Unmanned aerial vehicles

Abstract

Enjoying games where you control a drone to earn points. [Solution] A scoring game system 1100 comprises a first drone 1101 that flies within a predetermined space by automatic piloting, a second drone 1102 that flies within a predetermined space by manual piloting, and a control unit 1104 that wirelessly controls the second unmanned aerial vehicle 1102. The operator 1105 controls the second drone 1102 by operating the control unit 104, avoids the pursuing first drone 1101, earns points according to the degree of avoidance, and stores the score information related to the earned points. This allows a player to enjoy a game by themselves in which they control the second drone 1102 and earn points. In addition, the player can improve their drone piloting skills while enjoying the game. The system also includes a filming drone 1103 that films the gameplay, providing a sense of realism to the game.

Description

Technical Field

[0001] This invention relates to a scoring game system using a drone, the drone, a control method for the drone, and a control program.

Background Art

[0002] In recent years, games using electronic devices such as smartphones, tablets, game consoles, and personal computers have become widespread. The electronic devices used in games have also spread widely among users belonging to the so-called young generation, such as children and students. In games using such electronic devices, for example, there are various technologies for improving user convenience.

[0003] Specifically, conventionally, for example, there has been a technology that enables the change of the progress method of a battle between a manual mode and an auto mode according to the past battle experience of a user, and reduces the complexity of user operations in a battle in the auto mode while maintaining the playfulness of the battle in the manual mode (see, for example, Patent Document 1 below).

[0004] In addition, there has been a technology related to a game using an unmanned flying object, in which two operators collide their own unmanned flying objects with the opponent's unmanned flying object to cause the opponent's unmanned flying object to fall (see, for example, Patent Document 2 below).

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Patent Document 3

Patent Document 4

[0006] However, traditional competitive games require at least two players, making it difficult to play alone. Furthermore, games using electronic devices lack realism compared to actual gameplay because the controls are in a virtual space.

[0007] This invention aims to solve the problems of the prior art described above by providing a scoring game system that allows players to enjoy the game alone and improve their unmanned aerial vehicle piloting skills while enjoying the game. [Means for solving the problem]

[0008] To solve the above-mentioned problems and achieve the objective, the scoring game system according to this invention comprises a first unmanned aerial vehicle that flies within a predetermined space by automatic piloting, a second unmanned aerial vehicle that flies within a predetermined space by manual piloting, and a control unit that wirelessly controls the second unmanned aerial vehicle, characterized in that the operator controls the second unmanned aerial vehicle by operating the control unit, causing the flying first unmanned aerial vehicle to follow, and points are awarded according to the degree of following, and score information relating to the awarded points is stored in at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle.

[0009] Furthermore, the scoring game system according to this invention is characterized in that, in the above invention, at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an object sensor, the object sensor detects the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined intervals, and based on the detection result of the object sensor, if the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle approaches within a predetermined distance after the start of the game, a predetermined score is awarded according to the frequency of such approach.

[0010] Furthermore, the scoring game system according to this invention is characterized in that, in the above invention, at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an object sensor, the object sensor detects the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined intervals, and based on the detection result of the object sensor, if the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle approaches within a predetermined distance for a predetermined period of time after the start of the game, a predetermined score is awarded according to the length of time the vehicles are approaching.

[0011] Furthermore, the scoring game system according to this invention is characterized in that, in the above invention, at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle is equipped with a lamp, and the lamp is turned on or flashes when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle approaches within a predetermined distance.

[0012] Furthermore, the scoring game system according to this invention is characterized in that, in the above invention, at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle is equipped with a speaker, and when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle approaches within a predetermined distance, a predetermined sound is output from the speaker.

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

[0014] Furthermore, the scoring game system according to this invention is characterized in that, in the above invention, at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an object sensor, the object sensor detects the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined intervals, and based on the detection result of the object sensor, if the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle remains greater than or equal to a predetermined distance for a predetermined period of time after the start of the game, a predetermined number of points are deducted according to the length of time they remain separated.

[0015] Furthermore, the scoring game system according to this invention is characterized in that, in the above invention, at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle is equipped with a lamp, and the lamp is turned on or flashed when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle is greater than or equal to a predetermined distance.

[0016] Furthermore, the scoring game system according to the present invention is characterized in that, in the above invention, a speaker is provided in at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle, and a predetermined sound is output from the speaker when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle is greater than or equal to a predetermined distance.

[0017] Furthermore, the scoring game system according to this invention is, in the above invention, the first The unmanned aerial vehicle and the second unmanned aerial vehicle are equipped with an acceleration sensor, the acceleration sensor detects a collision between the first unmanned aerial vehicle and the second unmanned aerial vehicle, and based on the detection result of the acceleration sensor, a predetermined score is awarded if the first unmanned aerial vehicle and the second unmanned aerial vehicle collide after the start of the game.

[0018] Furthermore, the scoring game system according to this invention is characterized in that, in the above invention, at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an acceleration sensor, the acceleration sensor detects a collision between the first unmanned aerial vehicle and the second unmanned aerial vehicle, and based on the detection result of the acceleration sensor, if the first unmanned aerial vehicle and the second unmanned aerial vehicle collide after the start of the game, a predetermined score is deducted.

[0019] Furthermore, the scoring game system according to this invention is characterized in that, in the above invention, at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle is equipped with a lamp, and the lamp is turned on or flashed when the first unmanned aerial vehicle and the second unmanned aerial vehicle collide.

