Public address system, public address method, and program

Abstract

To provide a public address system, a public address method, and a program capable of providing a voice message to people on the ground in a suitable manner even when the voice is amplified while flying.SOLUTION: A public address system includes a communication unit and a control unit. The communication unit communicates with an unmanned aerial vehicle that performs a public address operation of flying while amplifying a voice message within a predetermined public address range. The control unit generates control information that the communication unit transmits to the unmanned aerial vehicle. The control unit executes either a first process that calculates a playback time for a voice message generated from message data and generates control parameters that enable the reach area of the voice message on the ground to cover the public address range during the playback time, or a second process that calculates a flight time required for the reach area of the voice message on the ground to cover the public address range, and processes the message data so that the playback time is the same as the flight time.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present disclosure relates to a public address system, a public address method, and a program. [Background technology]

[0002] Patent Document 1 (JP 2023-095033 A) discloses a public address system that controls an unmanned aerial vehicle to amplify audio content in a target area. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2023-095033 Summary of the Invention [Problem to be solved by the invention]

[0004] The unmanned aerial vehicle disclosed in Patent Document 1 amplifies an audio message while flying, which poses a problem in that people on the ground may not be able to hear the amplified audio message depending on flight conditions such as flight speed and altitude, and amplification conditions such as sound pressure.

[0005] The present disclosure provides a public address system, a public address method, and a program that can provide an audio message to people on the ground in an appropriate manner even when the message is amplified while flying. [Means for solving the problem]

[0006] A public address system according to one aspect of the present disclosure includes a communication unit and a control unit. The communication unit communicates with an unmanned aerial vehicle that performs a public address operation by flying while amplifying an audio message within a predetermined public address range. The control unit generates control information that the communication unit transmits to the unmanned aerial vehicle.

[0007] The control information includes message data used to generate the voice message and control parameters for controlling the unmanned aerial vehicle in the voice amplification operation. The control unit executes either a first process or a second process. In the first process, the control unit calculates a playback time for the voice message generated from the message data and generates control parameters that enable the ground reach of the voice message to cover the amplification range during the playback time. In the second process, the control unit calculates the flight time required for the ground reach of the voice message to cover the amplification range and processes the message data so that the playback time is the same as the flight time. The communication unit transmits the flight information to the unmanned aerial vehicle.

[0008] A sound amplification method according to another aspect of the present disclosure uses an unmanned aerial vehicle that performs a sound amplification operation while flying and amplifying a voice message. The sound amplification method includes the steps of: determining a playback time for the voice message; and generating control parameters for controlling the unmanned aerial vehicle so that the reach area of ​​the voice message on the ground can cover a predetermined amplification range during the playback time.

[0009] A sound amplification method according to yet another aspect of the present disclosure uses an unmanned aerial vehicle that performs a sound amplification operation while flying and amplifying a voice message, and includes the steps of: calculating a flight time required for the reach area of ​​the voice message on the ground to cover a predetermined amplification range; and processing message data used to generate the voice message so that the playback time of the voice message is the same as the flight time.

[0010] A program according to yet another aspect of the present disclosure causes a computer to execute the above two sound amplification methods. [Effects of the Invention]

[0011] This loudspeaker system prevents situations where the playback time of the voice message is insufficient or excessive during the loudspeaker operation, and therefore allows the voice message to be provided to people on the ground in an optimal manner. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a schematic diagram of a public address system 100. FIG. [Figure 2] FIG. 10 is a schematic diagram for explaining a sound amplification operation. [Figure 3] FIG. 1 is a schematic diagram of an unmanned aerial vehicle (5). [Figure 4] This is a functional block diagram of the unmanned aerial vehicle 5. [Figure 5] 1 is a flowchart showing processing executed by a control unit 11 of a loudspeaker system 100. [Figure 6] FIG. 2 is a schematic diagram showing the unmanned aerial vehicle 5 during loudspeaker operation. [Figure 7] 10 is a flowchart showing processing executed by a control unit 11 of a loudspeaker system 100a. [Figure 8] FIG. 1 is a schematic diagram illustrating the relationship between the amplification radius r1 and the flight altitude h1. [Figure 9] FIG. 2 is a schematic diagram showing the unmanned aerial vehicle 5 during loudspeaker operation. [Figure 10] 10 is a flowchart showing the processing executed by the control unit 11 of the loudspeaker system 100b. [Figure 11] FIG. 2 is a schematic diagram showing the unmanned aerial vehicle 5 during loudspeaker operation. [Figure 12] 10 is a flowchart showing the processing executed by the control unit 11 of the loudspeaker system 100c. [Figure 13] FIG. 2 is a schematic diagram showing the unmanned aerial vehicle 5 during loudspeaker operation. [Figure 14] 10 is a flowchart showing the processing executed by the control unit 11 of the loudspeaker system 100d. [Figure 15] FIG. 2 is a schematic diagram showing the unmanned aerial vehicle 5 during loudspeaker operation. DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, embodiments will be described in detail with reference to the drawings as appropriate. However, more detailed description than necessary may be omitted. For example, detailed description of well-known matters or redundant description of substantially identical configurations may be omitted. This is to avoid unnecessary redundancy in the following description and to facilitate understanding by those skilled in the art. Note that the accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

[0014] First Embodiment (1) Overall structure A public address system 100 according to a first embodiment of the present disclosure causes an unmanned aerial vehicle 5 to perform a public address operation in which the unmanned aerial vehicle 5 flies while amplified from the sky a predetermined audio message. Fig. 1 is a schematic diagram of the public address system 100. Fig. 2 is a schematic diagram for explaining the public address operation.

[0015] The detailed operation will be described later, but the loudspeaker operation is an operation of loudspeaking a voice message M (in the example of FIG. 2, "Today is voting day for the XX mayoral election...") in a predetermined loudspeaker range a. The loudspeaker range a is a linear range specified by the loudspeaker reference position Ps, the traveling direction di, and the set distance d0.

[0016] (2) Detailed configuration (2-1) Management device 10 The management device 10 is a computer device that controls the unmanned aerial vehicle 5, and is equipped with a control unit 11, an input unit 12, a display unit 13, a memory unit 14, and a communication unit 19. The management device 10 is a ground control system (GCS), a dedicated computer that controls and manages the operation of the unmanned aerial vehicle 5 from the ground.

