Control device, aircraft, and control method

Abstract

We can provide a control device, an aircraft, and a control method that can appropriately shield the user from light. [Solution] The control device 50 according to the present disclosure includes a sun detection unit 11 that detects the position of the sun from an image that includes the sun, a user detection unit 12 that detects the position of the user from an image that includes the user, a straight line setting unit 13 that sets a straight line between the position of the sun and the user, a control unit 54 that controls an aircraft having a shielding unit for shielding from sunlight to be positioned on a straight line, and an obstacle detection unit 25 that detects obstacles in the flight path of an aircraft that moves while maintaining a predetermined height as the user moves. When the obstacle detection unit 25 detects an obstacle, the control unit 54 controls the aircraft to move to a refuge area which is an area that is outside the straight line and is an area where the aircraft and the obstacle will not collide.

Description

Technical Field

[0001] The present disclosure relates to a control device, an aircraft, and a control method.

Background Art

[0002] Patent Document 1 discloses a sunlight shielding device that can shield sunlight from a person.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the sunlight shielding device disclosed in Patent Document 1 described above, the shielding body is controlled to be located at a predetermined distance from above a person's head. However, there may be cases where it is difficult to shield light depending on the angle at which the sun shines and the position of the sun.

[0005] The present disclosure has been made in view of such circumstances, and an object thereof is to provide a control device, an aircraft, and a control method that can appropriately shield light from a user.

Means for Solving the Problems

[0006] The control device according to the present disclosure is a sun detection unit that detects the position of the sun from an image including the sun, a user detection unit that detects the position of the user from an image including the user, a straight line setting unit that sets a straight line connecting the position of the sun and the position of the user between the sun and the user, a control unit that controls so that an aircraft having a shielding unit for shielding light from the sun is located on the straight line, The system includes an obstacle detection unit that detects obstacles in the flight path of the aircraft as it moves while maintaining a predetermined height in conjunction with the movement of the user, The control unit, When the obstacle detection unit detects an obstacle, it controls the aircraft to move to an evacuation area, which is an area outside the straight line where the aircraft will not collide with the obstacle.

[0007] The control device described herein controls the aircraft to be positioned on a straight line connecting the position of the sun and the position of the user, and if an obstacle is detected in the flight path, controls the aircraft to move to an escape area that deviates from the straight line. With this configuration, collisions with obstacles that cannot be avoided by moving along a straight line can be avoided, while appropriately shielding the user from sunlight.

[0008] The aircraft related to this disclosure is A sun detection unit that detects the position of the sun from an image that includes the sun, A user detection unit that detects the position of the user from an image that includes the user, A straight line setting unit sets a straight line connecting the position of the sun and the position of the user between the sun and the user, A control unit that controls the position to be located on the aforementioned straight line, A shielding section to block sunlight, The system includes an obstacle detection unit that detects obstacles in the flight path when the system moves while maintaining a predetermined height as the user moves, The control unit, When the obstacle detection unit detects an obstacle, it controls the system to move to a retraction area, which is an area that is outside the straight line and will not collide with the obstacle.

[0009] The aircraft described in this disclosure is positioned on a straight line connecting the position of the sun and the position of the user, and if it detects an obstacle in the flight path, it moves to an evacuation area that deviates from the straight line. This configuration allows for appropriate sun protection for the user while avoiding collisions with obstacles that cannot be avoided by moving along a straight line.

[0010] The control method according to the present disclosure is as follows. Detect the position of the sun from an image including the sun. Detect the position of the user from an image including the user. Set a straight line connecting the position of the sun and the position of the user between the sun and the user. Control so that a flying object having a shielding part for shielding light from the sun is located on the straight line. Detect an obstacle in the flight path of the flying object that moves while maintaining a predetermined height as the user moves. When the obstacle is detected, control the flying object to move to an evacuation area that is an area outside the straight line and where the flying object and the obstacle do not collide.

[0011] In the control method according to the present disclosure, the flying object is controlled to be located on a straight line connecting the position of the sun and the position of the user. When an obstacle in the flight path is detected, the flying object is controlled to move to an evacuation area outside the straight line. With such a configuration, it is possible to avoid a collision with an obstacle that cannot be avoided even when moving on the straight line, and to appropriately block light for the user.

Effect of the Invention

[0012] According to the present disclosure, it is possible to provide a control device, a flying object, and a control method that can appropriately block light for a user.

Brief Description of the Drawings

[0014] Embodiments of this disclosure will now be described with reference to the drawings. In each drawing, the same or corresponding elements are denoted by the same reference numeral, and redundant explanations are omitted where necessary for clarity. In addition, some reference numerals have been omitted to avoid cluttering the drawings.

[0015] (Embodiment 1) <Control System> The control system according to Embodiment 1 will be described with reference to Figures 1 to 3. Figure 1 is a block diagram illustrating the control system according to Embodiment 1. Figure 2 is a schematic diagram showing an example of the configuration of the control system according to Embodiment 1. Figure 3 is a plan view showing the aircraft. As shown in Figure 1, the control system 1 comprises a control device 10 and an aircraft 100.

[0016] <Control device> As shown in Figure 1, the control device 10 includes a sun detection unit 11, a user detection unit 12, a straight line setting unit 13, and a control unit 14. As shown in Figures 2 and 3, the control device 10 is installed, for example, on an aircraft 100. Note that in the examples shown in Figures 2 and 3, the straight line setting unit 13 and the control unit 14 of the control device 10 are omitted.

[0017] The solar detection unit 11 detects the position of the sun S10 from the image containing the sun S10 shown in Figure 2. The solar detection unit 11 is composed of, for example, a photodiode or an image sensor, and detects the direction of the sun S10 from the captured image and detects the position of the sun S10.

[0018] The solar detection unit 11 may also have the following configuration. The solar detection unit 11 acquires an image containing the sun from the imaging unit 110 of the aircraft 100, which will be described later. The solar detection unit 11 detects the position of the sun S10 from the image acquired from the aircraft 100. That is, the solar detection unit 11 may use the image it has acquired to detect the position of the sun S10, or it may use the image acquired by the aircraft 100 to detect the position of the sun S10. The position of the sun S10 is expressed, for example, using latitude and longitude. Alternatively, the position of the sun S10 may be expressed using azimuth and angle. When using azimuth and angle for the position of the sun S10, the solar detection unit is equipped with an azimuth sensor.

[0019] The user detection unit 12 detects the position of user U1 from the image containing user U1 shown in Figure 2. The user detection unit 12 is composed of, for example, an image sensor, which detects the direction of user U1 from the captured image and detects the position of user U1.

[0020] Furthermore, the user detection unit 12 may have the following configuration. The user detection unit 12 acquires an image containing the user from the imaging unit 110 of the aircraft 100, which will be described later. The user detection unit 12 detects the position of user U1 from the image acquired from the aircraft 100. That is, the user detection unit 12 may use the image it has acquired itself to detect the position of user U1, or it may use the image acquired by the aircraft 100 to detect the position of user U1.

[0021] The location of user U1 is expressed using, for example, latitude and longitude. Alternatively, the location of user U1 can simply be any point that represents a characteristic feature of user U1, such as their head or eyes.