[0020] Furthermore, the scoring game system according to this invention is characterized in that, in the above invention, at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle is equipped with a speaker, and a predetermined sound is output from the speaker when the first unmanned aerial vehicle and the second unmanned aerial vehicle collide.

[0021] Furthermore, the scoring game system according to this invention is characterized in that, in the above invention, a timer is provided in at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle, the timer measures time after the start of the game, and when the timer reaches a predetermined time, the game ends and the scoring information stored in at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is output.

[0022] In addition, in the scoring game system according to this invention, in the above invention, when the elapsed time of the timer reaches a predetermined time, score information stored in at least one of the first unmanned aircraft and the second unmanned aircraft is acquired, and based on the acquired score information, when the score has reached a predetermined value, the game is extended for a predetermined time, and when the score has not reached the predetermined value, the game is ended.

[0023] In addition, in the scoring game system according to this invention, in the above invention, at least one of the control device, the first unmanned aircraft, and the second unmanned aircraft is provided with a timer, and the timer measures time after the game starts, and based on the score information stored in at least one of the first unmanned aircraft and the second unmanned aircraft, when the score has reached a predetermined value, the game is ended, and the elapsed time of the timer is output.

[0024] In addition, in the scoring game system according to this invention, in the above invention, during the game, the first unmanned aircraft changes its flight speed based on the score obtained.

[0025] In addition, in the scoring game system according to this invention, in the above invention, when the score obtained is equal to or greater than a predetermined score, the flight speed is increased.

[0026] In addition, in the scoring game system according to this invention, in the above invention, when the score obtained is equal to or less than a predetermined score, the flight speed is decreased.

[0027] Furthermore, the scoring game system according to this invention is characterized in that, in the above invention, it includes a display device for displaying images, a camera is mounted on at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle, at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle wirelessly transmits image information relating to images captured by the camera during the game to the display device, and the display device displays the received images.

[0028] Furthermore, the scoring game system according to this invention is characterized in that, in the above invention, a third unmanned aircraft flies around the first or second unmanned aircraft by autopilot and is equipped with a camera that photographs at least one of the first or second unmanned aircraft, the third unmanned aircraft wirelessly transmits video information relating to the video captured by the camera during the game to the display device, and the display device displays the received video.

[0029] Furthermore, the scoring game system according to this invention is characterized in that, in the above invention, at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle wirelessly transmits stored score information to the display device, and the display device displays the received score information.

[0030] Furthermore, the scoring game system according to this invention is characterized in that the display device is provided in the control unit.

[0031] Furthermore, the scoring game system according to this invention is characterized in that the display device is a goggle-type display device worn by the operator.

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

[0033] Furthermore, the scoring game system according to this invention is characterized in that, in the above invention, the first unmanned aerial vehicle is equipped with an object sensor for measuring the distance to the second unmanned aerial vehicle, and determines or changes the flight pattern of the first unmanned aerial vehicle based on the acquired position information of the first unmanned aerial vehicle, the position information and drive control information of the second unmanned aerial vehicle received from the second unmanned aerial vehicle, and the distance to the second unmanned aerial vehicle measured by the object sensor.

[0034] Furthermore, the scoring game system according to this invention is characterized in that, in the above invention, the flight pattern is a flight pattern that avoids approaching the second unmanned aerial vehicle.

[0035] Furthermore, the scoring game system according to this invention is characterized in that, in the above invention, the location information is latitude, longitude, and altitude information calculated by GPS (Global Positioning System).

[0036] Furthermore, the scoring game system according to this invention is characterized in that, in the above invention, the drive control information is a control signal that controls the drive of a motor that rotates the propeller driving the second unmanned aerial vehicle.

[0037] Furthermore, the scoring game system according to this invention is, in the above invention, the pilot It is characterized by being an information processing terminal device equipped with a display screen.

[0038] To solve the above-mentioned problems and achieve the objective, the unmanned aerial vehicle according to this invention is an unmanned aerial vehicle used in a scoring game that flies within a predetermined space by automatic piloting, and is characterized by acquiring its own position information and determining or changing its own flight pattern based on the acquired position information of its own vehicle and the position information and drive control information of a manually piloted unmanned aerial vehicle that flies within a predetermined space by manual piloting.

[0039] Furthermore, the unmanned aerial vehicle according to this invention is characterized in that, in the above invention, it is equipped with an object sensor for measuring the distance to the manually operated unmanned aerial vehicle, and determines or changes the flight pattern of the aircraft based on the acquired position information of the aircraft, the position information and drive control information of the manually operated unmanned aerial vehicle received from the said manually operated unmanned aerial vehicle, and the distance to the said manually operated unmanned aerial vehicle measured by the object sensor.

[0040] Furthermore, the unmanned aerial vehicle according to this invention is characterized in that, in the above invention, the flight pattern is a flight pattern that avoids approaching the manually operated unmanned aerial vehicle.

[0041] Furthermore, the unmanned aerial vehicle according to this invention is characterized in that, in the above invention, the position information is latitude, longitude, and altitude information calculated by GPS (Global Positioning System).

[0042] Furthermore, the unmanned aerial vehicle according to this invention is characterized in that, in the above invention, the drive control information is a control signal that controls the drive of a motor that rotates the propeller driving the manually operated unmanned aerial vehicle.

[0043] To solve the above-mentioned problems and achieve the objective, the control method according to this invention is a control method for an unmanned aerial vehicle that flies in a predetermined space by autopilot, used in a scoring game, characterized in that it acquires the position information of the aircraft itself, and determines or changes the flight pattern of the aircraft itself based on the acquired position information of the aircraft itself and the position information and drive control information of a manually operated unmanned aerial vehicle that flies in a predetermined space by manual pilot.

