positioning System).

[0693] (Appendix 40) A control method described in any one of Appendices 36 to 39, characterized in that the drive control information is a control signal that controls the drive of a motor that rotates a propeller that drives the manually operated unmanned aerial vehicle.

[0694] (Appendix 41) A control program for an unmanned aerial vehicle that flies in a predetermined space by automatic control, for use in a point acquisition game, comprising: A control program characterized by acquiring position information of the aircraft itself, and having the unmanned aircraft execute a process of determining or changing the flight pattern of the aircraft based on the acquired position information of the aircraft itself, position information of a manually piloted unmanned aircraft received from a manually piloted unmanned aircraft flying within a specified space by manual control, and drive control information of the manually piloted unmanned aircraft.

[0695] (Appendix 42) Measure the distance to the manually piloted unmanned aerial vehicle; A control program as described in Appendix 41, characterized in that it determines or changes the flight pattern of its own aircraft based on the acquired position information of its own aircraft, the position information of the manually piloted unmanned aircraft and drive control information of the manually piloted unmanned aircraft received from the manually piloted unmanned aircraft, and the measured distance to the manually piloted unmanned aircraft.

[0696] (Appendix 43) The control program described in Appendix 41 or 42, characterized in that the flight pattern is a flight pattern that approaches or collides with the manually piloted unmanned aerial vehicle.

[0697] (Appendix 44) 44. The control program according to any one of appendices 41 to 43, wherein the location information is latitude / longitude information and altitude information calculated by a GPS (Global Positioning System).

[0698] (Appendix 45) A control program described in any one of Appendices 41 to 44, characterized in that the drive control information is a control signal that controls the drive of a motor that rotates a propeller that drives the manually operated unmanned aerial vehicle. [Industrial Applicability]

[0699] As described above, the score-earning game system, unmanned aerial vehicle, control method, and control program of the present invention are useful for a score-earning game system, unmanned aerial vehicle, control method, and control program that can be enjoyed using an unmanned aerial vehicle, and are particularly suitable for a score-earning game system, unmanned aerial vehicle, control method, and control program that can be enjoyed by one person. [Explanation of symbols]

[0700] 100 Points Gaming System 101 Target Drone 102 Pilot Drone 103 Filming Drone 104 Pilot 105 Pilot 201a~201d Propeller 202 Camera 203 Speaker 204 LED Lamp 300 Bus 301 Battery 302 Motor 303 Mike 305 GPS sensor 306 Object Sensor 307 Control Circuit 308 Accelerometer 309 Communication I / F 310 Solar Cell 401 CPU 402 Memory 403 Input Device 404 Communication I / F 405 Display device 406 LED Lamp 407 Speaker 511 Flight Data Acquisition Unit 512 Driving information generation unit 513 Driving information output unit 514 Distance measurement unit 515 Driving information receiving unit 521 Driving information receiving unit 522 Drive information output unit 523 Driving information transmission unit 531 Driving information receiving unit 532 Distance measurement unit 533 Driving Information Generation Unit 534 Driving information output unit 541 Driving information transmission unit 551 Distance measurement unit 552 Collision detection unit 553 Score and deduction determination processing unit 554 Score Memory Unit 555 Score Output Unit 556 Information Department 561 Distance measurement unit 562 Collision Detection Unit 563 Score and deduction determination processing unit 564 Score Memory Unit 565 Score Output Unit 566 Information Department 1100 Points Gaming System 1101 Pursuit Drone 1102 Drone Control 1103 Filming drone 1104 Pilot 1105 Pilot

Claims

1. A first unmanned aerial vehicle that flies within a predetermined space by autopilot; A second unmanned aerial vehicle that flies within a predetermined space by manual control; A controller that wirelessly controls the second unmanned aerial vehicle; A point acquisition game system comprising: A score-earning game system characterized in that a pilot operates the control device to pilot the second unmanned aerial vehicle, avoid the following first unmanned aerial vehicle, earn points according to the degree of said avoidance, and store score information related to the earned points in at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle.

2. At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is provided with an object sensor; The objective sensor detects a distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined time intervals; The score-earning game system described in claim 1, characterized in that, based on the detection results of the objective sensor, when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle becomes greater than a predetermined distance after the start of the game, a predetermined score is earned according to the frequency of such distance.