[0022] The straight line setting unit 13 shown in Figure 1 sets a first straight line that represents a straight line connecting the position of the sun and the position of the user. Specifically, as shown in Figure 2, the straight line setting unit 13 sets a first straight line L1 that connects the position of the sun S10 and the position of the user U1.

[0023] The control unit 14 shown in Figure 1 controls the aircraft 100 so that it is positioned on a first straight line. Specifically, as shown in Figure 2, the control unit 14 controls the aircraft 100 so that it is positioned on a first straight line L1. As a result, the aircraft 100 flies while remaining positioned on the first straight line L1. Alternatively, the control unit 14 may control the aircraft 100 so that it is positioned at a predetermined distance above the head of the user U1 and on the first straight line L1.

[0024] <Flying object> Here, the aircraft 100 will be described in detail with reference to Figures 1 and 3. Figure 3 shows a plan view of the aircraft 100 as seen from the ground (user). As shown in Figure 1, the aircraft 100 includes an imaging unit 110, an aircraft control unit 120, and a communication unit 130. The aircraft 100 is, for example, a drone.

[0025] The imaging unit 110 captures images of the area around the aircraft 100. The imaging unit 110 captures images that include, for example, the sun and images that include the user. The imaging unit 110 transmits the captured images that include the sun to the sun detection unit 11. The imaging unit 110 transmits the images that include the user to the user detection unit 12.

[0026] The aircraft control unit 120 includes a computing device such as a CPU or MCU and controls each component of the aircraft 100. The communication unit 130 communicates with, for example, a user terminal (not shown in Figure 1), receives instruction signals from the user terminal (not shown in Figure 1), and transmits them to the aircraft control unit 120. Thus, the imaging unit 110, the aircraft control unit 120, and the communication unit 130 are typical functional blocks of the aircraft.

[0027] Next, the mechanism of the aircraft 100 will be described with reference to Figure 3. As shown in Figure 3, the aircraft 100 comprises a housing 102, arms 105, propellers 104, shielding section 101, and control device 10 (user detection section 12).

[0028] As shown in Figure 3, the aircraft 100 is equipped with four arms 105 extending from the housing 102 in the up, down, left, and right directions in the drawing. Each arm 105 is equipped with a propeller 104 at its tip. The aircraft 100 flies when the aircraft control unit (not shown in Figure 3) in the housing 102 controls the rotational drive of the propellers 104.

[0029] The shielding portion 101 shown in Figure 3 blocks sunlight. As shown in Figure 3, the shielding portion 101 is provided to cover the housing 102 and each arm 105. The shielding portion 101 is, for example, a shielding sheet.

[0030] An example of shielding from sunlight will be explained with reference to Figure 2. As shown in Figure 2, the control unit 14 controls the aircraft 100 to be positioned on the first straight line L1. As a result, as shown in Figure 2, the aircraft 100 flies while remaining positioned on the first straight line L1. The aircraft 100 has a shielding section 101, as shown in Figure 3. Regardless of the position of the sun S10 or the angle at which the sun S10 shines, the aircraft 100 flies while remaining positioned on the first straight line L1, so that the user U1 is shielded from the light of the sun S10. Therefore, the user U1 can be properly shielded from sunlight.

[0031] User U1 is always in the shade because the light from the sun S10 is blocked. Therefore, User U1 can reduce the obstruction of their field of vision by the light from the sun S10. This is effective, for example, when User U1 is driving a vehicle. Also, because User U1 is blocked from the light from the sun S10, the possibility of heatstroke can be reduced when User U1 is walking.

[0032] Figures 1 to 3 above show an example where the control device 10 is located outside the aircraft 100. However, the configuration is not limited to this, and the control device 10 may also be located inside the aircraft 100. In other words, the aircraft 100 may be configured to include a sun detection unit 11, a user detection unit 12, a straight line setting unit 13, and a control unit 14. The same applies to embodiments 2 to 7 below.

[0033] Although not shown in Figure 3, the aircraft 100 may also be equipped with solar cells. With such a configuration, the aircraft 100 can generate its own power and fly. Furthermore, if the aircraft 100 is equipped with a control device 10, it is possible to supply the control device 10 with power generated by the solar cells.

[0034] In the above-described embodiment 1, the control device 10 was explained as comprising a sun detection unit 11, a user detection unit 12, a straight line setting unit 13, and a control unit 14. However, it is not limited to this configuration. For example, the control device 10 may be configured to communicate with a server, and the processing of the sun detection unit 11, user detection unit 12, straight line setting unit 13, and control unit 14 may be distributed between the control device 10 and the server.

[0035] <Control Method> Next, the control method according to Embodiment 1 will be described with reference to Figure 4. Figure 4 is a flowchart showing the control method according to Embodiment 1. In Figure 4, each component is indicated using the same reference numerals as shown in Figure 1. The aircraft has a shielding section to block sunlight, as shown in Figure 3.

[0036] As shown in Figure 4, the sun detection unit 11 detects the position of the sun from an image containing the sun (step ST1). Next, the user detection unit 12 detects the position of the user from an image containing the user (step ST2). Next, the straight line setting unit 13 sets a first straight line that represents the straight line connecting the position of the sun and the position of the user (step ST3).

[0037] Next, the control unit 14 controls the aircraft so that it is positioned on the first straight line (step ST4). As a result, the user U1 is shielded from sunlight S10. Therefore, in the control method according to Embodiment 1, the aircraft flies while positioned on the first straight line, regardless of the position of the sun or the angle at which the sun shines. Consequently, the user is shielded from sunlight. In this way, the control method according to Embodiment 1 can appropriately shield the user from sunlight.

[0038] Furthermore, in the control method according to Embodiment 1, the user is always positioned in the shade because sunlight is blocked. Therefore, the user can prevent their field of vision from being obstructed by sunlight. This is effective, for example, when the user is driving a vehicle. Also, when the user is walking, the possibility of heatstroke can be reduced because sunlight is blocked.

[0039] (Embodiment 2) <Control System> The control system according to Embodiment 2 will be described with reference to Figures 5 and 6. Figure 5 is a block diagram illustrating the control system according to Embodiment 2. Figure 6 is a schematic diagram showing an example of the configuration of the control system according to Embodiment 1.

[0040] As shown in Figure 5, the control system 2 comprises a control device 20 and an aircraft 100. In the control system 2 according to Embodiment 2, the aircraft 100 moves while maintaining a predetermined height on a first straight line in accordance with the user's movement. The path along which the aircraft 100 moves while maintaining a predetermined height on the first straight line is called the flight path. The control system 2 according to Embodiment 2 is characterized in that, when an obstacle is detected on the flight path, the aircraft is moved onto the first straight line and controlled to a height that will not collide with the obstacle.

[0041] As shown in Figure 5, the control device 20 comprises a sun detection unit 11, a user detection unit 12, a straight line setting unit 13, an obstacle detection unit 25, and a control unit 24. The sun detection unit 11, user detection unit 12, and straight line setting unit 13 are the same as in Figure 1, so their description is omitted. Here, the obstacle detection unit 25 and the control unit 24 will be described. The control device 20 is installed on the aircraft 100, for example, as in Embodiment 1. Obstacle detection is performed, for example, by image analysis or millimeter-wave radar.