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

[0045] Furthermore, the control method according to this invention is characterized in that, in the above invention, the flight pattern is a flight pattern that avoids approaching the manually operated unmanned aerial vehicle.

[0046] Furthermore, the control method according to this invention is characterized in that, in the above invention, the position information is latitude, longitude, and altitude information calculated by GPS (Global Positioning System).

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

[0048] To solve the above-mentioned problems and achieve the objective, the control program according to this invention is a control program for an unmanned aerial vehicle that flies within a predetermined space by autopilot and is used in a scoring game, characterized in that it acquires the position information of the aircraft itself, and causes the unmanned aerial vehicle to perform a process of determining or changing the flight pattern of the aircraft itself based on the acquired position information of the aircraft itself, the position information of a manually controlled unmanned aerial vehicle that flies within a predetermined space by manual control, and the drive control information of the manually controlled unmanned aerial vehicle.

[0049] Furthermore, the control program according to this invention is characterized in that, in the above invention, it measures the distance to the manual unmanned aerial vehicle, determines or changes the flight pattern of the aircraft based on the acquired position information of the aircraft, the position information and drive control information of the manual unmanned aerial vehicle received from the manual unmanned aerial vehicle, and the measured distance to the manual unmanned aerial vehicle.

[0050] Furthermore, the control program according to this invention is characterized in that, in the above invention, the flight pattern is a flight pattern that avoids approaching the manually operated unmanned aerial vehicle.

[0051] Furthermore, the control program according to this invention is characterized in that, in the above invention, the position information is latitude, longitude, and altitude information calculated by GPS (Global Positioning System).

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

[0053] To solve the above-mentioned problems and achieve the objective, the scoring game system according to this invention comprises a first unmanned aircraft that flies within a predetermined space by automatic piloting, a second unmanned aircraft that flies within a predetermined space by manual piloting, and a control unit that wirelessly controls the second unmanned aircraft, wherein the operator controls the second unmanned aircraft by operating the control unit, avoids the first unmanned aircraft that is following it, earns points according to the degree of avoidance, and stores score information related to the earned points in at least one of the first unmanned aircraft and the second unmanned aircraft.

[0054] Furthermore, the scoring game system according to the present invention is characterized in that, in the above invention, at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an object sensor, the object sensor detects the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined time intervals, and based on the detection result of the object sensor, if the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle becomes greater than or equal to a predetermined distance after the start of the game, a predetermined score is awarded according to the frequency of such distance.

[0055] Furthermore, the scoring game system according to this invention is characterized in that, in the above invention, at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an object sensor, the object sensor detects the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined intervals, and based on the detection result of the object sensor, if the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle remains at or above a predetermined distance for a predetermined period of time after the start of the game, a predetermined score is awarded according to the length of time they remain separated.

[0056] Furthermore, the scoring game system according to this invention is characterized in that, in the above invention, at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle is equipped with a lamp, and the lamp is turned on or flashed when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle is greater than or equal to a predetermined distance.

[0057] Furthermore, the scoring game system according to the present invention is characterized in that, in the above invention, a speaker is provided in at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle, and a predetermined sound is output from the speaker when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle is greater than or equal to a predetermined distance.

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

[0059] Furthermore, the scoring game system according to the present invention is characterized in that, in the above invention, at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an object sensor, the object sensor detects the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined intervals, and based on the detection result of the object sensor, if the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle approaches within a predetermined distance for a predetermined period of time after the start of the game, a predetermined number of points are deducted according to the length of time the two vehicles are close together.

[0060] Furthermore, the scoring game system according to this invention is characterized in that, in the above invention, at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle is equipped with a lamp, and the lamp is turned on or flashes when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle approaches within a predetermined distance.

[0061] Furthermore, the scoring game system according to this invention is characterized in that, in the above invention, at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle is equipped with a speaker, and when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle approaches within a predetermined distance, a predetermined sound is output from the speaker.

[0062] Furthermore, the scoring game system according to this invention is characterized in that, in the above invention, at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an acceleration sensor, the acceleration sensor detects a collision between the first unmanned aerial vehicle and the second unmanned aerial vehicle, and based on the detection result of the acceleration sensor, if the first unmanned aerial vehicle and the second unmanned aerial vehicle collide after the start of the game, a predetermined score is deducted.

[0063] Furthermore, the scoring game system according to this invention is characterized in that, in the above invention, at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an acceleration sensor, the acceleration sensor detects a collision between the first unmanned aerial vehicle and the second unmanned aerial vehicle, and based on the detection result of the acceleration sensor, a predetermined score is obtained when the first unmanned aerial vehicle and the second unmanned aerial vehicle collide after the start of the game.

[0064] Furthermore, the scoring game system according to this invention is characterized in that, in the above invention, at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle is equipped with a lamp, and the lamp is turned on or flashed when the first unmanned aerial vehicle and the second unmanned aerial vehicle collide.

[0065] Furthermore, the scoring game system according to this invention is characterized in that, in the above invention, at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle is equipped with speed The system is equipped with a speaker, and is characterized in that it outputs a predetermined sound from the speaker when the first unmanned aerial vehicle and the second unmanned aerial vehicle collide.

[0066] Furthermore, the scoring game system according to this invention is characterized in that, in the above invention, a timer is provided in at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle, the timer measures time after the start of the game, and when the timer reaches a predetermined time, the game ends and the scoring information stored in at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is output.