3. At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is provided with an object sensor; The objective sensor detects a distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined time intervals; The score-earning game system described in claim 1, characterized in that, based on the detection results of the objective sensor, when the time during which the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle is greater than a predetermined distance continues for a predetermined period of time after the start of the game, a predetermined number of points is earned according to the time of separation.

4. a lamp is provided on at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle; 4. The point-acquiring game system according to claim 2 or 3, characterized in that the lamp is turned on or blinks when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle becomes greater than a predetermined distance.

5. a speaker is provided in at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle; A score-earning game system as described in any one of claims 2 to 4, characterized in that a predetermined sound is output from the speaker when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle becomes greater than a predetermined distance.

6. At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is provided with an object sensor; The objective sensor detects a distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined time intervals; The score-earning game system described in claim 1 or 2, characterized in that, based on the detection results of the objective sensor, if the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle comes within a predetermined distance after the start of the game, a predetermined number of points is deducted depending on the frequency of such close proximity.

7. At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is provided with an objective sensor. Equipped with The objective sensor detects a distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined time intervals; A score-earning game system as described in claim 1 or 3, characterized in that, based on the detection results of the objective sensor, when the time during which the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle is within a predetermined distance continuously reaches a predetermined time after the start of the game, a predetermined number of points is deducted according to the time of such close proximity.

8. a lamp is provided on at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle; The score-earning game system according to claim 6 or 7, characterized in that the lamp is turned on or flashes when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle comes within a predetermined distance.

9. a speaker is provided in at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle; A score-earning game system as described in any one of claims 6 to 8, characterized in that when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle comes within a predetermined distance, a predetermined sound is output from the speaker.

10. At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is provided with an acceleration sensor; the acceleration sensor detects a collision between the first unmanned aerial vehicle and the second unmanned aerial vehicle; A score-earning game system as described in any one of claims 1 to 9, characterized in that a predetermined number of points are deducted if the first unmanned aerial vehicle and the second unmanned aerial vehicle collide after the start of the game, based on the detection results of the acceleration sensor.

11. At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is provided with an acceleration sensor; the acceleration sensor detects a collision between the first unmanned aerial vehicle and the second unmanned aerial vehicle; A score-earning game system as described in any one of claims 1 to 9, characterized in that a predetermined score is earned when the first unmanned aerial vehicle and the second unmanned aerial vehicle collide after the start of the game, based on the detection results of the acceleration sensor.

12. a lamp is provided on at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle; 12. The point acquisition game system according to claim 10 or 11, characterized in that, when the first unmanned aerial vehicle and the second unmanned aerial vehicle collide, the lamp is turned on or blinks.

13. a speaker is provided in at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle; A score-earning game system as described in any one of claims 10 to 12, characterized in that when the first unmanned aerial vehicle and the second unmanned aerial vehicle collide, a predetermined sound is output from the speaker.

14. a timer is provided on at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle; The timer measures time after the game starts, A score-earning game system described in any one of claims 1 to 13, characterized in that when the timer's time reaches a predetermined time, the game is ended and score information stored in at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is output.

15. The score-earning game system described in claim 14, characterized in that when the timer's time reaches a predetermined time, score information stored in at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is obtained, and if the score has reached a predetermined value based on the obtained score information, the game is extended for a predetermined time, and if the score has not reached the predetermined value, the game is ended.

16. a timer is provided on at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle; The timer measures time after the game starts, A score-earning game system as described in any one of claims 1 to 13, characterized in that when the score reaches a predetermined value based on score information stored in at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle, the game ends and the measured time of the timer is output.

17. 17. A point-earning game system according to any one of claims 1 to 16, characterized in that during a game, the first unmanned aerial vehicle changes its flight speed based on the points earned.

18. 18. The point-earning game system according to claim 17, wherein the flying speed is increased when an earned point reaches or exceeds a predetermined point.

19. 18. The point-earning game system according to claim 17, wherein the flying speed is reduced when an earned point falls below a predetermined point.

20. A display device for displaying an image is provided, At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with a camera; At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle wirelessly transmits image information related to an image captured by the camera during a game to the display device; 20. The point acquisition game system according to claim 1, wherein the display device displays the received image.

21. a third unmanned aerial vehicle that flies around the first unmanned aerial vehicle or the second unmanned aerial vehicle by automatic pilot and is equipped with a camera that photographs at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle; the third unmanned aerial vehicle wirelessly transmits to the display device image information relating to an image captured by the camera during the game; 21. The point acquisition game system according to claim 1, wherein the display device displays the received image.