[0042] The obstacle detection unit 25 detects obstacles in the flight path of the aircraft. Obstacles include, for example, utility poles, signs, and other aircraft. When the obstacle detection unit 25 detects an obstacle, the control unit 24 controls the aircraft to move along a first straight line and to a height that will not collide with the obstacle.

[0043] Referring to Figure 6, an example of controlling an aircraft to avoid obstacles will be explained. In Figure 6, user U1 is moving from the left side of the diagram (point A) through point B to the right side (point C). The aircraft 100 is scheduled to move along the flight path FP1 while maintaining a predetermined altitude on the first straight line L1, in accordance with the movement of user U1.

[0044] As shown in Figure 6, when user U1 is located at point A, the control unit 24 controls the aircraft 100 to be positioned at a predetermined height on the first straight line L1. As a result, as shown in Figure 6, at point A, the aircraft 100 is positioned at a predetermined height on the straight line L1.

[0045] As shown in Figure 6, when user U1 moves from point A to point B and is located at point B, the control unit 24 controls the aircraft 100 to be positioned at a predetermined height on the straight line L11. That is, as shown in Figure 6, the aircraft 100 moves along the flight path FP1 from a state where it is positioned at a predetermined height on the straight line L1, and at point B, it is positioned at a predetermined height on the straight line L11.

[0046] As shown in Figure 6, when user U1 moves from point B to point C and is located at point C, the obstacle detection unit 25 (not shown in Figure 6) detects an obstacle H1 in the flight path FP1. The control unit 24 then moves the aircraft 100 along the straight line L111 (along the straight line L111) to a height that will not collide with the obstacle H1. That is, as shown in Figure 6, the aircraft 100 moves along the flight path FP2 instead of the flight path FP1 from a state where it is located at a predetermined height on the straight line L11. Then, at point C, the aircraft 100 is positioned at a height that will not collide with the obstacle H1 on the straight line L111.

[0047] In this way, the obstacle detection unit 25 detects impact objects included in the flight path when the aircraft 100 flies while maintaining a predetermined altitude. Then, if an obstacle is located in the flight path, the control unit 24 controls the aircraft 100 to move along the first straight line so that it is at a height that will not collide with the obstacle. This suppresses collisions between the aircraft 100 and obstacles, and allows for appropriate light shielding to the user U1.

[0048] Furthermore, the control unit 24 may be configured to tilt the aircraft 100 when an obstacle is located in the flight path, thereby avoiding a collision between the aircraft 100 and the obstacle. In addition, the control unit 24 may be configured to tilt the aircraft 100 and move it along a first straight line, thereby avoiding a collision between the aircraft 100 and the obstacle.

[0049] <Control Method> Next, the control method according to Embodiment 2 will be described with reference to Figure 7. Figure 7 is a flowchart showing the control method according to Embodiment 2. In Figure 7, each component is indicated using the reference numerals shown in Figure 6 as appropriate.

[0050] Furthermore, the control method according to Embodiment 2 shown in Figure 7 represents the process that follows step ST4 of the control method according to Embodiment 1 shown in Figure 4. That is, in the control method according to Embodiment 2, the processes from steps ST1 to ST4 in Figure 4 are executed, and then the processes from steps ST21 to ST23 in Figure 7 are executed. Here, we will explain assuming that the processes from steps ST1 to ST4 in Figure 4 have been executed.

[0051] As shown in Figure 7, the obstacle detection unit 25 detects whether or not an obstacle is located in the flight path of the aircraft (step ST21). If the obstacle detection unit 25 determines that an obstacle is located in the flight path of the aircraft (step ST21YES), the control unit 24 controls the aircraft to move along the first straight line so that it is at a height where it will not collide with the obstacle (step ST22). In other words, in the example shown in Figure 6, the control unit 24 controls the aircraft 100 to move along the flight path FP2 instead of the flight path FP1. Then, at point C, the aircraft 100 is at a height where it will not collide with the obstacle H1 on the straight line L111.

[0052] On the other hand, if the obstacle detection unit 25 determines that there are no obstacles in the flight path of the aircraft (step ST21NO), the control unit 24 controls the aircraft to maintain a predetermined height on the first straight line (step ST22). That is, in the example shown in Figure 6, if there is no obstacle H1, the control unit 24 controls the aircraft 100 to move along the flight path FP1.

[0053] Thus, in the control method according to Embodiment 2, if an obstacle is located in the flight path, the aircraft is moved along a first straight line and controlled to a height that avoids collision with the obstacle. As a result, the control method according to Embodiment 2 can suppress collisions between the aircraft and obstacles, and can appropriately shield the user from light.

[0054] (Embodiment 3) <Control System> The control system according to Embodiment 3 will be described with reference to Figures 8 and 9. Figure 8 is a block diagram illustrating the control system according to Embodiment 3. Figure 9 is a plan view showing the aircraft. The control device 30 is provided, for example, on the aircraft 300, similar to Embodiment 1.

[0055] As shown in Figure 8, the control system 3 comprises a control device 30 and an aircraft 300. In the control system 3 according to Embodiment 3, the aircraft 300 has an extendable shielding section for shielding from sunlight. The control system 3 according to Embodiment 3 is characterized by controlling the aircraft 300 to be positioned on a first straight line while simultaneously controlling the extension and retraction of the shielding section so that the user can change the area exposed to sunlight.

[0056] As shown in Figure 8, the control device 30 comprises a sun detection unit 11, a user detection unit 12, a straight line setting unit 13, and a control unit 34. The sun detection unit 11, user detection unit 12, and straight line setting unit 13 are the same as those in Figure 1, so their description is omitted. Here, we will describe the control unit 34. The aircraft 300 also includes an imaging unit 110, an aircraft control unit 120, a communication unit 130, and a hook position setting unit 340. The imaging unit 110, aircraft control unit 120, and communication unit 130 are the same as those in Figure 1, so their explanation will be omitted. Here, we will explain the hook position setting unit 340.

[0057] In the following, to facilitate explanation, we will first describe the mechanism of the aircraft 300 with reference to Figure 9, and then describe the hook position setting unit 340 and the control unit 34.

[0058] <Flying object> As shown in Figure 9, the aircraft 300 comprises a housing 102, arms 305, propellers 104, shielding section 301, and control device 30(12). The housing 102 and propellers 104 are the same as those in Figure 3, so their description is omitted.

[0059] The shielding section 301 shown in Figure 9 blocks sunlight. The shielding section 301 is, for example, a shielding sheet made of a stretchable material. Hook F1 is a hook for attaching the shielding section 301 to the arm 305. In the example shown in Figure 9, the shielding section 301 is square. If the distance from the center of the aircraft 300 to the center of the propeller 104 is X, then the area of ​​the shielding section 301 is 2X 2 This is the result.

[0060] Each hook F1 is slidable, for example, in the direction of the arrow shown in Figure 9. As each hook F1 is slid, the shielding portion 301 expands and contracts. Specifically, when each hook F1 is slid away from the housing 102, the shielding portion 301 expands, and the area of ​​the shielding portion 301 increases. On the other hand, when each hook F1 is slid closer to the housing 102, the shielding portion 301 contracts, and the area of ​​the shielding portion 301 decreases.