[0067] Furthermore, the scoring game system according to the present invention is characterized in that, when the timer's timing reaches a predetermined time, score information stored in at least one of the first and second unmanned aerial vehicles is acquired, and based on the acquired score information, if the score has reached a predetermined value, the game is extended for a predetermined time, and if the score has not reached the predetermined value, the game is terminated.

[0068] Furthermore, the scoring game system according to this invention is characterized in that, in the above invention, a timer is provided in at least one of the pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle, the timer measures time after the start of the game, and when the score reaches a predetermined value based on the score information stored in at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle, the game ends and the timer outputs the time it has been measured.

[0069] Furthermore, the scoring game system according to this invention is characterized in that, during the game, the first unmanned aerial vehicle changes its flight speed based on the score it has earned.

[0070] Furthermore, the scoring game system according to this invention is characterized in that, in the above invention, the flight speed is increased when the score obtained exceeds a predetermined score.

[0071] Furthermore, the scoring game system according to this invention is characterized in that, in the above invention, the flight speed is reduced when the score obtained falls below a predetermined score.

[0072] Furthermore, the scoring game system according to this invention is characterized in that, in the above invention, it includes a display device for displaying images, a camera is mounted on at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle, at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle wirelessly transmits image information relating to images captured by the camera during the game to the display device, and the display device displays the received images.

[0073] Furthermore, the scoring game system according to this invention is characterized in that, in the above invention, a third unmanned aircraft flies around the first or second unmanned aircraft by autopilot and is equipped with a camera that photographs at least one of the first or second unmanned aircraft, the third unmanned aircraft wirelessly transmits video information relating to the video captured by the camera during the game to the display device, and the display device displays the received video.

[0074] Furthermore, the scoring game system according to this invention is characterized in that, in the above invention, at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle wirelessly transmits stored score information to the display device, and the display device displays the received score information.

[0075] Furthermore, the scoring game system according to this invention is characterized in that the display device is provided in the control unit.

[0076] Furthermore, the scoring game system according to this invention is characterized in that the display device is a goggle-type display device worn by the operator.

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

[0078] Furthermore, the scoring game system according to this invention is characterized in that, in the above invention, the first unmanned aerial vehicle is equipped with an object sensor for measuring the distance to the second unmanned aerial vehicle, and determines or changes the flight pattern of the first unmanned aerial vehicle based on the acquired position information of the first unmanned aerial vehicle, the position information and drive control information of the second unmanned aerial vehicle received from the second unmanned aerial vehicle, and the distance to the second unmanned aerial vehicle measured by the object sensor.

[0079] Furthermore, the scoring game system according to this invention is characterized in that, in the above invention, the flight pattern is a flight pattern that approaches the second unmanned aerial vehicle or collides with the second unmanned aerial vehicle.

[0080] Furthermore, the scoring game system according to this invention is characterized in that, in the above invention, the location information is latitude, longitude, and altitude information calculated by GPS (Global Positioning System).

[0081] Furthermore, the scoring game system according to this invention is characterized in that, in the above invention, the drive control information is a control signal that controls the drive of a motor that rotates the propeller driving the second unmanned aerial vehicle.

[0082] Furthermore, the scoring game system according to this invention is characterized in that, in the above invention, the control device is an information processing terminal device equipped with a display screen.

[0083] To solve the above-mentioned problems and achieve the objective, the unmanned aerial vehicle according to this invention is an unmanned aerial vehicle used in a scoring game that flies within a predetermined space by automatic piloting, and is characterized by acquiring its own position information and determining or changing its own flight pattern based on the acquired position information of its own vehicle and the position information and drive control information of a manually piloted unmanned aerial vehicle that flies within a predetermined space by manual piloting.

[0084] Furthermore, the unmanned aerial vehicle according to this invention is characterized in that, in the above invention, it is equipped with an object sensor for measuring the distance to the manually operated unmanned aerial vehicle, and determines or changes the flight pattern of the aircraft based on the acquired position information of the aircraft, the position information and drive control information of the manually operated unmanned aerial vehicle received from the said manually operated unmanned aerial vehicle, and the distance to the said manually operated unmanned aerial vehicle measured by the object sensor.

[0085] Furthermore, the unmanned aerial vehicle according to this invention is characterized in that, in the above invention, the flight pattern is a flight pattern that approaches or collides with the manually operated unmanned aerial vehicle.

[0086] Furthermore, the unmanned aerial vehicle according to this invention is characterized in that, in the above invention, the position information is latitude, longitude, and altitude information calculated by GPS (Global Positioning System).

[0087] Furthermore, the unmanned aerial vehicle according to this invention is characterized in that, in the above invention, the drive control information is a control signal that controls the drive of a motor that rotates the propeller driving the manually operated unmanned aerial vehicle.

[0088] To solve the above-mentioned problems and achieve the objective, the control method according to this invention is a control method for an unmanned aerial vehicle that flies in a predetermined space by autopilot, used in a scoring game, characterized in that it acquires the position information of the aircraft itself, and determines or changes the flight pattern of the aircraft itself based on the acquired position information of the aircraft itself and the position information and drive control information of a manually operated unmanned aerial vehicle that flies in a predetermined space by manual pilot.

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

[0090] Furthermore, the control method according to this invention is characterized in that, in the above invention, the flight pattern is a flight pattern that approaches or collides with the manually operated unmanned aerial vehicle.

[0091] Furthermore, the control method according to this invention is characterized in that, in the above invention, the position information is latitude, longitude, and altitude information calculated by GPS (Global Positioning System).