[0017] (2-1-1) Control unit 11 The control unit 11 is realized by a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit), and operates as an arithmetic processing device and a control device. Although the detailed processing content will be described later, the control unit 11 executes a program read from the memory unit 14 to perform arithmetic processing on the setting data acquired via the input unit 12 and generate control information. The control unit 11 instructs the communication unit 19 to transmit the generated control information to the unmanned aerial vehicle 5. The control unit 11 instructs the display unit 13 to display the data acquired from the input unit 12 and / or the memory unit 14, as well as the control information obtained by the arithmetic processing.

[0018] The setting data is made up of a data group (plurality of data or parameters) for causing the unmanned aerial vehicle 5 to perform a loudspeaker operation. The data group will be described in detail later.

[0019] The user can input the data group of the setting data via the input unit 12. At least a part of the data group of the setting data may be recorded in advance in the storage unit 14. In this case, the control unit 11 may select each data or parameter from the storage unit 14, or the user may select from the data group displayed on the display unit 13. At least a part of the setting data may be input as an electronic file.

[0020] The control information is composed of a group of data for causing the unmanned aerial vehicle 5 to perform amplified voice operations. The control information includes message data used to generate the voice message M and control parameters for controlling the unmanned aerial vehicle 5 in the amplified voice operations.

[0021] The control information is generated by the control unit 11 based on the setting data. More specifically, the control information includes at least a part of the data group included in the setting data and data or parameters newly determined or generated by the control unit 11 based on at least a part of the data group included in the setting data.

[0022] (2-1-2) Input section 12 The input unit 12 accepts setting data. The input unit 12 is, for example, a personal computer, a tablet, a smartphone, a touch panel, or a transmitter (radio transmitter) for operating the unmanned aerial vehicle 5. The control unit 11 records the setting data accepted by the input unit 12 in the memory unit 14.

[0023] (2-1-3) Display section 13 The display unit 13 displays various information in response to instructions from the control unit 11. The display unit 13 is, for example, a liquid crystal display, an organic EL display, or other such display. This allows the user to visually check the content displayed on the display unit 13 and confirm the status of the public address system 100 and the management device 10, etc.

[0024] (2-1-4) Storage section 14 The storage unit 14 stores various settings, parameters, data, and the like related to the loudspeaker system 100, setting data received by the input unit 12, programs executed by the control unit 11, map data, etc. The storage unit 14 is a ROM (Read Only Memory), RAM (Random Access Memory), HDD (Hard Disk Drive), SSD (Solid State Drive), FeRAM (Ferroelectric Random Access Memory), etc.

[0025] (2-1-5) Communications Department 19 The communication unit 19 is capable of communicating with the unmanned aerial vehicle 5 and transmits control information generated by the control unit 11 to the unmanned aerial vehicle 5. The communication unit 19 is, for example, an interface (e.g., an Ethernet (registered trademark) interface) for communicating with the unmanned aerial vehicle 5 via wired or wireless LAN. Alternatively, the communication unit 19 may be an interface for communicating with the unmanned aerial vehicle 5 using a speaker line, a dedicated line, or the like, or an interface for communicating using wireless communication such as radio control radio, telemetry / telecontrol radio, 2.4 GHz band data communication radio, or unmanned mobile object image transmission radio, or a mobile line (4G, 5G, etc.).

[0026] (2-2) Unmanned Aerial Vehicle 5 FIG. 3 is a schematic diagram of the unmanned aerial vehicle 5. FIG. 4 is a functional block diagram of the unmanned aerial vehicle 5. The unmanned aerial vehicle 5 is an unmanned aircraft that can be remotely controlled, and performs flight operations such as ascending, moving forward, rotating, and descending in response to flight instructions from the management device 10. The unmanned aerial vehicle 5 is, for example, a drone. The upward, downward, and horizontal directions referred to in the following description correspond to the arrows shown in FIG. 3.

[0027] The unmanned aerial vehicle 5 comprises a main body 5a, multiple arms 5b extending horizontally radially from the main body 5a, legs 5c extending downward from near the tip of each arm 5b, and rotors 51 attached above the tip of each arm 5bc.

[0028] The unmanned aerial vehicle 5 flies using lift generated by rotating the rotors 51 using the rotation of the motor 52. The unmanned aerial vehicle 5 also changes the direction of rotation of some of the rotors 51 to generate a reaction force, preventing the main body 5a itself from rotating.

[0029] A loudspeaker unit 53 is attached facing downward to the main body 5a of the unmanned aerial vehicle 5. The loudspeaker unit 53 is, for example, a speaker, and loudspeaks an audio message M while the unmanned aerial vehicle 5 is flying.

[0030] As shown in FIG. 3, the unmanned aerial vehicle 5 is equipped with a sensor group 54, a GPS receiver 55, a battery 56, a wireless communication device 57, a memory device 58, and a control device 59 as components for flight.

[0031] The sensor group 54 includes an acceleration sensor and an angular velocity sensor that detect acceleration and angular velocity for controlling the flight speed and attitude of the unmanned aerial vehicle 5, a barometric pressure sensor that detects the altitude of the unmanned aerial vehicle 5, and a geomagnetic sensor that detects the orientation of the unmanned aerial vehicle 5. The GPS receiver 55 includes an antenna and a signal processing unit, and receives signals from GPS satellites to detect the position information of the unmanned aerial vehicle 5. The battery 56 stores the power necessary for the operation of the unmanned aerial vehicle 5 and supplies it to each component. The wireless communication device 57 includes a wireless communication interface for wireless communication with an external device (management device 10). The storage device 58 is, for example, a memory such as ROM, RAM, or flash memory. The ROM and flash memory store programs, parameters, etc. used by the control device 59.

[0032] The control device 59 is realized by a CPU or GPU, and functions as an arithmetic processing device and control device for the unmanned aerial vehicle 5. The control device 59 controls the unmanned aerial vehicle 5 in accordance with various programs. Specifically, the control device 59 acquires the tilt, direction of rotation, altitude, azimuth angle of the main body 5a, etc. of the main body 5a based on output data from the sensor group 54, and controls the motor 52 based on this information to control the attitude of the unmanned aerial vehicle 5. The control device 59 acquires the latitude and longitude of the main body 5a based on output data from the GPS receiver 55, and controls the position of the unmanned aerial vehicle 5 by controlling the motor 52 based on this information.

[0033] The control device 59 controls the flight of the unmanned aerial vehicle 5 by controlling the number of rotations and rotation speed of the motor 52 in accordance with the control information received from the management device 10. The control device 59 generates a voice message M from the original message m0 or the amplification message m1 (both described below) received from the management device 10 via the wireless communication device 57, and causes the amplification unit 53 to amplify the voice message M.