[0061] Furthermore, each hook F1 may be fixed to a predetermined position on the arm 305, for example. In this case, the arm 305 extends and retracts in the direction of the arrow shown in Figure 9. As the arm 305 extends and retracts, the position of each hook F1 shifts, and the shielding portion 301 extends and retracts. Specifically, when the arm 305 is retracted toward the housing 102, the position of each hook F1 moves toward the housing 102, the shielding portion 301 shrinks, and the area of ​​the shielding portion 301 becomes smaller. On the other hand, when the arm 305 is extended toward each propeller 104, the position of each hook F1 moves toward the housing 102, the shielding portion 301 also extends, and the area of ​​the shielding portion 301 increases. In this way, the shielding portion 301 is extendable and retractable.

[0062] <Hook position setting section> The hook position setting unit 340 sets the position of hook F1 as shown in Figure 9. Specifically, the hook position setting unit 340 sets the position of hook F1 as shown in Figure 9 based on a control signal from the control unit 34, which will be described later.

[0063] <Department Head> The control unit 34 controls the aircraft 300 having the shielding section 301 so that it is positioned on a first straight line. Furthermore, the control unit 34 controls the extension and retraction of the shielding section 301 so that the user can change the area exposed to sunlight.

[0064] Specifically, the control unit 34 calculates an appropriate hook position in response to a user request, such as the user wanting to increase the area exposed to sunlight or decrease the area exposed to sunlight. For example, if the user requests to increase the area exposed to sunlight, the control unit 34 may calculate the hook position so that the shielding unit 301 becomes 1.2 times larger than it is currently. The control unit 34 transmits a control signal regarding the calculated hook position to the hook position setting unit 340. The hook position setting unit 340 then sets the position of hook F1 as shown in Figure 9.

[0065] As another example, the control unit 34 may calculate the hook position based on an image including the user so that the area of ​​the user exposed to sunlight is a predetermined value. Specifically, the control unit 34 calculates the area of ​​the user currently exposed to sunlight from an image including the user. Then, the control unit 34 calculates the hook position so that the area of ​​the user exposed to sunlight is a predetermined value. The predetermined value is, for example, 30% of the area of ​​the user currently exposed to sunlight. In this way, the control unit 34 can extend or retract the shielding unit 301 in response to a request from the user and based on an image including the user so that the area of ​​the user exposed to sunlight can be changed.

[0066] With this configuration, the control system 3 according to Embodiment 3 can appropriately shield the user from sunlight. Furthermore, in the control system 3 according to Embodiment 3, even if the position of the sun or the direction in which the sun shines on the user changes, the shielding part 301 can be extended and retracted, so that sunlight can be reliably shielded from the user.

[0067] <Second straight line> Here, the user detection unit 12 shown in Figure 8 may further detect the position of the user's eyes, and the straight line setting unit 13 shown in Figure 8 may set a second straight line that connects the position of the sun and the position of the user's eyes. In this case, the control unit 34 shown in Figure 8 controls the aircraft to preferentially position itself on the second straight line and controls the extension and retraction of the shielding unit so that at least the sun does not shine into the user's eyes.

[0068] We will explain this in detail with reference to Figure 10. Figure 10 is a schematic diagram showing an example of the configuration of the control system according to Embodiment 3. In Figure 10, the configuration other than the second straight line L2 is the same as in Figure 2, so we will omit the explanation.

[0069] As shown in Figure 10, the user detection unit 12 further detects the position of the user U1's eye I1. The straight line setting unit 13 then sets a second straight line L2 that represents the straight line connecting the position of the sun S10 and the position of the user U1's eye I1. In this case, the control unit 34 controls the aircraft 300 to preferentially position itself on the second straight line L2 rather than on the first straight line L1. The control unit 34 then controls the extension and retraction of the shielding unit 301 so that at least the user's eyes are not exposed to sunlight.

[0070] With this configuration, the aircraft 300 acts as a sun visor, and user U1 can prevent their field of vision from being obstructed by the light of the sun S10. Alternatively, the control unit 34 may control the aircraft 300 to preferentially position itself on the second straight line L2 rather than on the first straight line L1, without controlling the extension or retraction of the shielding part 301. With this configuration as well, user U1 can prevent their field of vision from being obstructed by the light of the sun S10.

[0071] <Control Method> Next, the control method according to Embodiment 3 will be described with reference to Figures 11 and 12. Figures 11 and 12 are flowcharts showing the control method according to Embodiment 3. In Figures 11 and 12, each component is indicated using the reference numerals shown in Figure 8 as appropriate.

[0072] Furthermore, the control method according to Embodiment 3 shown in Figures 11 and 12 represents the process performed following step ST4 of the control method according to Embodiment 1 shown in Figure 4. That is, in the control method according to Embodiment 3, the processes from steps ST1 to ST4 in Figure 4 are executed, and then the processes from steps ST31 and ST32 in Figure 11 are executed. Alternatively, in the control method according to Embodiment 3, the processes from steps ST1 to ST4 in Figure 4 are executed, and then the processes from steps ST33 and ST34 in Figure 12 are executed. Here, Figures 11 and 12 will be explained assuming that the processes from steps ST1 to ST4 in Figure 4 have been executed.

[0073] Let's explain Figure 11. As shown in Figure 11, the control unit 34 calculates the hook position based on an image including the user, so that the area of ​​the user exposed to sunlight is a predetermined value (step ST31). Specifically, the control unit 34 calculates the area of ​​the user currently exposed to sunlight from an image including the user. Then, the control unit 34 calculates the hook position in order to make the area of ​​the user exposed to sunlight a predetermined value.

[0074] Next, as shown in Figure 11, the control unit 34 controls the hook position to move to the hook position calculated in step ST31 (step ST32). Specifically, the control unit 34 transmits a control signal regarding the calculated hook position to the hook position setting unit 340. The hook position setting unit 340 then sets the hook to the received hook position.

[0075] Let's explain Figure 12. As shown in Figure 12, the control unit 34 calculates the hook position according to the user's request (step ST33). For example, if the user requests to increase the area illuminated by the sun, the control unit 34 calculates the hook position so that the shielded area becomes 1.2 times larger than it is currently.

[0076] Next, as shown in Figure 12, the control unit 34 controls the hook position to move to the hook position calculated in step ST31 (step ST34). Step ST34 is the same as step ST32.

[0077] Thus, in the control method according to Embodiment 3, the shading portion can be extended or retracted in response to a user request and based on an image including the user, so that the area exposed to sunlight on the user can be changed. With this configuration, the control method according to Embodiment 3 can appropriately shield the user from sunlight. Furthermore, in the control method according to Embodiment 3, even if the position of the sun or the direction in which the sun shines on the user changes, the shading portion can be extended or retracted, so sunlight on the user can be reliably blocked. (Embodiment 4) <Shielding of each wavelength> A control system according to Embodiment 4 will now be described. In the control system according to Embodiment 4, each functional block is the same as in the control system according to Embodiment 3. In the control system according to Embodiment 4, the aircraft has multiple shielding parts corresponding to each wavelength so that it can shield each wavelength contained in sunlight. A feature of the control system according to Embodiment 4 is that each of the multiple shielding parts can be extended or retracted according to the user's request.