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

[0093] To solve the above-mentioned problems and achieve the objective, the control program according to this invention is a control program for an unmanned aerial vehicle that flies within a predetermined space by autopilot and is used in a scoring game, characterized in that it acquires the position information of the aircraft itself, and causes the unmanned aerial vehicle to perform a process of determining or changing the flight pattern of the aircraft itself based on the acquired position information of the aircraft itself, the position information of a manually controlled unmanned aerial vehicle that flies within a predetermined space by manual control, and the drive control information of the manually controlled unmanned aerial vehicle.

[0094] Furthermore, the control program according to this invention is characterized in that, in the above invention, it measures the distance to the manual unmanned aerial vehicle, determines or changes the flight pattern of the aircraft based on the acquired position information of the aircraft, the position information and drive control information of the manual unmanned aerial vehicle received from the manual unmanned aerial vehicle, and the measured distance to the manual unmanned aerial vehicle.

[0095] Furthermore, the control program according to this invention is characterized in that, in the above invention, the flight pattern is a flight pattern that approaches or collides with the manually operated unmanned aerial vehicle.

[0096] Furthermore, in the control program according to this invention, the position information is calculated using the latitude and longitude of GPS (Global Positioning System). It is characterized by being degree information and advanced information.

[0097] Furthermore, the control program according to this invention is characterized in that, in the above invention, the drive control information is a control signal that controls the drive of a motor that rotates the propeller that drives the manually operated unmanned aerial vehicle. [Effects of the Invention]

[0098] The scoring game system, unmanned aerial vehicle, control method, and control program according to this invention have the effect of allowing one person to enjoy the game and improve their unmanned aerial vehicle piloting skills while enjoying the game. [Brief explanation of the drawing]

[0099] [Figure 1] This is an explanatory diagram showing an example of the outline of a scoring game system according to an embodiment of the present invention. [Figure 2] This is an explanatory diagram showing an example of the appearance of the first to third unmanned aerial vehicles (target drone 101, piloting drone 102, and photography drone 103) according to the embodiments of this invention. [Figure 3] This is an explanatory diagram showing an example of the hardware of the first to third unmanned aerial vehicles (target drone 101, piloting drone 102, and photography drone 103) according to the embodiments of this invention. [Figure 4] This is an explanatory diagram showing an example of the hardware of the control unit 104 according to an embodiment of the present invention. [Figure 5A] This is an explanatory diagram (part 1) showing the functional configuration of a scoring game system according to an embodiment of the present invention. [Figure 5B] This is an explanatory diagram (part 2) showing the functional configuration of a scoring game system according to an embodiment of the present invention. [Figure 6] This is a flowchart (part 1) showing the processing procedure of the first unmanned aerial vehicle (target drone 101) according to an embodiment of this invention. [Figure 7] This is a flowchart (part 2) showing the processing procedure of the first unmanned aerial vehicle (target drone 101) according to the embodiment of this invention. [Figure 8] This is a flowchart (part 1) showing the processing procedure of a scoring game system according to an embodiment of the present invention. [Figure 9] This is a flowchart (part 2) showing the processing procedure of the scoring game system according to an embodiment of this invention. [Figure 10]This is a flowchart (part 3) showing the processing procedure of the scoring game system according to an embodiment of this invention. [Figure 11] This is an explanatory diagram showing an example of the outline of a scoring game system according to another embodiment (Embodiment 2) of the present invention. [Figure 12] This is a flowchart showing the processing procedure of the first unmanned aerial vehicle (pursuit drone 1101) according to another embodiment (Embodiment 2) of this invention. [Figure 13] This is a flowchart (Part 1) showing the processing procedure of a scoring game system according to another embodiment (Embodiment 2) of the present invention. [Figure 14] This is a flowchart (part 2) showing the processing procedure of a scoring game system according to another embodiment (Embodiment 2) of the present invention. [Figure 15] This is a flowchart (part 3) showing the processing procedure of a scoring game system according to another embodiment (Embodiment 2) of this invention. [Modes for carrying out the invention]

[0100] Preferred embodiments of the scoring game system, unmanned aerial vehicle, control method, and control program according to the present invention will be described in detail below with reference to the attached drawings.

[0101] (An example of a game system for scoring points) First, an example of the outline of a scoring game system according to an embodiment of this invention will be described.

[0102] Figure 1 is an explanatory diagram showing an example of the outline of a score-scoring game system according to an embodiment of the present invention. In Figure 1, the score-scoring game system 100 consists of a target drone 101, which is an example of a first unmanned aerial vehicle; a piloting drone 102, which is an example of a second unmanned aerial vehicle; a photography drone 103, which is an example of a third unmanned aerial vehicle; and a control unit 104 that wirelessly controls the piloting drone 102. As shown in Figure 2, the unmanned aerial vehicles 101 to 103 are in the form of drones. Hereinafter, unmanned aerial vehicles will be referred to as drones.

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

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

[0105] The pilot 105 directly (with the naked eye) or indirectly (via a monitor such as a display screen on the control unit 104) observes the movement (flight path) of the target drone 101, which is flying under autopilot, and operates the control unit 104 to make the pilot drone 102 follow the target drone 101. In order to make the pilot drone 102 follow the target drone 101, the pilot 105 sometimes reacts reflexively to the flight of the target drone 101, and sometimes predicts the flight path of the target drone 101, and skillfully operates the control unit 104 to control the pilot drone 102.

[0106] Points can be earned depending on how closely the piloted drone 102 tracks the target drone 101. In other words, more points can be earned by flying the piloted drone 102 as close to the target drone 101 as possible, along the same flight path and at the same speed.