[0034] (3) Overall operation Next, the overall operation of the public address system 100 will be described.

[0035] (3-1) Operation of the Management Device 10 5 is a flowchart showing the processing executed by the control unit 11 of the loudspeaker system 100. This processing is an example of the first processing.

[0036] When a command to start the processing is received from a user or the like, the control unit 11 starts the processing shown in FIG. 5 (start).

[0037] In step S100, the control unit 11 acquires setting data via the input unit 12. When this process ends, the control unit 11 advances the process to step S110.

[0038] The setting data includes a reference position Ps for loudspeaking, a direction of travel di, an original message m0, a set distance d0, a set altitude h0, and a set sound pressure level L0.

[0039] The amplification reference position Ps is position data (for example, movement and longitude) that specifies the position of one end of the amplification range a. The amplification reference position Ps is, for example, the position where amplification starts.

[0040] The direction of travel di is the direction in which the unmanned aerial vehicle 5 flies from the loudspeaker reference position Ps during loudspeaker operation.

[0041] The original message m0 is data used to generate the voice message M to be amplified by the unmanned aerial vehicle 5. The original message m0 is, for example, an audio file in a format such as MP3 or WAV that contains the audio to be amplified as the voice message M.

[0042] The set distance d0 is a set value for the horizontal distance that the unmanned aerial vehicle 5 flies during the sound amplification operation. The set distance d0 is set to a distance that is substantially the same as the length of the sound amplification range a.

[0043] The set altitude h0 is the set value of the altitude of the unmanned aerial vehicle 5 (more specifically, the altitude of the loudspeaker unit 53) during loudspeaker operation.

[0044] The set sound pressure level L0 is a set value of the sound pressure level output by the loudspeaker unit 53 during loudspeaker operation.

[0045] In step S110, the control unit 11 calculates the playback time t1 of the original message m0 (more specifically, the playback time t1 of the voice message M generated from the original message m0 by the unmanned aerial vehicle 5). After this process is completed, the control unit 11 proceeds to step S120.

[0046] The playback time t1 is the time required to play the original message m0 once. If the original message m0 is an audio file, the control unit 11 can determine the playback time t1 from the metafile of the original message m0. Alternatively, the control unit 11 may determine the playback time t1 by analyzing the original message m0.

[0047] In step S120, the control unit 11 calculates the flight speed v1. After this process is completed, the control unit 11 advances the process to step S130.

[0048] Flight speed v1 is the horizontal flight speed (more specifically, the average flight speed) of the unmanned aerial vehicle 5 during the voice amplification operation. Flight speed v1 is the flight speed at which the ground reach area ae (see FIG. 6) of the voice message M can cover the amplification range a during the playback time t1. In other words, flight speed v1 is the flight speed at which the unmanned aerial vehicle 5 can move from directly above the amplification reference position Ps to directly above the end of the amplification range a opposite the amplification reference position Ps during the playback time t1. Flight speed v1 is calculated by dividing the set distance d0 by the playback time t1 (v1=d0 / t1). For example, if the playback time t1 is 10 seconds and the set distance d0 is 100 meters, flight speed v1 is 10 meters / second (=100 meters / 10 seconds).

[0049] In step S130, the control unit 11 generates control information. After this process is completed, the control unit 11 advances the process to step S150.

[0050] The control unit 11 generates the amplification reference position Ps, the traveling direction di, the original message m0, the set altitude h0, the set sound pressure level L0, and the flight speed v1 as control information.

[0051] The original message m0 is an example of message data. The reference position Ps for amplification, the direction of travel di, the set altitude h0, the set sound pressure level L0, and the flight speed v1 are examples of control parameters.

[0052] In step S160, the control unit 11 transmits the control information to the unmanned aerial vehicle 5 via the communication unit 19. When this process ends, the control unit 11 ends the process flow shown in FIG. 5 (END).

[0053] (3-2) Operation of Unmanned Aerial Vehicle 5 When the unmanned aerial vehicle 5 receives the control information transmitted from the management device 10, it starts flying operations based on the control information. Figure 6 is a schematic diagram showing the unmanned aerial vehicle 5 during loudspeaker operation.

[0054] When the unmanned aerial vehicle 5 reaches directly above the amplification reference position Ps, it starts amplifying the voice message M generated from the original message m0 while flying in the direction of travel di. In other words, when the unmanned aerial vehicle 5 reaches directly above the amplification reference position Ps, it starts the amplification operation. Thereafter, the unmanned aerial vehicle 5 performs the amplification operation until the voice message M ends (in other words, until the playback time t1 has elapsed). During the amplification operation, the unmanned aerial vehicle 5 flies at a predetermined set altitude h0 at a flight speed v1 and amplifies the voice message M at a predetermined set sound pressure level L0.

[0055] (4) Variations (4-1) Variation A The original message m0 may be text data. In this case, the control unit 11 generates voice data from the text data using a voice synthesis technique, and in step S110, calculates the playback time t1 from the voice data. Then, in step S130, the control unit 11 includes the voice data in the control information.

[0056] The original message m0 sent to the unmanned aerial vehicle 5 may be text data. In this case, the control device 59 of the unmanned aerial vehicle 5 uses voice synthesis technology to generate voice data from the text data.

[0057] (4-2) Variation B The control unit 11 may display the flight speed v1 on a display unit (not shown) of the transmitter of the unmanned aerial vehicle 5 as a guide for the pilot of the unmanned aerial vehicle 5 when manually operating the vehicle. This allows the pilot to check the displayed flight speed v1 and manually adjust the flight speed by operating the transmitter.

[0058] (4-3) Variation C Before step S100, the control unit 11 may have a process of displaying a plurality of candidates for the flight speed v1 on the display unit 13 so that the user can select one. In this case, the control unit 11 displays the candidate for the flight speed v1 selected by the user and the calculated set distance d0 calculated from the playback time t1 on a map image on the display unit 13. This allows the user to visually confirm and then determine the set distance d0.

[0059] (4-4) Variation D The management device 10 may be a general-purpose computer such as a PC (personal computer), a smartphone, a tablet, etc. In this case, the control unit 11 executes an application program for the GCS stored in the storage unit 14, thereby realizing the operation of the management device 10.

[0060] Furthermore, the management device 10 may be configured as a cloud server accessible via internet communication.