[0078] Referring to Figure 13, an example of an aircraft having multiple shielding parts will be described. Figure 13 is a plan view of the aircraft. As shown in Figure 13, the aircraft 350 comprises a housing 102, arms 305, propellers 104, shielding parts 307-309, and a control device 30(12). The housing 102, arms 305, and propellers 104 are the same as in Figure 9, so their description will be omitted.

[0079] The shielding section 307 shown in Figure 13 blocks ultraviolet light from the wavelengths contained in the sun. The shielding section 308 shown in Figure 13 blocks visible light from the wavelengths contained in the sun. The shielding section 309 shown in Figure 13 blocks infrared light from the wavelengths contained in the sun. The shielding sections 307 to 309 are, for example, shielding sheets made of a stretchable material.

[0080] As shown in Figure 13, the arrangement of shielding parts is not limited to the order shown from the outside to the inside of the aircraft 350: shielding part 307 for blocking ultraviolet light, shielding part 308 for blocking visible light, and shielding part 309 for blocking infrared light. It is sufficient for shielding parts that block different wavelengths to be arranged sequentially from the outside to the inside of the aircraft 350. Furthermore, while Figure 13 shows an example of the aircraft 350 having three shielding parts, 307 to 309, capable of blocking three different wavelengths, it is not limited to this configuration. The aircraft 350 can have multiple shielding parts corresponding to each wavelength so as to be able to block each wavelength contained in sunlight.

[0081] Hook F2 is for attaching the shielding part 307 to the arm 305. Hook F3 is for attaching the shielding part 308 to the arm 305. Hook F4 is for attaching the shielding part 309 to the arm 305. The operation of each hook F2 to F4 is the same as in the example shown in Figure 9, so a description is omitted.

[0082] The hook position setting unit 340 sets the positions of each of the hooks F2 to F4 shown in Figure 13 based on the control signals from the control unit 34. The control unit 34 controls the extension and retraction of each of the multiple shielding units 307 to 309 according to the user's request.

[0083] Let's explain with a specific example. Suppose the user wants to get a tan but wants to avoid the glare and warmth of the sun. In this case, the control unit 34 calculates appropriate hook positions so that the area of ​​the shielding section 307 is small based on the user's request to get a tan, and the areas of the shielding sections 308 and 309 are large based on the user's request to avoid the glare and warmth of the sun. The control unit 34 transmits control signals regarding the calculated hook positions to the hook position setting unit 340. The hook position setting unit 340 then sets the positions of the hooks F2 to F4 shown in Figure 9. Alternatively, the control unit 34 may store the user's requests and the areas of each shielding section, and calculate the hook positions to match the stored areas of each shielding section according to the user's requests. For example, if the user requests to get a tan, the control unit 34 will set the area of ​​the shielding section 307 to 400 cm². 2 You can also calculate the hook position so that it results in this.

[0084] Let's illustrate with another example. Suppose the user wants to avoid the glare of sunlight and sunburn, but also wants to feel warm. In this case, the control unit 34 calculates appropriate hook positions so as to reduce the area of ​​the shielding section 309 based on the user's desire to feel warm, and increase the areas of the shielding sections 307 and 308 based on the user's desire to avoid the glare of sunlight and sunburn. The control unit 34 transmits control signals regarding the calculated hook positions to the hook position setting unit 340. The hook position setting unit 340 then sets the positions of each hook F2 to F4 as shown in Figure 9.

[0085] In this way, the control unit 34 controls the expansion and contraction of each of the multiple shielding units 307 to 309. As a result, the control system according to Embodiment 4 can block each wavelength contained in sunlight, such as visible light, ultraviolet light, and infrared light. Therefore, the user can fulfill their desires, for example, wanting to get a tan but wanting to avoid the glare and warmth of sunlight.

[0086] <Control Method> Next, the control method according to Embodiment 4 will be described with reference to Figure 14. Figure 14 is a flowchart showing the control method according to Embodiment 4. In Figure 14, each component is indicated using the reference numerals shown in Figure 8 as appropriate.

[0087] Furthermore, the control method according to Embodiment 4 shown in Figure 14 represents the process performed following step ST4 of the control method according to Embodiment 1 shown in Figure 4. That is, in the control method according to Embodiment 2, the processes from steps ST1 to ST4 in Figure 4 are executed, and then the processes from steps ST41 and ST42 in Figure 14 are executed. Here, we will explain assuming that the processes from steps ST1 to ST4 in Figure 4 have been executed.

[0088] First, the control unit 34 selects a shielding section according to the user's request and calculates the position of each hook (step ST41). For example, if the user requests to get a tan, the control unit 34 selects shielding section 307 (see Figure 13), and the shielding section 307 (see Figure 13) is 400 cm away. 2 Calculate the hook position accordingly.

[0089] Next, the control unit 34 controls the movement of each hook position of the selected shielding unit (step ST42). Specifically, the control unit 34 transmits a control signal regarding the calculated hook position to the hook position setting unit 340. The hook position setting unit 340 then sets the hook to the received hook position.

[0090] Thus, in the control method according to Embodiment 4, each of the multiple shielding parts is controlled to expand or contract. As a result, the control method according to Embodiment 4 can block each wavelength contained in sunlight, such as visible light, ultraviolet light, and infrared light. Therefore, with the control method according to Embodiment 4, the user can fulfill their own desires, for example, wanting to get a tan but wanting to avoid the glare and warmth of sunlight.

[0091] (Embodiment 5) <Control System> The control system according to Embodiment 5 will be described with reference to Figures 15 and 16. Figure 15 is a block diagram illustrating the control system according to Embodiment 5. Figure 16 is a schematic diagram showing an example of the configuration of the control system according to Embodiment 5. The control device 50 is provided, for example, on the aircraft 100, similar to Embodiment 1.

[0092] As shown in Figure 15, the control system 5 comprises a control device 50 and an aircraft 100. In the control system 5 according to Embodiment 5, the aircraft 100 moves while maintaining a predetermined height on a first straight line as the user moves. The path along which the aircraft 100 moves while maintaining a predetermined height on the first straight line is called the flight path. The control system 5 according to Embodiment 5 is characterized in that, when an obstacle is detected on the flight path, the aircraft is controlled to move to an evacuation area, which is an area that is off the straight line but where the aircraft and the obstacle will not collide. In particular, the control system 5 according to Embodiment 5 is characterized in that it can avoid collisions with obstacles that cannot be avoided even when moving along the first straight line.

[0093] As shown in Figure 15, the aircraft 100 includes an imaging unit 110, an aircraft control unit 120, and a communication unit 130. Since the aircraft 100 is the same as in Figure 1, its description is omitted. In the following description, the aircraft 100 will be used as an example, but it is not limited to this, and the aircraft 300 shown in Figure 9 or the aircraft 350 shown in Figure 13 may also be used.

[0094] As shown in Figure 15, the control device 50 includes a sun detection unit 11, a user detection unit 12, a straight line setting unit 13, an obstacle detection unit 25, and a control unit 54. The sun detection unit 11, user detection unit 12, and straight line setting unit 13 are the same as in Figure 1, so their explanation is omitted. The obstacle detection unit 25 is the same as in Figure 5, so its explanation is omitted. Here, we will explain the control unit 54.