[0107] The inventor named this scoring game according to this embodiment, in which the player controls the piloted drone 102 to fly in pursuit of the automatically piloted target drone 101 and earns points according to the degree of tracking of the target drone 101, "Drone Chase" or, for short, "Dro-Chase".

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

[0109] Specifically, at predetermined intervals (for example, 0.1 seconds), the target drone 101 and the control drone... Measure the distance between the two parties (102). If the distance is 20cm or less, a bonus point (for example, 1 point) is awarded. On the other hand, if the distance is 20cm or more, no points are awarded.

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

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

[0112] In this way, the degree to which the target drone 101 is tracked can be determined based on the approach conditions to the target drone 101, more specifically, the frequency of approaches and the distance approached at predetermined intervals.

[0113] The object sensor was provided by the target drone 101, but it may also be provided by the pilot drone 102. Alternatively, the object sensor may be provided by both the target drone 101 and the pilot drone 102. If both are equipped with object sensors, the decision may be made based on the measurement results of either one of the object sensors, or based on the measurement results of both object sensors.

[0114] If the measurement results differ between the two objective sensors, the average value may be taken, or the measurement result from one of the objective sensors may be given priority. The same applies to objective sensors as follows.

[0115] Furthermore, in this scoring game system 100, the degree of tracking may be determined from the perspective of how long the tracking was performed continuously. That is, if the distance between the target drone 101 and the controlled drone 102 approaches within a predetermined distance for a predetermined period of time, a predetermined score may be awarded according to the duration of that approach.

[0116] Here, points are awarded if the drone approaches the target drone 101 continuously for a certain period of time. Therefore, if the drone approaches for only a moment but then immediately moves away from the target drone 101, no points will be awarded. In this way, points cannot be awarded if the piloted drone 102 approaches the target drone 101 by chance, regardless of the pilot's skill. This allows for more accurate scoring based on the pilot's skill level, making the game more enjoyable.

[0117] Specifically, the distance between the two objects is measured every 0.1 seconds. If the measurement results for 1 consecutive seconds, i.e., 10 times, are within 20 cm, 10 points are awarded. Therefore, even if the measurement results for 0.9 seconds, i.e., 9 times, are within 20 cm, if the measurement result 0.1 seconds later is greater than 20 cm, no points are awarded (the score is 0 points). In this way, the longer you can track the object, the more points you can earn.

[0118] The target drone 101 and the pilot drone 102 are equipped with LED lights. When the distance between drone 101 and the pilot drone 102 approaches within a predetermined distance, an LED lamp can be made to light up or flash. The pilot 105 or spectators of this scoring game can confirm that points have been scored by seeing the LED lamp light up or flash.

[0119] In this way, the controlled drone 102 successfully tracks the target drone 101, and the system uses LED lights to indicate when points have been scored. This allows for a more accurate understanding of the scoring situation, especially in games played outdoors at night.

[0120] The intensity, color, flashing speed, and flashing pattern of the light can be changed depending on the approaching distance. In other words, the intensity, color, flashing speed, and flashing pattern of the light can be used to easily determine how many points have been earned.

[0121] The operator can freely set the LED lights to turn on or off, including whether they are on or off. This allows the operator to concentrate more on playing the game.

[0122] The LED lamp may be provided on the control unit 104. By providing the LED lamp on the control unit 104, even if the LED lamps on the target drone 101 and the control drone 102 are not lit or flashing, the operator 105 can be reliably notified that points have been scored.

[0123] The LED lamps on the control unit 104 can be freely set by the operator, including whether they are on or off. This allows the operator to concentrate more on playing the game.

[0124] Furthermore, the target drone 101 and the pilot drone 102 are equipped with speakers (for example, the speaker 203 shown in Figure 2, which will be described later). When the distance between the target drone 101 and the pilot drone 102 approaches within a predetermined distance, sound can be output from the speakers. The pilot 105 or spectators of this scoring game can confirm that points have been scored by listening to the sound from these speakers.

[0125] In this way, the system successfully tracks the target drone 101 and notifies the player of points earned using voice (for example, "Scoring!", "POINT GET!", "GOOD!", "65 points!"). This allows for a more accurate understanding of the score, especially in games played outdoors at night. The volume and content of the voice or sound can be changed depending on the approaching distance. In other words, the player can easily understand how many points have been earned based on the volume and content of the voice or sound.

[0126] The operator can freely configure the audio output, including whether to turn it on or off. This allows the operator to concentrate more on playing the game.

[0127] A speaker (for example, speaker 407 in Figure 4, described later) may be provided on the control unit 104. The speaker may also be headphones or earphones worn by the operator. By providing a speaker on the control unit 104, the operator 105 can be reliably notified that points have been scored, even if the LED lights on the target drone 101 and the control drone 102 cannot be seen lit or flashing.

[0128] The audio output from the speaker located on the control unit 104, including its on / off function, is also available. The pilot can freely configure these settings. This allows the pilot to concentrate more on playing the game.

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

[0130] Therefore, the key to success in this scoring game lies in how skillfully the piloted drone 102 can be controlled using the control unit 104 and how well it can track the target drone 101 flying on autopilot. Furthermore, this scoring game can also be used as a simulator to improve proficiency in drone piloting skills.

[0131] The above explains how to earn points in this scoring game. However, depending on how the drone 102 is operated, it may be possible to have points deducted instead of earning points.