22. at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle wirelessly transmits stored score information to the display device; 22. The score acquisition game system according to claim 20, wherein the display device displays the received score information.

23. 23. The point acquisition game system according to any one of claims 20 to 22, wherein a display device is provided on the controller.

24. 23. The point acquisition game system according to any one of claims 20 to 22, wherein the display device is a goggle-type display device worn by the operator.

25. The second unmanned aerial vehicle acquires location information of its current location, Transmitting the position information and the drive control information of the first unmanned aerial vehicle to the first unmanned aerial vehicle; A score-acquiring game system described in any one of claims 1 to 24, characterized in that the first unmanned aerial vehicle acquires its own position information, and determines or changes its own flight pattern based on the acquired position information of its own vehicle and the position information and drive control information of the second unmanned aerial vehicle received from the second unmanned aerial vehicle.

26. the first unmanned aerial vehicle includes an objective sensor that measures a distance to the second unmanned aerial vehicle; The score-earning game system described in claim 25, characterized in that the flight pattern of the own aircraft is determined or changed based on the acquired position information of the own aircraft, the position information and drive control information of the second unmanned aircraft received from the second unmanned aircraft, and the distance to the second unmanned aircraft measured by the objective sensor.

27. 27. The point acquisition game system according to claim 25 or 26, wherein the flight pattern is a flight pattern that approaches the second unmanned aerial vehicle or collides with the second unmanned aerial vehicle.

28. 28. The point acquisition game system according to claim 25, wherein the location information is latitude / longitude information and altitude information calculated by a GPS (Global Positioning System).

29. A score-acquiring game system described in any one of claims 25 to 28, characterized in that the drive control information is a control signal that controls the drive of a motor that rotates a propeller that drives the second unmanned aerial vehicle.

30. 30. The point acquisition game system according to any one of claims 1 to 29, wherein the controller is an information processing terminal device equipped with a display screen.

31. An unmanned aerial vehicle for use in a point-winning game that flies within a predetermined space by automatic control, An unmanned aerial vehicle characterized by acquiring its own position information, and determining or changing its own flight pattern based on the acquired position information, the position information of a manually piloted unmanned aerial vehicle received from a manually piloted unmanned aerial vehicle flying within a specified space by manual control, and the drive control information of the manually piloted unmanned aerial vehicle.

32. An objective sensor for measuring a distance to the manually-operated unmanned aerial vehicle; The unmanned aerial vehicle described in claim 31, characterized in that the flight pattern of the unmanned aerial vehicle is determined or changed based on the acquired position information of the unmanned aerial vehicle, the position information of the manually piloted unmanned aerial vehicle and drive control information of the manually piloted unmanned aerial vehicle received from the manually piloted unmanned aerial vehicle, and the distance to the manually piloted unmanned aerial vehicle measured by the objective sensor.

33. 33. The unmanned aerial vehicle according to claim 31 or 32, characterized in that the flight pattern is a flight pattern that results in close proximity or collision with the manually piloted unmanned aerial vehicle.

34. An unmanned aerial vehicle as described in any one of claims 31 to 33, characterized in that the location information is latitude / longitude information and altitude information calculated by a GPS (Global Positioning System).

35. An unmanned aerial vehicle as described in any one of claims 31 to 34, characterized in that the drive control information is a control signal that controls the drive of a motor that rotates a propeller that drives the manually piloted unmanned aerial vehicle.

36. A method for controlling an unmanned aerial vehicle that flies in a predetermined space by automatic control, for use in a point acquisition game, comprising: A control method characterized by acquiring position information of the own aircraft, and determining or changing the flight pattern of the own aircraft based on the acquired position information of the own aircraft, position information of a manually piloted unmanned aircraft received from a manually piloted unmanned aircraft flying within a specified space by manual control, and drive control information of the manually piloted unmanned aircraft.

37. Measure the distance to the manually piloted unmanned aerial vehicle; The control method described in claim 36, characterized in that the flight pattern of the own aircraft is determined or changed based on the acquired position information of the own aircraft, the position information of the manually piloted unmanned aircraft and drive control information of the manually piloted unmanned aircraft received from the manually piloted unmanned aircraft, and the measured distance to the manually piloted unmanned aircraft.