[0095] The control unit 54 controls the aircraft 100 having a shielding section so that it is positioned on a first straight line. Furthermore, when the obstacle detection unit 25 detects an obstacle, the control unit 54 controls the aircraft 100 to move to a retreat area, which is an area outside the first straight line where the aircraft 100 will not collide with the obstacle.

[0096] <Move to the evacuation area> An example of controlling an aircraft to move to an evacuation area will be described with reference to Figure 16. Figure 16 shows the aircraft 100 moving to the evacuation area R1 from left to right in the diagram. The evacuation area R1 is, for example, an area that is a predetermined distance away from an obstacle in the up, down, left, and right directions. The predetermined distance can be set arbitrarily. Alternatively, the evacuation area R1 may be, for example, an area that is a predetermined distance away from a predetermined position on the first straight line, depending on the size of the obstacle detected by the obstacle detection unit 25.

[0097] Figure 16 assumes that the aircraft 100 is positioned on the first straight line L1 and detects an obstacle while flying in accordance with the movement of user U1. It also assumes that the aircraft 100 cannot avoid colliding with the obstacle even if it moves along the first straight line L1. The obstacle could be, for example, a utility pole or a sign.

[0098] As shown in Figure 16, when the obstacle detection unit 25 (see Figure 15) detects an obstacle in the flight path of the aircraft 100, the control unit 54 controls the aircraft 100 to move to position SP1 on the first straight line L1. As a result, the aircraft 100 moves along the first straight line L1 toward position SP1. Position SP1 is a predetermined position on the first straight line L1. Preferably, position SP1 is the position where the shortest distance is from the center of the evacuation area R1 to the first straight line L1.

[0099] Next, the control unit 54 controls the aircraft 100 to move from position SP1 towards the evacuation area R1. As a result, the aircraft 100 moves from position SP1 towards the evacuation area R1. In this way, the aircraft 100 can avoid collisions with obstacles located in the evacuation area R1 that cannot be avoided by moving along the straight line L1. Furthermore, since the aircraft 100 moves along the straight line L1, via position SP1 to the evacuation area R1, it can properly shield the user from sunlight even while the aircraft 100 is moving to position SP1. In other words, even when the aircraft 100 avoids obstacles, moving along the shortest possible path reduces travel time, allowing the user to be shielded from sunlight for as long as possible.

[0100] <Move from the evacuation area to the first straight line> Furthermore, when the control unit 54 passes an obstacle detected by the obstacle detection unit 25, it controls the aircraft 100 to move back to its original position on the first straight line, in the order from right to left as shown in Figure 16. In other words, the control unit 54 controls the aircraft 100 to move from the evacuation area R1 towards position SP1. As a result, the aircraft 100 moves from the evacuation area R1 towards position SP1.

[0101] Next, the control unit 54 controls the aircraft 100 to move from position SP1 on the first straight line L1 to a predetermined height position on the original flight path. This allows the aircraft 100 to continue moving along the original flight path.

[0102] Furthermore, if position SP1 is set to the position where the shortest distance from the center of the retraction area R1 to the straight line L1 is achieved, the travel time from the retraction area R1 to position SP1 can be shortened. Therefore, sunlight can be blocked from reaching the user for as long as possible.

[0103] <Control Method> Next, the control method according to Embodiment 5 will be described with reference to Figure 17. Figure 17 is a flowchart showing the control method according to Embodiment 5. In Figure 17, each component is indicated using the reference numerals shown in Figure 15 as appropriate.

[0104] Furthermore, the control method according to Embodiment 5 shown in Figure 17 represents the process performed following step ST4 of the control method according to Embodiment 1 shown in Figure 4. That is, in the control method according to Embodiment 5, the processes from steps ST1 to ST4 in Figure 4 are executed, and then the processes from steps ST51 to ST58 in Figure 7 are executed. Here, we will explain assuming that the processes from steps ST1 to ST4 in Figure 4 have been executed.

[0105] As shown in Figure 17, the obstacle detection unit 25 detects whether or not an obstacle is located in the flight path of the aircraft (step ST51). If the obstacle detection unit 25 determines that there is no obstacle in the flight path of the aircraft (step ST51NO), the control unit 54 controls the aircraft to maintain a predetermined height on the first straight line (step ST52).

[0106] On the other hand, if the obstacle detection unit 25 determines that an obstacle is located in the flight path of the aircraft (step ST21YES), the control unit 54 controls the aircraft to move along the first straight line toward a predetermined position on the first straight line (step ST53).

[0107] Next, the control unit 54 controls the aircraft to move from a predetermined position on the first straight line to the evacuation area (step ST54). In this way, the aircraft can avoid collisions with obstacles located in the evacuation area that cannot be avoided by moving along the first straight line. Furthermore, since the aircraft moves along the first straight line, passing through predetermined positions to the evacuation area, it can adequately shield the user from sunlight even while the aircraft is moving to the predetermined positions. In other words, even when the aircraft is avoiding obstacles, it can shield the user from sunlight for as long as possible.

[0108] Next, the obstacle detection unit 25 determines whether or not the obstacle has been passed (step ST55). If the obstacle detection unit 25 determines that the obstacle has not been passed (step ST55NO), the control unit 54 controls the aircraft to wait in the evacuation area (step ST56).

[0109] On the other hand, if the obstacle detection unit 25 determines that the aircraft is passing an obstacle (step ST55YES), the control unit 54 controls the aircraft to move to a predetermined position on the first straight line (step ST57).

[0110] Next, the control unit 54 controls the aircraft to move along the first straight line so that it moves from a predetermined position to a predetermined height on the original flight path (step ST58). In this way, the aircraft can continue to move along the original flight path. Furthermore, if the predetermined position is set to the position where the shortest distance is from the center of the evacuation area to the straight line, the travel time from the evacuation area to the predetermined position can be shortened. Therefore, sunlight can be blocked from the user for as long as possible.

[0111] (Embodiment 6) <Control System> The control system according to Embodiment 6 will be described with reference to Figure 18. Figure 18 is a block diagram illustrating the control system according to Embodiment 6. The control device 60 is provided, for example, on the aircraft 100, as in Embodiment 1. Alternatively, the aircraft 100 may be configured to include each functional block of the control device 60.

[0112] As shown in Figure 18, the control system 6 comprises a control device 60 and an aircraft 100. The control system 6 according to Embodiment 2 is characterized by reducing power consumption by controlling the aircraft to position itself on a first straight line when the sun is detected, and by controlling the aircraft to position itself at a predetermined position when the sun is not detected.

[0113] As shown in Figure 18, the aircraft 100 includes an imaging unit 110, an aircraft control unit 120, and a communication unit 130. Since the aircraft 100 is the same as in Figure 1, its description is omitted. In the following description, the aircraft 100 will be used as an example, but the description is not limited to this, and the aircraft 300 shown in Figure 9 or the aircraft 350 shown in Figure 13 may also be used.

[0114] As shown in Figure 18, the control device 60 includes a sun detection unit 11, a user detection unit 62, a straight line setting unit 63, a determination unit 65, and a control unit 64. The sun detection unit 11 is the same as in Figure 1, so its description is omitted.