[0061] (5) Features This embodiment can also be described as follows.

[0062] The public address system 100 includes a communication unit 19 and a control unit 11. The communication unit 19 communicates with the unmanned aerial vehicle 5, which performs a public address operation by flying while amplifying an audio message M within a predetermined public address range a. The control unit 11 generates control information that the communication unit 19 transmits to the unmanned aerial vehicle 5.

[0063] The control information includes an original message m0 used to generate the voice message M and control parameters for controlling the unmanned aerial vehicle 5 in the amplification operation. The control unit 11 calculates the playback time t1 of the voice message M generated from the original message m0, and generates control parameters that enable the reach area ae of the voice message M on the ground to cover the amplification range a during the playback time t1.

[0064] The public address system 100 prevents the occurrence of a situation in which the playback time t1 of the voice message M is insufficient for the duration of the voice amplification operation, or the playback time t1 of the voice message M is excessive. Therefore, the public address system 100 can provide a voice message to people on the ground in an appropriate manner.

[0065] The control parameters include the horizontal flight speed v1 of the unmanned aerial vehicle 5.

[0066] The public address system 100 executes a public address method using an unmanned aerial vehicle 5 that performs public address operations while flying and amplifying a voice message M. The public address method includes a step of determining a playback time t1 of the voice message, and a step of generating control parameters for controlling the unmanned aerial vehicle 5 so that the reach area of ​​the voice message M on the ground can cover a predetermined public address range a during the playback time t1.

[0067] Second Embodiment (1) Overall structure Next, a public address system 100a according to the second embodiment will be described. The following description will focus on the differences between the public address system 100 and the public address system 100a, and descriptions of the same or corresponding features and well-known technologies may be omitted.

[0068] The main differences between the public address system 100 and the public address system 100a are the processing executed by the control unit 11 and the contents of the setting data and control information. Therefore, the following explanation will focus on the operation of the management device 10 and the unmanned aerial vehicle 5 of the public address system 100a.

[0069] (2) Overall operation (2-1) Operation of the management device 10 7 is a flowchart showing the process executed by the control unit 11 of the loudspeaker system 100a. This process is an example of the first process.

[0070] When a user or the like issues an instruction to start processing, the control unit 11 starts the processing flow shown in FIG. 7 (start).

[0071] In step S200, the control unit 11 acquires setting data via the input unit 12. When this process ends, the control unit 11 advances the process to step S210.

[0072] The setting data includes a reference position Ps for loudspeaking, an original message m0, a set distance d0, a set sound pressure level L0, a directivity angle θ, and a background noise level Lb.

[0073] The directivity angle θ is the directivity angle θ of the loudspeaker unit 53.

[0074] The background noise level Lb is the sound pressure level of background noise estimated at each position on the map data.

[0075] In step S210, the control unit 11 obtains the playback time t1 of the original message m0. When this process is completed, the control unit 11 advances the process to step S220. The content of step S210 is the same as step S110, so a detailed description will be omitted.

[0076] In step S220, the control unit 11 calculates the flight altitude h1. After this process is completed, the control unit 11 advances the process to step S230.

[0077] The flight altitude h1 is the altitude of the unmanned aerial vehicle 5 during the sound amplification operation (more specifically, the altitude of the sound amplification unit 53). The flight altitude h1 is set to an altitude at which the voice message M amplified at the set sound pressure level L0 can ensure the required sound pressure level (required sound pressure level Lr) in the reachable area ae on the ground. The required sound pressure level Lr is calculated using the background noise level Lb according to [Equation 1].

[0078]

number

[0079] The distance Dg from the ground that can ensure the required sound pressure level Lr is calculated using the set sound pressure level L0 and the background noise level Lb according to [Equation 2].

[0080]

number

[0081] The flight altitude h1 is calculated using the distance Dg and the direction angle θ according to [Equation 3].

[0082]

number

[0083] In step S230, the control unit 11 calculates the amplification radius r1. After this process is completed, the control unit 11 advances the process to step S240.

[0084] The amplification radius r1 is the radius of the reachable area ae on the ground when the unmanned aerial vehicle 5 amplifies sound at a flight altitude h1 with a set sound pressure level L0. The amplification radius r1 can be calculated using the flight altitude h1 using Equation 4. Figure 8 is a schematic diagram illustrating the relationship between the amplification radius r1 and the flight altitude h1.

[0085]

number

[0086] In step S240, the control unit 11 calculates the required flight distance d1. After this process is completed, the control unit 11 advances the process to step S250.

[0087] The required flight distance d1 is the horizontal distance that the unmanned aerial vehicle 5 flies during the loudspeaker operation, taking into account the reachable area ae. Fig. 9 is a schematic diagram showing the unmanned aerial vehicle 5 during the loudspeaker operation.

[0088] As shown in Figure 9, when the unmanned aerial vehicle 5 amplifies sound at a flight altitude h1, the reachable area ae on the ground is a circular area with a amplification radius r1 centered on the unmanned aerial vehicle 5 when viewed from above. Therefore, the horizontal flight distance of the unmanned aerial vehicle 5 required to cover the amplification range a with the reachable area ae may be shorter than the set distance d0 by twice the amplification radius r1. For example, if the set distance d0 is 100 meters but the amplification radius r1 is 50 meters, the required flight distance d1 may be 50 meters. The required flight distance d1 can be calculated by subtracting the amplification radius r1 from the set distance d0 (d1 = d0 - r1).

[0089] In step S250, the control unit 11 calculates the flight speed v2. After this process is completed, the control unit 11 advances the process to step S260.

[0090] Flight speed v2 is the horizontal flight speed (more specifically, the average flight speed) of the unmanned aerial vehicle 5 during the amplification operation. Flight speed v2 is the flight speed at which the ground reach area ae of the voice message M can cover the amplification range a during the playback time t1. In other words, flight speed v2 is the flight speed at which the unmanned aerial vehicle 5 can move from directly above position Pa1, which is a amplification radius r1 past the amplification reference position Ps, to directly above position Pa2, which is a amplification radius r1 before the end of the amplification range a on the opposite side from the amplification reference position Ps, during the playback time t1. Flight speed v2 is calculated by dividing the required flight distance d1 by the playback time t1 (v2 = d1 / t1). For example, if the playback time t1 is 10 seconds and the required flight distance d1 is 50 meters, flight speed v2 is 5 meters / second (= 50 meters / 10 seconds).