38. 38. The control method according to claim 36 or 37, characterized in that the flight pattern is a flight pattern that approaches or collides with the manually piloted unmanned aerial vehicle.

39. The control method according to any one of claims 36 to 38, wherein the location information is latitude / longitude information and altitude information calculated by a GPS (Global Positioning System).

40. The control method described in any one of claims 36 to 39, characterized in that the drive control information is a control signal that controls the drive of a motor that rotates a propeller that drives the manually operated unmanned aerial vehicle.

41. A control program for an unmanned aerial vehicle that flies in a predetermined space by automatic control, for use in a point acquisition game, comprising: A control program characterized by acquiring position information of the aircraft itself, and having the unmanned aircraft execute a process of determining or changing the flight pattern of the aircraft based on the acquired position information of the aircraft itself, position information of a manually piloted unmanned aircraft received from a manually piloted unmanned aircraft flying within a specified space by manual control, and drive control information of the manually piloted unmanned aircraft.

42. Measure the distance to the manually piloted unmanned aerial vehicle; The control program described in claim 41, characterized in that it determines or changes the flight pattern of its own aircraft based on the acquired position information of its own aircraft, the position information of the manually piloted unmanned aircraft and drive control information of the manually piloted unmanned aircraft received from the manually piloted unmanned aircraft, and the measured distance to the manually piloted unmanned aircraft.

43. 43. The control program according to claim 41 or 42, characterized in that the flight pattern is a flight pattern that results in approach or collision with the manually piloted unmanned aerial vehicle.

44. The location information is stored in the GPS (Global Positioning System).

44. The control program according to claim 41, wherein the latitude, longitude and altitude information are calculated based on the latitude, longitude and altitude information.

45. A control program according to any one of claims 41 to 44, characterized in that the drive control information is a control signal that controls the drive of a motor that rotates a propeller that drives the manually operated unmanned aerial vehicle.

46. A first unmanned aerial vehicle that flies within a predetermined space by autopilot; A second unmanned aerial vehicle that flies within a predetermined space by manual control; A controller that wirelessly controls the second unmanned aerial vehicle; A point acquisition game system comprising: A score-earning game system characterized in that a pilot operates the control device to pilot the second unmanned aerial vehicle, have it follow the flying first unmanned aerial vehicle, earn points according to the degree of following, and store score information related to the earned points in at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle.

47. At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is provided with an object sensor; The objective sensor detects a distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined time intervals; The score-earning game system described in claim 46, characterized in that, based on the detection results of the objective sensor, if the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle comes within a predetermined distance after the start of the game, a predetermined score is earned according to the frequency of such approach.

48. At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is provided with an object sensor; The objective sensor detects a distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined time intervals; The score-earning game system described in claim 46, characterized in that, based on the detection results of the objective sensor, when the time during which the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle is within a predetermined distance continuously reaches a predetermined time after the start of the game, a predetermined score is earned according to the time of such proximity.

49. a lamp is provided on at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle; A score-acquiring game system as described in claim 47 or 48, characterized in that the lamp is turned on or flashes when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle comes within a predetermined distance.

50. a speaker is provided in at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle; A score-earning game system described in any one of claims 47 to 49, characterized in that when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle comes within a predetermined distance, a predetermined sound is output from the speaker.

51. At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is provided with an object sensor; The objective sensor detects a distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined time intervals; A score-earning game system as described in claim 46 or 47, characterized in that, based on the detection results of the objective sensor, if the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle becomes greater than a predetermined distance after the start of the game, a predetermined number of points is deducted depending on the frequency of such distance.

52. At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is provided with an object sensor; The objective sensor detects a distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined time intervals; A score-earning game system as described in claim 46 or 48, characterized in that, based on the detection results of the objective sensor, if the time during which the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle is greater than a predetermined distance continues for a predetermined period of time after the start of the game, a predetermined number of points is deducted according to the time of separation.

53. a lamp is provided on at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle; A score-acquiring game system as described in claim 51 or 52, characterized in that the lamp is turned on or blinks when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle becomes greater than a predetermined distance.

54. a speaker is provided in at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle; A score-earning game system described in any one of claims 51 to 53, characterized in that a predetermined sound is output from the speaker when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle becomes greater than a predetermined distance.