[0115] The determination unit 65 determines whether or not the sun was detected based on the detection result of the sun detection unit 11. The detection result of the sun detection unit 11 includes whether or not the position of the sun was detected and the time when the position of the sun was detected. The determination unit 65 determines that the sun was detected if the sun detection unit 11 was able to detect the position of the sun. The determination unit 65 determines that the sun was not detected if the sun detection unit 11 was unable to detect the position of the sun.

[0116] Furthermore, the determination unit 65 may determine that the sun has been detected if the time during which the sun detection unit 11 is unable to detect the position of the sun is less than or equal to a predetermined time. The determination unit 65 may also determine that the sun has not been detected if the time during which the sun detection unit 11 is unable to detect the position of the sun is longer than a predetermined time.

[0117] The user detection unit 62 performs the same processing as the user detection unit 12 shown in Figure 1 when the determination unit 65 determines that it has detected the sun. The straight line setting unit 63 performs the same processing as the straight line setting unit 13 shown in Figure 1 when the determination unit 65 determines that it has detected the sun. The respective processes are the same as in Embodiment 1 and are therefore omitted.

[0118] When the determination unit 65 determines that it has detected the sun, the control unit 64 controls the aircraft, which has a shielding part for blocking sunlight, to be positioned in a straight line. Also, when the determination unit 65 determines that it has not detected the position of the sun, the control unit 64 controls the aircraft to be positioned at a predetermined position. The predetermined position is a position at a predetermined distance from the user, for example, a position 1 meter above the user.

[0119] With this configuration, if the position of the sun cannot be detected, the user detection unit 62 and the straight line setting unit 63 are not used, thus reducing the power consumption of the control device 60. If the control device 60 is detachably mounted on the aircraft 100, or if the aircraft 100 is equipped with each functional block of the control device 60, the control processing of the control device 60 operates using the power supply of the aircraft 100. Therefore, in such cases, the power consumption of the aircraft 100 can be reduced.

[0120] On the other hand, if the control unit 64 can detect the position of the sun, it controls the aircraft 100 so that it is positioned on the first straight line, thereby appropriately shielding the user from light. In other words, the control system according to Embodiment 6 can reduce the power consumption of the aircraft 100 while appropriately shielding the user from light.

[0121] <Control Method> Next, the control method according to Embodiment 6 will be described with reference to Figure 19. Figure 19 is a flowchart showing the control method according to Embodiment 6. In Figure 19, each component is indicated using the reference numerals shown in Figure 18 as appropriate.

[0122] Furthermore, the control method according to Embodiment 6 shown in Figure 19 has steps ST2 to ST4 that are the same as steps ST2 to ST4 of the control method according to Embodiment 1 shown in Figure 4, so the explanation is omitted.

[0123] First, as shown in Figure 19, the solar detection unit 11 detects the position of the sun (step ST1). This is the same process as step ST1 of the control method according to Embodiment 1 shown in Figure 4.

[0124] Next, the determination unit 65 determines whether or not the sun was detected based on the detection result of the sun detection unit 11 (step ST61). If the determination unit 65 determines that the sun was detected (step ST61YES), the processes of steps ST2 to ST4 shown in Figure 19 are executed.

[0125] On the other hand, if the determination unit 65 determines that it could not detect the sun (step ST61NO), the control unit 64 controls the aircraft to position itself in a predetermined location (step ST62).

[0126] Thus, in the control method according to Embodiment 6, in the case of step ST61NO, the processing of steps ST2 to ST4 is not executed, which reduces power consumption.

[0127] (Embodiment 7) <Control System> The control system according to Embodiment 7 will be described with reference to Figure 20. Figure 20 is a block diagram illustrating the control system according to Embodiment 7. The control device 70 is provided, for example, on the aircraft 100, as in Embodiment 1. Alternatively, the aircraft 100 may be configured to include each functional block of the control device 70.

[0128] As shown in Figure 20, the control system 7 comprises a control device 70 and an aircraft 100. The control system 7 according to Embodiment 7 determines the sunny and shaded areas included in the user's travel path. The control system 7 according to Embodiment 7 is characterized by reducing power consumption by controlling the aircraft to be positioned on a first straight line when the user is in a sunny area, and by controlling the aircraft to be positioned at a predetermined position when the user is in a shaded area.

[0129] As shown in Figure 20, the aircraft 100 includes an imaging unit 110, an aircraft control unit 120, and a communication unit 130. Since the aircraft 100 is the same as in Figure 1, its description is omitted. In the following description, the aircraft 100 is used as an example, but the description is not limited to this, and the aircraft 300 shown in Figure 9 or the aircraft 350 shown in Figure 13 may also be used.

[0130] As shown in Figure 20, the control device 70 includes a sun detection unit 71, a user detection unit 72, a straight line setting unit 73, a region determination unit 75, a user position information acquisition unit 76, a user movement path information acquisition unit 77, a region determination unit 78, and a control unit 74.

[0131] The user travel route information acquisition unit 77 acquires information about the user's travel route. This information includes the starting point, destination, intermediate stops to the starting point and destination, walking or running routes to the starting point and destination, departure time, intermediate times, arrival time, and travel time. The user travel route information acquisition unit 77 acquires information about the user's travel route from, for example, the user's terminal (not shown in Figure 20).

[0132] The region determination unit 75 determines the sunny and shaded areas included in the user's travel path. For example, when the region determination unit 75 obtains the user's travel path, it determines the sunny and shaded areas at each time based on the position of the sun at each time. This will be explained in detail with reference to Figure 21. Figure 21 is a diagram showing examples of sunny and shaded areas at each time. When the region determination unit 75 obtains the user's travel path ML1, it determines the sunny area R71 and the shaded area R72 at each time 12:00, 16:00, and 17:00, as shown in Figure 21. Note that the times 12:00, 16:00, and 17:00 shown in Figure 21 are just examples, and the region determination unit 75 determines the sunny and shaded areas for each time period.

[0133] The user location information acquisition unit 76 acquires the user's location information. This location information also includes time information. The user location information acquisition unit 76 acquires the user's location information from, for example, the user's terminal (not shown in Figure 20). As another example, the user location information acquisition unit 76 may acquire the user's location information by analyzing the image captured by the imaging unit 110.

[0134] The area determination unit 78 determines whether the user is located in a sunny area or not. The area determination unit 78 may also determine whether the user is located in a shaded area or not. In the example shown in Figure 21, suppose the user location information acquisition unit 76 acquires that the user is located at position SP11 at 12 o'clock. In this case, the area determination unit 78 determines that the user is located in a sunny area because SP11 is included in the sunny area R71. Also, in the example shown in Figure 21, suppose the user location information acquisition unit 76 acquires that the user is located at position SP22 at 12 o'clock. In this case, the area determination unit 78 determines that the user is located in a shaded area because SP22 is included in the sunny area R72.

[0135] The sun detection unit 71 performs the same processing as the sun detection unit 11 shown in Figure 1 when the region determination unit 78 determines that the user is located in a sunny area. The user detection unit 72 performs the same processing as the user detection unit 12 shown in Figure 1 when the region determination unit 78 determines that the user is located in a sunny area. The straight line setting unit 73 performs the same processing as the straight line setting unit 13 shown in Figure 1 when the region determination unit 78 determines that the user is located in a sunny area. The processing for each unit is the same as in Embodiment 1 and is therefore omitted.