[0091] In step S260, the control unit 11 generates control information. After this process is completed, the control unit 11 advances the process to step S270.

[0092] The control unit 11 generates the amplification reference position Ps, the traveling direction di, the original message m0, the set sound pressure level L0, the flight altitude h1, and the flight speed v2 as control information.

[0093] The flight altitude h1 and flight speed v2 are examples of control parameters.

[0094] In step S270, the control unit 11 transmits the control information to the unmanned aerial vehicle 5 via the communication unit 19. When this process ends, the control unit 11 ends the process flow shown in FIG.

[0095] (2-2) Operation of Unmanned Aerial Vehicle 5 When the unmanned aerial vehicle 5 receives the control information transmitted from the management device 10, it starts flight operations based on the control information (see FIG. 9).

[0096] When the unmanned aerial vehicle 5 reaches directly above position Pa1, which is amplified by a amplification radius r1 beyond the amplification reference position Ps, it begins amplifying the voice message M generated from the original message m0 while flying in the direction of travel di. In other words, when the unmanned aerial vehicle 5 reaches directly above position Ps1, it begins amplifying the voice message M. Thereafter, the unmanned aerial vehicle 5 performs the amplifying operation until the voice message M ends (in other words, until the playback time t1 has elapsed). During the amplifying operation, the unmanned aerial vehicle 5 flies at a flight altitude h1 and a flight speed v2, and amplifies the voice message M at a set sound pressure level L0.

[0097] (3) Variations Modifications A, B, C, and D of the first embodiment can also be applied to this embodiment.

[0098] (4) Features This embodiment can also be described as follows.

[0099] The public address system 100a includes a communication unit 19 and a control unit 11. The communication unit 19 communicates with the unmanned aerial vehicle 5, which performs a public address operation by flying while amplifying an audio message M within a predetermined public address range a. The control unit 11 generates control information that the communication unit 19 transmits to the unmanned aerial vehicle 5.

[0100] The control information includes an original message m0 used to generate the voice message M and control parameters for controlling the unmanned aerial vehicle 5 in the amplification operation. The control unit 11 calculates the playback time t1 of the voice message M generated from the original message m0, and generates control parameters that enable the reach area ae of the voice message M on the ground to cover the amplification range a during the playback time t1.

[0101] Like the loudspeaker system 100, the loudspeaker system 100a also prevents the occurrence of a situation in which the playback time t1 of the voice message M is insufficient for the duration of the loudspeaker operation, or the playback time t1 of the voice message M is excessive. Therefore, the loudspeaker system 100 can provide a voice message to people on the ground in an appropriate manner.

[0102] The control parameters include the horizontal flight speed v2 of the unmanned aerial vehicle 5.

[0103] The control parameters include the flight altitude h1 of the unmanned aerial vehicle 5.

[0104] The public address system 100a executes a public address method using an unmanned aerial vehicle 5 that performs public address operations while flying and amplifying a voice message M. The public address method includes a step of determining a playback time t1 of the voice message, and a step of generating control parameters for controlling the unmanned aerial vehicle 5 so that the reach area of ​​the voice message M on the ground can cover a predetermined public address range a during the playback time t1.

[0105] <Third embodiment> (1) Overall structure Next, a public address system 100b according to the third embodiment will be described. The following description will focus on the differences between the public address systems 100, 100a and the public address system 100b, and descriptions of the same or corresponding features and well-known technologies may be omitted.

[0106] The main differences between the public address systems 100, 100a and the public address system 100b are the processing executed by the control unit 11 and the contents of the setting data and control information. Therefore, the following explanation will focus on the operation of the management device 10 and the unmanned aerial vehicle 5 of the public address system 100b.

[0107] (2) Overall operation (2-1) Operation of the management device 10 10 is a flowchart showing the process executed by the control unit 11 of the loudspeaker system 100b. This process is an example of the first process.

[0108] When a user or the like issues an instruction to start the process, the control unit 11 starts the process flow shown in FIG. 10 (start).

[0109] In step S300, the control unit 11 acquires setting data via the input unit 12. When this process ends, the control unit 11 advances the process to step S310.

[0110] The setting data includes a reference position Ps for loudspeaking, a direction of travel di, an original message m0, a set distance d0, a directivity angle θ, a background noise level Lb, and a set flight speed v0.

[0111] The set flight speed v0 is the set value of the flight speed (more specifically, the average flight speed) of the unmanned aerial vehicle 5 in the horizontal direction during the sound amplification operation.

[0112] In step S310, the control unit 11 calculates the playback time t1 of the original message m0. When this process is completed, the control unit 11 advances the process to step S320. The content of step S310 is the same as step S110, so a detailed description will be omitted.

[0113] In step S320, the control unit 11 calculates the playback movement distance d2. After this process is completed, the control unit 11 advances the process to step S330.

[0114] The playback travel distance d2 is the distance that the unmanned aerial vehicle 5 can fly during the playback time t1. The playback travel distance d2 is calculated by multiplying the set flight speed v0 by the playback time t1 (d3=v0×t1).

[0115] In step S330, the control unit 11 calculates the amplification radius r2. After this process is completed, the control unit 11 advances the process to step S340.

[0116] The amplification radius r2 is the radius of the reachable area ae on the ground required for the unmanned aerial vehicle 5 moving the playback movement distance d2 to cover the amplification range a. The amplification radius r2 is half the value obtained by subtracting the playback movement distance d2 from the set distance d0 (r2=(d0-d3) / 2).

[0117] In step S340, the control unit 11 obtains the flight altitude h2 and the output sound pressure level L1. After this process is completed, the control unit 11 advances the process to step S350.

[0118] The flight altitude h2 is the altitude (more specifically, the altitude of the loudspeaker unit 53) at which the radius of the reachable area ae is set to the amplification radius r2. The output sound pressure level L1 is the sound pressure level output by the loudspeaker unit 53 in order to set the radius of the reachable area ae to the amplification radius r2 during the sound amplification operation. In other words, the flight altitude h2 and the output sound pressure level L1 are the flight altitude and output sound pressure level at which the reachable area ae of the voice message M on the ground can cover the amplification range a during the playback time t1. The flight altitude h2 is calculated using the amplification radius r2 and the directivity angle θ according to [Equation 5].

[0119]

number

[0120] The output sound pressure level L1 is calculated by [Equation 6] using the sound amplification radius r2, the directivity angle θ, and the background noise level Lb.