55. At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is provided with an acceleration sensor; the acceleration sensor detects a collision between the first unmanned aerial vehicle and the second unmanned aerial vehicle; A score-earning game system as described in any one of claims 46 to 54, characterized in that a predetermined score is earned when the first unmanned aerial vehicle and the second unmanned aerial vehicle collide after the start of the game, based on the detection results of the acceleration sensor.

56. At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is provided with an acceleration sensor; the acceleration sensor detects a collision between the first unmanned aerial vehicle and the second unmanned aerial vehicle; A score-earning game system described in any one of claims 46 to 54, characterized in that a predetermined number of points are deducted if the first unmanned aerial vehicle and the second unmanned aerial vehicle collide after the start of the game based on the detection results of the acceleration sensor.

57. a lamp is provided on at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle; 57. The point acquisition game system of claim 55 or 56, characterized in that, when the first unmanned aerial vehicle and the second unmanned aerial vehicle collide, the lamp is turned on or blinks.

58. a speaker is provided in at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle; A score-acquiring game system as described in any one of claims 55 to 57, characterized in that when the first unmanned aerial vehicle and the second unmanned aerial vehicle collide, a predetermined sound is output from the speaker.

59. a timer is provided on at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle; The timer measures time after the game starts, A score-earning game system described in any one of claims 46 to 58, characterized in that when the timer's time reaches a predetermined time, the game is ended and score information stored in at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is output.

60. The score-earning game system described in claim 59, characterized in that when the timer reaches a predetermined time, score information stored in at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is obtained, and if the score has reached a predetermined value based on the obtained score information, the game is extended for a predetermined time, and if the score has not reached the predetermined value, the game is ended.

61. a timer is provided on at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle; The timer measures time after the game starts, A score-earning game system described in any one of claims 46 to 58, characterized in that when the score reaches a predetermined value based on score information stored in at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle, the game is ended and the measured time of the timer is output.

62. A point-earning game system as described in any one of claims 46 to 59, characterized in that during a game, the first unmanned aerial vehicle changes its flight speed based on the points earned.

63. 63. The point-earning game system according to claim 62, characterized in that the flying speed is increased when the earned point reaches or exceeds a predetermined point.

64. 63. The point-earning game system according to claim 62, wherein the flying speed is reduced when the earned point falls below a predetermined point.

65. A display device for displaying an image is provided, At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with a camera; At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle wirelessly transmits image information related to an image captured by the camera during a game to the display device; 65. The point acquisition game system according to any one of claims 46 to 64, wherein the display device displays the received image.

66. a third unmanned aerial vehicle that flies around the first unmanned aerial vehicle or the second unmanned aerial vehicle by automatic pilot and is equipped with a camera that photographs at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle; the third unmanned aerial vehicle wirelessly transmits to the display device image information relating to an image captured by the camera during the game; 66. The point acquisition game system according to claim 46, wherein the display device displays the received image.

67. at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle wirelessly transmits stored score information to the display device; 67. The score acquisition game system according to claim 65, wherein the display device displays the received score information.

68. 68. A point acquisition game system according to any one of claims 65 to 67, characterized in that a display device is provided on the controller.

69. 68. The point acquisition game system according to any one of claims 65 to 67, wherein the display device is a goggle-type display device worn by the operator.

70. The second unmanned aerial vehicle acquires location information of its current location, Transmitting the position information and the drive control information of the first unmanned aerial vehicle to the first unmanned aerial vehicle; A score-acquiring game system described in any one of claims 46 to 49, characterized in that the first unmanned aerial vehicle acquires its own position information, and determines or changes its own flight pattern based on the acquired position information of its own vehicle and the position information and drive control information of the second unmanned aerial vehicle received from the second unmanned aerial vehicle.

71. the first unmanned aerial vehicle includes an objective sensor that measures a distance to the second unmanned aerial vehicle; The score-earning game system described in claim 70, characterized in that the flight pattern of the own aircraft is determined or changed based on the acquired position information of the own aircraft, the position information and drive control information of the second unmanned aircraft received from the second unmanned aircraft, and the distance to the second unmanned aircraft measured by the objective sensor.

72. 72. The point acquisition game system according to claim 70 or 71, characterized in that the flight pattern is a flight pattern that avoids close contact with the second unmanned aerial vehicle.

73. 73. The point acquisition game system according to any one of claims 70 to 72, wherein the location information is latitude / longitude information and altitude information calculated by a GPS (Global Positioning System).

74. A score-acquiring game system described in any one of claims 70 to 78, characterized in that the drive control information is a control signal that controls the drive of a motor that rotates a propeller that drives the second unmanned aerial vehicle.