[0132] The target drone 101 uses an object sensor to repeatedly measure (detect) the distance between it and the controlled drone 102 at predetermined intervals during the game. If the distance between the target drone 101 and the controlled drone 102 exceeds a predetermined distance, points are deducted. Conversely, if the distance is not greater than the predetermined distance, no points are deducted.

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

[0134] The predetermined time is not limited to 0.1 seconds. Based on the distance measurement performance of the object sensor and the game content (accuracy of scoring), the predetermined time indicating the interval between measurements, i.e., the measurement frequency, can be set and changed as appropriate. Furthermore, it may be the same time as the predetermined time for scoring points, or it may be a different time (longer or shorter than the predetermined time for scoring points).

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

[0136] In this way, the degree to which the target drone 101 is tracked can be determined based on the distance from the target drone 101, more specifically, the frequency and distance of separation at predetermined time intervals.

[0137] Alternatively, in this scoring game system 100, the degree of tracking may be determined from the perspective of how long the tracking was not performed consecutively. That is, if the distance between the target drone 101 and the controlled drone 102 remains above a predetermined distance for a predetermined period of time, a predetermined score may be deducted according to the duration of that separation.

[0138] Here, points are deducted if the drone remains away from the target drone for a certain period of time. Therefore, if the drone is only separated for a moment but the distance to the target drone 101 immediately decreases afterward, no points will be deducted. This prevents points from being deducted for accidentally moving away from the target drone 101, regardless of piloting skill, and allows for a more accurate deduction of points for poor piloting skills.

[0139] Specifically, the distance between the two objects is measured every 0.1 seconds, and if the measurement result for 1 consecutive seconds, i.e., 10 times, is 40 cm or more, 10 points can be deducted. Therefore, even if the measurement result for 0.9 seconds, i.e., 9 times, is 40 cm or more, if the measurement result after the next 0.1 seconds approaches within 40 cm, no points will be deducted (the score will not change). In this way, points can be avoided as long as the objects do not move further apart consecutively.

[0140] Using the LED lamps provided on the target drone 101 and the control drone 102, the LED lamps can be made to light up or flash when the distance between the target drone 101 and the control drone 102 exceeds a predetermined distance. The operator 105 or spectators of this scoring game can confirm that points have been deducted by seeing the LED lamps light up or flash.

[0141] In this way, the system uses LED lights to indicate when the target drone 101 fails to track properly and points are deducted. This allows for a more accurate understanding of the point deduction situation, especially in games played outdoors at night. The intensity, color, flashing speed, and flashing pattern of the light can be changed depending on the distance from the target. In other words, the intensity, color, flashing speed, and flashing pattern of the light make it easy to see how many points have been deducted.

[0142] Furthermore, the LED lamp's brightness, color, flashing speed, and flashing pattern can be changed depending on whether points have been gained or lost. This makes it easy to distinguish between gaining and losing points.

[0143] Furthermore, the LED lamp can be configured to light up or flash only when points are earned, and not light up or flash when points are deducted. Conversely, the LED lamp can be configured to light up or flash only when points are deducted, and not light up or flash when points are earned.

[0144] The operator can freely set the LED lights to turn on or off, including whether they are on or off. This allows the operator to concentrate more on playing the game.

[0145] Depending on the penalty situation, the LED lamps on the control unit 104 are turned on or flashed, so that even if the LED lamps on the target drone 101 and the control drone 102 are not turned on or flashed, the operator 105 can be reliably notified that points have been deducted.

[0146] The LED lamps on the control unit 104 can be freely set by the operator, including whether they are on or off. This allows the operator to concentrate more on playing the game.

[0147] Furthermore, using the speakers provided on the target drone 101 and the control drone 102, sound can be output from the speakers when the distance between the target drone 101 and the control drone 102 exceeds a predetermined distance. The operator 105 or spectators of this scoring game can hear the sound from these speakers to confirm that points have been deducted.

[0148] In this way, if the target drone 101 fails to track properly and points are deducted, the system notifies the user using voice prompts (for example, "Points being deducted!" or "LOSE!"). This allows for a more accurate understanding of the score, especially in games played outdoors at night. The volume and content of the sound or voice prompts can be changed depending on the approaching distance. In other words, the system makes it easy to understand how many points have been earned based on the volume and content of the sound or voice prompts.

[0149] The operator can freely configure the audio output, including whether to turn it on or off. This allows the operator to concentrate more on playing the game.

[0150] The speaker may be located on the control unit 104. The speaker may also be headphones or earphones worn by the operator. By having the speaker on the control unit 104, the operator 105 can be reliably notified that points have been scored, even if the LED lights on the target drone 101 and the control drone 102 cannot be seen lit or flashing.

[0151] The audio output from the speaker on the control unit 104 can be freely configured by the operator, including whether to turn it on or off. This allows the operator to concentrate more on playing the game.

[0152] As described above, the objective of the game is to score as many points as possible within the time limit. After the game ends, the scores are announced (output). If different operators 105 play the game under the same conditions, the one who scores the most points wins.

[0153] Therefore, the key to success in this scoring game lies in how skillfully the pilot can control the drone 102 using the control unit 104 and track the target drone 101 flying on autopilot. If the pilot 105 loses concentration until the end of the game, the points they have earned will be deducted. This scoring game can be used as a simulator to improve drone piloting skills and concentration.

[0154] Furthermore, the target drone 101 is equipped with an accelerometer (specifically, the accelerometer 308 shown in Figure 3, which will be described later), and this accelerometer detects when it collides (contacts) with the controlled drone 102 during the game. When a collision (contact) is detected, a predetermined score is awarded. Points may be awarded each time a collision occurs.