[0121]

number

[0122] In step S350, the control unit 11 generates control information. After this process is completed, the control unit 11 advances the process to step S360.

[0123] The control unit 11 generates the amplification reference position Ps, the traveling direction di, the original message m0, the set flight speed v0, the flight altitude h2, and the output sound pressure level L1 as control information.

[0124] The set flight speed v0, flight altitude h2, and output sound pressure level L1 are examples of control parameters.

[0125] In step S360, the control unit 11 transmits the control information to the unmanned aerial vehicle 5 via the communication unit 19. When this process ends, the control unit 11 ends the process flow shown in Figure 10 (end).

[0126] (2-2) Operation of Unmanned Aerial Vehicle 5 When the unmanned aerial vehicle 5 receives the control information transmitted from the management device 10, it starts flying operations based on the control information. Figure 11 is a schematic diagram showing the unmanned aerial vehicle 5 during loudspeaker operation.

[0127] When the unmanned aerial vehicle 5 reaches a position (position Pb1) directly above the amplification reference position Ps by an amplification radius r2, it starts amplifying the voice message M generated from the original message m0 while flying in the direction of travel di. In other words, when the unmanned aerial vehicle 5 reaches a position directly above Ps2, it starts the amplification operation. Thereafter, the unmanned aerial vehicle 5 performs the amplification operation until the voice message M ends (in other words, until the playback time t1 has elapsed). During the amplification operation, the unmanned aerial vehicle 5 flies at a flight altitude h2 at a set flight speed v0 and amplifies the voice message M at an output sound pressure level L1.

[0128] (3) Variations (3-1) Variation A Modifications A, B, and D of the first embodiment can also be applied to this embodiment.

[0129] (3-2) Variation B Before step S300, the control unit 11 may perform a process of displaying a plurality of flight altitude h2 candidates on the display unit 13 so that the user can select one. In this case, the control unit 11 displays the flight altitude h2 candidate selected by the user and the set distance d0 calculated from the flight altitude h2 on a map image on the display unit 13. This allows the user to visually confirm and then determine the set distance d0.

[0130] (4) Features This embodiment can also be described as follows.

[0131] The public address system 100b includes a communication unit 19 and a control unit 11. The communication unit 19 communicates with the unmanned aerial vehicle 5, which performs a public address operation by flying while amplifying an audio message M within a predetermined public address range a. The control unit 11 generates control information that the communication unit 19 transmits to the unmanned aerial vehicle 5.

[0132] The control information includes an original message m0 used to generate the voice message M and control parameters for controlling the unmanned aerial vehicle 5 in the amplification operation. The control unit 11 calculates the playback time t1 of the voice message M generated from the original message m0, and generates control parameters that enable the reach area ae of the voice message M on the ground to cover the amplification range a during the playback time t1.

[0133] Like the loudspeaker system 100, the loudspeaker system 100b also prevents the occurrence of a situation in which the playback time t1 of the voice message M is insufficient for the duration of the loudspeaker operation, or the playback time t1 of the voice message M is excessive. Therefore, the loudspeaker system 100 can provide the voice message M appropriately to people on the ground.

[0134] The control parameters include the flight altitude h2 of the unmanned aerial vehicle 5.

[0135] The control parameters include the output sound pressure level L1 when the unmanned aerial vehicle 5 amplifies the voice message M.

[0136] The public address system 100c executes a public address method using an unmanned aerial vehicle 5 that performs public address operations while flying and amplifying a voice message M. The public address method includes a step of determining a playback time t1 of the voice message, and a step of generating control parameters for controlling the unmanned aerial vehicle 5 so that the reach area of ​​the voice message M on the ground can cover a predetermined public address range a during the playback time t1.

[0137] <Fourth embodiment> (1) Overall structure Next, a public address system 100c according to a fourth embodiment will be described. The following description will focus on the differences between the public address systems 100, 100a, and 100b and the public address system 100c, and descriptions of the same or corresponding features and well-known technologies may be omitted.

[0138] The main differences between public address systems 100, 100a, 100b and public address system 100c are the processing executed by control unit 11 and the contents of the setting data and control information. Therefore, the following explanation will focus on the operation of management device 10 and unmanned aerial vehicle 5 of public address system 100c.

[0139] (2) Overall operation (2-1) Operation of the management device 10 12 is a flowchart showing the process executed by the control unit 11 of the loudspeaker system 100c. This process is an example of the second process.

[0140] When a user or the like issues an instruction to start processing, the control unit 11 starts the processing flow shown in FIG. 12 (start).

[0141] In step S400, the control unit 11 acquires setting data via the input unit 12. When this process ends, the control unit 11 advances the process to step S410.

[0142] The setting data includes a reference position Ps for loudspeaking, a direction of travel di, an original message m0, a set distance d0, a set altitude h0, a set sound pressure level L0, and a set flight speed v0.

[0143] In step S410, the control unit 11 calculates the time of flight tf1. After this process is completed, the control unit 11 advances the process to step S420.

[0144] Flight time tf1 is the time it takes for the unmanned aerial vehicle 5 to fly the set distance d0. Flight time tf1 is the time it takes for the reachable area ae of the voice message M on the ground to cover the amplification range a. In other words, flight time tf1 is the time it takes for the unmanned aerial vehicle 5 to move from directly above the amplification reference position Ps to directly above the end of the amplification range a opposite the amplification reference position Ps. Flight time tf1 is calculated by dividing the set distance d0 by the set flight speed v0 (tm1=d1 / v0).

[0145] In step S420, the control unit 11 generates a message m1 to be amplified. After this process is completed, the control unit 11 advances the process to step S430.

[0146] The message m1 for amplification is data obtained by adjusting the original message m0 so that it can be reproduced once during the flight time tf1. The control unit 11 generates, as the message m1 for amplification, data obtained by adjusting the reproduction speed of the original message m0 so that the reproduction time t1 is substantially the same as the flight time tf1.

[0147] In step S430, the control unit 11 generates control information. After this process is completed, the control unit 11 advances the process to step S440.

[0148] The control unit 11 generates the amplification reference position Ps, the traveling direction di, the amplification message m1, the set altitude h0, the set sound pressure level L0, and the set flight speed v0 as control information.

[0149] The message m1 to be amplified is an example of message data.

[0150] In step S440, the control unit 11 transmits the control information to the unmanned aerial vehicle 5 via the communication unit 19. When this process ends, the control unit 11 ends the process flow shown in FIG. 12 (END).