75. 75. A point acquisition game system according to any one of claims 46 to 74, characterized in that the controller is an information processing terminal device equipped with a display screen.

76. An unmanned aerial vehicle for use in a point-winning game that flies within a predetermined space by automatic control, An unmanned aerial vehicle characterized by acquiring its own position information, and determining or changing its own flight pattern based on the acquired position information, the position information of a manually piloted unmanned aerial vehicle received from a manually piloted unmanned aerial vehicle flying within a specified space by manual control, and the drive control information of the manually piloted unmanned aerial vehicle.

77. An objective sensor for measuring a distance to the manually-operated unmanned aerial vehicle; An unmanned aerial vehicle as described in claim 76, characterized in that the flight pattern of the unmanned aerial vehicle is determined or changed based on the acquired position information of the unmanned aerial vehicle, the position information of the manually piloted unmanned aerial vehicle and drive control information of the manually piloted unmanned aerial vehicle received from the manually piloted unmanned aerial vehicle, and the distance to the manually piloted unmanned aerial vehicle measured by the objective sensor.

78. 78. An unmanned aerial vehicle as described in claim 76 or 77, characterized in that the flight pattern is a flight pattern that avoids close contact with the manually piloted unmanned aerial vehicle.

79. An unmanned aerial vehicle as described in any one of claims 76 to 78, characterized in that the location information is latitude / longitude information and altitude information calculated by GPS (Global Positioning System).

80. An unmanned aerial vehicle described in any one of claims 76 to 79, characterized in that the drive control information is a control signal that controls the drive of a motor that rotates a propeller that drives the manually piloted unmanned aerial vehicle.

81. A method for controlling an unmanned aerial vehicle that flies in a predetermined space by automatic control, for use in a point acquisition game, comprising: A control method characterized by acquiring position information of the own aircraft, and determining or changing the flight pattern of the own aircraft based on the acquired position information of the own aircraft, position information of a manually piloted unmanned aircraft received from a manually piloted unmanned aircraft flying within a specified space by manual control, and drive control information of the manually piloted unmanned aircraft.

82. Measure the distance to the manually piloted unmanned aerial vehicle; The control method described in claim 81, characterized in that a flight pattern of the own aircraft is determined or changed based on the acquired position information of the own aircraft, the position information of the manually piloted unmanned aircraft and drive control information of the manually piloted unmanned aircraft received from the manually piloted unmanned aircraft, and the measured distance to the manually piloted unmanned aircraft.

83. 83. The control method according to claim 81 or 82, characterized in that the flight pattern is a flight pattern that avoids close contact with the manually piloted unmanned aerial vehicle.

84. The control method according to any one of claims 81 to 83, wherein the location information is latitude / longitude information and altitude information calculated by a GPS (Global Positioning System).

85. A control method described in any one of claims 81 to 84, characterized in that the drive control information is a control signal that controls the drive of a motor that rotates a propeller that drives the manually operated unmanned aerial vehicle.

86. A control program for an unmanned aerial vehicle that flies in a predetermined space by automatic control, for use in a point acquisition game, comprising: A control program characterized by acquiring position information of the aircraft itself, and having the unmanned aircraft execute a process of determining or changing the flight pattern of the aircraft based on the acquired position information of the aircraft itself, position information of a manually piloted unmanned aircraft received from a manually piloted unmanned aircraft flying within a specified space by manual control, and drive control information of the manually piloted unmanned aircraft.

87. Measure the distance to the manually piloted unmanned aerial vehicle; The control program described in claim 86, characterized in that it determines or changes the flight pattern of its own aircraft based on the acquired position information of its own aircraft, the position information of the manually piloted unmanned aircraft and drive control information of the manually piloted unmanned aircraft received from the manually piloted unmanned aircraft, and the measured distance to the manually piloted unmanned aircraft.

88. 88. The control program according to claim 86 or 87, characterized in that the flight pattern is a flight pattern that avoids close contact with the manually piloted unmanned aerial vehicle.

89. 89. The control program according to claim 86, wherein the location information is latitude / longitude information and altitude information calculated by a GPS (Global Positioning System).

90. A control program described in any one of claims 86 to 89, characterized in that the drive control information is a control signal that controls the drive of a motor that rotates a propeller that drives the manually operated unmanned aerial vehicle.

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