[0136] The control unit 74 controls the aircraft to be positioned in a straight line when the area determination unit 78 determines that the user is in a sunny area, so that the aircraft, which has a shielding part for blocking sunlight, is positioned in a straight line. The control unit 74 also controls the aircraft to be positioned at a predetermined position when the area determination unit 78 determines that the user is not in a sunny area, i.e., the user is in a shaded area. The predetermined position is a position at a predetermined distance from the user, for example, a position 1 meter above the user.

[0137] <Control Example> An example of control of the control unit 74 will be described with reference to Figure 22. Figure 22 is a diagram showing the sunny and shaded areas in the user's travel path. As shown in Figure 22, the user moves along the travel path ML2 from point SP3 to point SP4 via point SP5.

[0138] As shown in Figure 22, from point SP3 to point SP5 on the travel path ML2, the user is located in the sunny area R71. Therefore, the control unit 74 controls the aircraft so that it is positioned on the first straight line, as explained in Figure 2.

[0139] On the other hand, as shown in Figure 22, in the travel path ML2, from point SP5 to point SP4, the user is located in the shaded area R72. Therefore, the control unit 74 controls the aircraft to position itself in a predetermined location.

[0140] Thus, when the user is located in a shaded area, the user detection unit 72 and the straight-line setting unit 73 are not used, thus reducing the power consumption of the control device 70. When the control device 70 is detachably mounted on the aircraft 100, or when the aircraft 100 is equipped with each functional block of the control device 70, the control processing of the control device 70 operates using the power supply of the aircraft 100. Therefore, in such cases, the power consumption of the aircraft 100 can be reduced.

[0141] On the other hand, when the user is in a sunny area, the control unit 74 controls the aircraft 100 to be positioned on the first straight line, thereby appropriately shielding the user from sunlight. In other words, the control system according to Embodiment 7 can reduce the power consumption of the aircraft 100 while appropriately shielding the user from sunlight.

[0142] <Control Method> Next, the control method according to Embodiment 7 will be described with reference to Figure 23. Figure 23 is a flowchart showing the control method according to Embodiment 7. In Figure 23, each component is indicated using the reference numerals shown in Figure 20 as appropriate.

[0143] Furthermore, the control method according to Embodiment 7 shown in Figure 23 has steps ST1 to ST4 that are the same as steps ST1 to ST4 of the control method according to Embodiment 1 shown in Figure 4, so the explanation is omitted.

[0144] First, as shown in Figure 23, the user movement path information acquisition unit 77 acquires information about the user's movement path (step ST71). Next, the area determination unit 75 determines the sunny areas and shaded areas included in the user's movement path (step ST72).

[0145] Next, the user location information acquisition unit 76 acquires the user's location information (step ST73). Next, the area determination unit 78 determines whether the user is located in a sunny area or not (step ST74).

[0146] If the area determination unit 78 determines that the user is not located in a sunny area, that is, that the user is located in a shaded area (step ST74NO), the control unit 74 controls the aircraft to position itself in a predetermined location (step ST75).

[0147] On the other hand, if the area determination unit 78 determines that the user is located in a sunny area (step ST74YES), the processes of steps ST1 to ST4 in Figure 23 are executed.

[0148] Thus, in the control method according to Embodiment 7, if step ST74NO is called, the processing of steps ST1 to ST4 is not executed, which reduces power consumption.

[0149] Furthermore, some or all of the processing in the control devices 10-70, aircraft 100, 300, 350, and control methods described above can be implemented as computer programs. Such programs can be stored using various types of non-temporary computer-readable media and supplied to a computer. Non-temporary computer-readable media include various types of tangible recording media. Examples of non-temporary computer-readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memory (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (Random Access Memory)). Programs may also be supplied to a computer by various types of temporary computer-readable media. Examples of temporary computer-readable media include electrical signals, optical signals, and electromagnetic waves. Temporary computer-readable media can be supplied to a computer via wired communication channels such as electric wires and optical fibers, or via wireless communication channels.

[0150] Although the present disclosure has been described in accordance with the above embodiments, the present disclosure is not limited to the configuration of the above embodiments, and of course includes various modifications, alterations, and combinations that a person skilled in the art could make within the scope of the claims of the present patent application. [Explanation of Symbols]

[0151] 1, 2, 3, 5, 6, 7 Control Systems 10, 20, 30, 50, 60, 70 control devices 11, 71 Solar detection unit 12, 62, 72 User detection unit 13, 63, 73 Straight line setting section 14, 24, 34, 54, 64, 74 Control Unit 25 Obstacle detection unit 75 Area determination part 76 User Location Information Acquisition Unit 77 User movement path information acquisition unit 78 Area determination section H1 Obstacle 100, 300, 350 flying objects 101, 301, 307, 308, 309 Shielding part 102 cabinets 104 Propeller 105,305 Arm 110 Imaging Unit 120 Flight Control Unit 130 Communications Department 340 Hook position setting section F1, F2, F3, F4 hooks FP1, FP2 flight paths H1 Obstacle L1, L11, L111 1st straight line L2 2nd straight line ML1, ML2 movement paths R1 Evacuation area R71 Hyuga Domain R72 Shaded area S10 sun SP1, SP11, SP22 position SP3, SP4, SP5 points U1 User

Claims

1. A sun detection unit that detects the position of the sun from an image that includes the sun, A user detection unit that detects the position of the user from an image that includes the user, A straight line setting unit sets a straight line connecting the position of the sun and the position of the user between the sun and the user, A control unit that controls the aircraft having a shielding portion for blocking sunlight to be positioned along the straight line, The system includes an obstacle detection unit that detects obstacles in the flight path of the aircraft, which moves while maintaining a predetermined height as the user moves, The control unit, When the obstacle detection unit detects an obstacle, it controls the aircraft to move to an evacuation area, which is an area outside the straight line where the aircraft will not collide with the obstacle. Control device.

2. The control unit controls the aircraft to move along the straight line toward a predetermined position on the straight line, and then move from the predetermined position toward the evacuation area. The control device according to claim 1.

3. The predetermined position is the position where the shortest distance is from the center of the retraction area to the straight line. The control device according to claim 2.

4. A sun detection unit that detects the position of the sun from an image that includes the sun, A user detection unit that detects the position of the user from an image that includes the user, A straight line setting unit sets a straight line connecting the position of the sun and the position of the user between the sun and the user, A control unit that controls the position to be located on the aforementioned straight line, A shielding section to block sunlight, The system includes an obstacle detection unit that detects obstacles in the flight path when the system moves while maintaining a predetermined height as the user moves, The control unit, When the obstacle detection unit detects an obstacle, it controls the unit to move to a retraction area that is outside the straight line and does not collide with the obstacle. A flying object.

5. The position of the sun is detected from an image that includes the sun. The user's position is detected from the image containing the user. A straight line is set between the sun and the user, connecting the position of the sun and the position of the user. The aircraft having a shielding part for blocking sunlight is controlled to be positioned along the straight line, The system detects obstacles in the flight path of the aircraft, which moves while maintaining a predetermined height as the user moves. When the aforementioned obstacle is detected, the system controls the aircraft to move to an evacuation area that is outside the straight line and where the aircraft will not collide with the obstacle. Control method.

Images