[0151] (2-2) Operation of Unmanned Aerial Vehicle 5 When the unmanned aerial vehicle 5 receives the control information transmitted from the management device 10, it starts flying operations based on the control information. Figure 13 is a schematic diagram showing the unmanned aerial vehicle 5 during loudspeaker operation.

[0152] When the unmanned aerial vehicle 5 reaches directly above the amplification reference position Ps, it starts amplifying the voice message M generated from the amplification message m1 while flying in the direction of travel di. In other words, when the unmanned aerial vehicle 5 reaches directly above the amplification reference position Ps, it starts the amplification operation. Thereafter, the unmanned aerial vehicle 5 performs the amplification operation until the voice message M ends (in other words, until the playback time t1 has elapsed). During the amplification operation, the unmanned aerial vehicle 5 flies at a predetermined set altitude h0 at a set flight speed v0 and amplifies the voice message M at a predetermined set sound pressure level L0.

[0153] (3) Variations Modification D of the first embodiment can also be applied to this embodiment.

[0154] (3-1) Variation A The original message m0 may be text data. In this case, the control unit 11 generates voice data from the text data using a voice synthesis technique, and in step S430 generates the message m1 to be amplified based on the voice data.

[0155] (3-2) Variation B The control unit 11 may generate the message m1 for amplification by a method other than adjusting the playback speed, as long as the method can adjust the playback speed so that the message m1 can be played back once during the flight time tf1. For example, the control unit 11 may use natural language processing technology to analyze the message included in the original message m0, and edit the message m1 by deleting or adding parts of the message (in other words, changing the length of the sentences) so that the playback time t1 is the same as the flight time tf1. In this case, the original message m0 may also be text data.

[0156] (3-3) Variation C Before step S400, the control unit 11 may have a process of displaying a plurality of candidates for the playback time t1 of the loudspeaker message m1 on the display unit 13 so that the user can select from them. In this case, the control unit 11 displays, on a map image on the display unit 13, the candidate for the playback time t1 selected by the user and the calculated set distance d0 calculated from the set flight speed v0. This allows the user to visually confirm and then determine the set distance d0.

[0157] (4) Features This embodiment can also be described as follows.

[0158] The public address system 100c includes a communication unit 19 and a control unit 11. The communication unit 19 communicates with the unmanned aerial vehicle 5, which performs a public address operation by flying while amplified a voice message M within a predetermined public address range a. The control unit 11 generates control information that the communication unit 19 transmits to the unmanned aerial vehicle 5.

[0159] The control information includes an original message m0 used to generate the voice message M and control parameters for controlling the unmanned aerial vehicle 5 during the voice amplification operation. The control unit 11 calculates the flight time tm1 required for the reachable area ae of the voice message M on the ground to cover the amplification range a, and processes the original message m0 so that the playback time t1 is the same as the flight time tm1. The communication unit 19 transmits the flight information to the unmanned aerial vehicle 5.

[0160] The public address system 100c prevents the occurrence of a situation in which the playback time t1 of the voice message M is insufficient for the duration of the voice amplification operation, or the playback time t1 of the voice message M is excessive. Therefore, the public address system 100 can provide a voice message to people on the ground in an appropriate manner.

[0161] The control unit 11 processes the original message m0 so that the playback speed of the voice message M is changed.

[0162] The control unit 11 processes the original message m0 so that the length of the sentence included in the voice message M is changed.

[0163] The public address system 100c executes a public address method using an unmanned aerial vehicle that performs a public address operation while flying and amplifying a voice message M. The public address method includes a step of calculating a flight time tm1 required for a reachable area ae of the voice message M on the ground to cover a predetermined public address range a, and a step of processing an original message m0 used to generate the voice message M so that a playback time t1 of the voice message M is the same as the flight time tm1.

[0164] Fifth Embodiment (1) Overall structure Next, a loudspeaker system 100d according to a fifth embodiment will be described. The following description will focus on the differences between the loudspeaker systems 100, 100a, 100b, and 100c and the loudspeaker system 100d, and descriptions of identical or corresponding features and well-known technologies may be omitted.

[0165] The main differences between public address systems 100, 100a, 100b, and 100c and public address system 100d are the processing executed by control unit 11 and the contents of the setting data and control information. Therefore, the following explanation will focus on the operation of management device 10 and unmanned aerial vehicle 5 of public address system 100d.

[0166] (2) Overall operation (2-1) Operation of the management device 10 15 is a flowchart showing the processing executed by the control unit 11 of the loudspeaker system 100d. This processing is an example of the second processing.

[0167] When a user or the like issues an instruction to start processing, the control unit 11 starts the processing flow shown in FIG. 15 (start).

[0168] In step S500, the control unit 11 acquires setting data via the input unit 12. When this process ends, the control unit 11 advances the process to step S510.

[0169] The setting data includes a reference position Ps for loudspeaking, a direction of travel di, an original message m0, a set distance d0, a directivity angle θ, a background noise level Lb, a set flight speed v0, and a set sound pressure level L0.

[0170] In step S510, the control unit 11 calculates the flight altitude h1. When this process ends, the control unit 11 advances the process to step S520. The content of step S510 is the same as step S220, so a detailed description will be omitted.

[0171] In step S520, the control unit 11 calculates the amplification radius r1. When this process ends, the control unit 11 advances the process to step S530. The content of step S520 is the same as step S230, so a detailed description will be omitted.

[0172] In step S530, the control unit 11 calculates the required flight distance d1. After this process is completed, the control unit 11 proceeds to step S540. The content of step S530 is the same as step S240, so a detailed description will be omitted.

[0173] In step S540, the control unit 11 calculates the time of flight tf2. After this process is completed, the control unit 11 advances the process to step S550.

[0174] Flight time tf2 is the time it takes for the unmanned aerial vehicle 5 to fly the required flight distance d1. Flight time tf2 is the flight time it takes for the reachable area ae of the voice message M on the ground to cover the amplification range a. In other words, flight time tf2 is the time it takes for the unmanned aerial vehicle 5 to move from directly above position Pa1, which is a amplification radius r1 past the amplification reference position Ps, to directly above position Pa2, which is a amplification radius r1 ahead of the end of the amplification range a opposite the amplification reference position Ps. Flight time tf2 is calculated by dividing the required flight distance d1 by the set flight speed v0 (tm2=d2 / v0).

[0175] In step S550, the control unit 11 generates a message m2 to be amplified. After this process is completed, the control unit 11 advances the process to step S560.

[0176] The message m2 for amplification is data obtained by adjusting the original message m0 so that it can be reproduced once during the flight time tf2. The control unit 11 generates the message m2 for amplification by adjusting the reproduction speed of the original message m0 so that the reproduction time t1 is substantially the same as the flight time tf2.

[0177] In step S560, the control unit 11 generates control information. After this process is completed, the control unit 11 advances the process to step S570.

[0178] The control unit 11 generates the amplification reference position Ps, the traveling direction di, the amplification message m2, the set sound pressure level L0, the set flight speed v0, and the flight altitude h1 as control information.

[0179] In step S570, the control unit 11 transmits the control information to the unmanned aerial vehicle 5 via the communication unit 19. When this process ends, the control unit 11 ends the process flow shown in Figure 14 (end).

[0180] (2-2) Operation of Unmanned Aerial Vehicle 5 When the unmanned aerial vehicle 5 receives the control information transmitted from the management device 10, it starts flying operations based on the control information. Figure 15 is a schematic diagram showing the unmanned aerial vehicle 5 during loudspeaker operation.

[0181] When the unmanned aerial vehicle 5 reaches directly above position Pa1, which is amplified by a amplification radius r1 beyond the amplification reference position Ps, it starts amplifying the voice message M generated from the amplification message m2 while flying in the direction of travel di. In other words, when the unmanned aerial vehicle 5 reaches directly above position Ps1, it starts the amplification operation. Thereafter, the unmanned aerial vehicle 5 performs the amplification operation until the voice message M ends (in other words, until the playback time t1 has elapsed). During the amplification operation, the unmanned aerial vehicle 5 flies at a flight altitude h1 at a set flight speed v0 and amplifies the voice message M at a set sound pressure level L0.

[0182] (3) Variations Modification D of the first embodiment and modifications A, B, and C of the fourth embodiment can also be applied to this embodiment.

[0183] (4) Features This embodiment can also be described as follows.

[0184] The public address system 100d includes a communication unit 19 and a control unit 11. The communication unit 19 communicates with the unmanned aerial vehicle 5, which performs a public address operation by flying while amplified a voice message M within a predetermined public address range a. The control unit 11 generates control information that the communication unit 19 transmits to the unmanned aerial vehicle 5.

[0185] The control information includes an original message m0 used to generate the voice message M and control parameters for controlling the unmanned aerial vehicle 5 during the voice amplification operation. The control unit 11 calculates the flight time tm2 required for the reachable area ae of the voice message M on the ground to cover the amplification range a, and processes the original message m0 so that the playback time t1 is the same as the flight time tm2. The communication unit 19 transmits the flight information to the unmanned aerial vehicle 5.

[0186] Like the loudspeaker system 100c, the loudspeaker system 100d also prevents the occurrence of a situation in which the playback time t1 of the voice message M is insufficient for the duration of the loudspeaker operation, or the playback time t1 of the voice message M is excessive. Therefore, the loudspeaker system 100 can provide a voice message to people on the ground in an appropriate manner.

[0187] The control parameters include the flight altitude h1 of the unmanned aerial vehicle 5.

[0188] The control unit 11 processes the original message m0 so that the playback speed of the voice message M is changed.

[0189] The control unit 11 processes the original message m0 so that the length of the sentence included in the voice message M is changed.

[0190] The public address system 100d executes a public address method using an unmanned aerial vehicle that performs a public address operation while flying and amplifying a voice message M. The public address method includes a step of calculating a flight time tm2 required for a reachable area ae of the voice message M on the ground to cover a predetermined public address range a, and a step of processing an original message m0 used to generate the voice message M so that a playback time t1 of the voice message M is the same as the flight time tm2. [Industrial Applicability]

[0191] The present disclosure is applicable to public address systems that use unmanned aerial vehicles. [Explanation of symbols]

[0192] 5: Unmanned aerial vehicle 11: Control section 19: Communications Department 100: Public address system 100a: Public address system 100b: Public address system 100c: Public address system 100d: Public address system 333: Communications Department a: Amplification range ae:reach area h1 :Flight altitude h2 :Flight altitude L1: Output sound pressure level M: Voice message t1: Playback time tf1 : flight time tf2 :Flight time v1 :Flight speed v2 :Flight speed

Claims

1. a communication unit that communicates with an unmanned aerial vehicle that performs a voice amplification operation while flying and amplifying a voice message within a predetermined voice amplification range; a control unit that generates control information that the communication unit transmits to the unmanned aerial vehicle; Equipped with The control information is message data used to generate the voice message; control parameters for controlling the unmanned aerial vehicle during the loudspeaker operation; Including, The control unit determining a playback time of the voice message generated from the message data; a first process for generating the control parameters such that the ground coverage of the voice message can cover the broadcast range during the playback time; and determining a flight time required for the coverage area of ​​the voice message on the ground to cover the amplification range; a second process for processing the message data so that the playback time is equal to the flight time; Do one of the following: The communication unit transmitting the control information to the unmanned air vehicle; Public address system.

2. The control parameters are: Including the flight speed of the unmanned aerial vehicle in the horizontal direction, 2. The public address system of claim 1.

3. The control parameters are: Including the flight altitude of the unmanned aerial vehicle, 2. The public address system of claim 1.

4. The control parameters are: an output sound pressure level when the unmanned aerial vehicle amplifies the voice message, 4. The public address system of claim 3.

5. The control unit processing the message data so that the playback speed of the voice message is changed; 2. The public address system of claim 1.

6. The control unit processing the message data so that the length of a sentence included in the voice message is changed; 2. The public address system of claim 1.

7. The unmanned air vehicle further comprises: A public address system according to any one of claims 1 to 6.

8. A method for amplifying a voice message using an unmanned aerial vehicle that performs an amplifying operation while flying and amplifying a voice message, comprising: determining a playback time for the voice message; generating control parameters for controlling the unmanned aerial vehicle so that the reach of the voice message on the ground can cover a predetermined broadcast range during the playback time; Equipped with Amplification method.

9. A method for amplifying a voice message using an unmanned aerial vehicle that performs an amplifying operation while flying and amplifying a voice message, comprising: determining a flight time required for the voice message's ground coverage to cover a predetermined broadcast range; processing message data used to generate the voice message so that the playback time of the voice message is the same as the flight time; Equipped with Amplification method.

10. A program for causing a computer to execute the sound amplification method according to claim 8 or 9.

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