[0155] Furthermore, this acceleration sensor may be used to detect a collision (contact) with the controlled drone 102 during gameplay, and a predetermined score may be deducted. The score deduction may be performed each time a collision occurs.

[0156] Whether a collision results in points being awarded or penalized depends on the nature of the game. In games where the goal is to corner an object, collisions result in points. On the other hand, in games where the goal is to control a drone, track it, and replicate the flight of the target drone, collisions result in points being awarded or penalized. A thrust will be judged as a lack of control and will result in a penalty.

[0157] Furthermore, in addition to the number of collisions, the points awarded may be varied according to the degree (intensity) of the collision. That is, higher points may be awarded for stronger (more violent) collisions. Specifically, 1 point may be awarded for a light contact, and 5 points for a strong collision.

[0158] Similarly, when penalizing for collisions, the penalty points may be varied according to the degree (severity) of the collision. In other words, a higher penalty may be given for a stronger (more violent) collision. Specifically, one point may be deducted for a light contact, and five points for a strong collision.

[0159] Furthermore, if a strong collision occurs, or if a predetermined number of collisions occur, the game may be ended prematurely before the game's end time is reached. The game may also be ended immediately if even a single contact occurs.

[0160] The accelerometer is provided on the target drone 101, but it may also be provided on the pilot drone 102. Alternatively, both the target drone 101 and the pilot drone 102 may each have an accelerometer. If both have accelerometers, the decision may be made based on the measurement results of either one of the accelerometers, or based on the measurement results of both accelerometers.

[0161] If the measurement results from both accelerometers differ, the degree of impact may be averaged, or the measurement result from one of the accelerometers may be prioritized. The same applies to accelerometers as follows.

[0162] In this way, the degree to which the target drone 101 is tracked can be determined based on the circumstances of the collision (contact) with the target drone 101.

[0163] Using the LED lamps provided on the target drone 101 and the control drone 102, the LED lamps can be made to light up or flash when the target drone 101 and the control drone 102 collide (contact). The operator 105 or spectators of this scoring game can confirm that points have been scored or deducted due to the collision (contact) by seeing the LED lamps light up or flash.

[0164] In this way, when the controlled drone 102 collides with the target drone 101, the system uses LED lights to indicate whether points have been gained or lost. This allows for a more accurate understanding of the score / loss situation, especially in games played outdoors at night.

[0165] The intensity, color, flashing speed, and flashing pattern of the light can be changed depending on the strength of the impact during a collision. In other words, these changes in light intensity, color, flashing speed, and flashing pattern make it easy to understand how strong the impact was during a collision and whether points were gained or lost.

[0166] The operator can freely set the LED lights to turn on or off, including whether they are on or off. This allows the operator to concentrate more on playing the game.

[0167] Depending on the score / deduction status, the LED lamps on the control unit 104 are turned on or off, thereby controlling the LED lamps on the target drone 101 and the control drone 102. Even if flashing is not visible, the system can reliably inform the pilot 105 that points have been scored / deducted.

[0168] The LED lamps on the control unit 104 can be freely set by the operator, including whether they are on or off. This allows the operator to concentrate more on playing the game.

[0169] Furthermore, speakers installed on the target drone 101 and the control drone 102 can be used to output sound when the target drone 101 and the control drone 102 collide (come into contact). The operator 105 or spectators of this scoring game can hear the sound from these speakers to confirm whether points have been earned or deducted.

[0170] In this way, the system uses voice prompts (for example, "Collision!" or "CRASH!") to notify the player when they collide with the target drone 101 and score / deductions are made. This allows for a more accurate understanding of the score / deduction situation, especially in games played outdoors at night.

[0171] The volume, sound content, and other characteristics can be altered depending on the impact of the collision. This means that the magnitude of the collision and the resulting score / deduction can be easily determined.

[0172] The operator can freely configure the audio output, including whether to turn it on or off. This allows the operator to concentrate more on playing the game.

[0173] The speaker may be located on the control unit 104. The speaker may also be headphones or earphones worn by the operator. By having the speaker on the control unit 104, the operator 105 can be reliably notified that points have been scored, even if the LED lights on the target drone 101 and the control drone 102 cannot be seen lit or flashing.

[0174] The audio output from the speaker on the control unit 104 can be freely configured by the operator, including whether to turn it on or off. This allows the operator to concentrate more on playing the game.

[0175] As described above, the objective of the game is to score as many points as possible within the time limit. After the game ends, the scores are announced (output). If different operators 105 play the game under the same conditions, the one who scores the most points wins.

[0176] Therefore, the key to this scoring game (the winning point) lies in how skillfully the pilot drone 102 can be controlled using the control device 104 to track the target drone 101 flying on autopilot. Furthermore, if bonus points can be earned through collision, the pilot 105 is required to actively pilot in a way that will cause the drone to hit the target drone 101.

[0177] Furthermore, if points are deducted for collisions, the pilot 105 is required to pilot with greater caution and skill to avoid hitting the target drone 101 while getting too close and following it. Therefore, if points are deducted for collisions, this scoring game can also be used as a simulator to improve proficiency in drone piloting skills and, moreover, concentration.

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

[0179] If the game ends, the target drone 101 will cease flight and either stop (hover) in its designated position or return to its designated position (for example, to the pilot).

[0180] Then, the score information stored in the target drone 101 and the control drone 102 is output. The output of the score information may be transmitted to the control unit 104 via wireless communication. Alternatively, the score information, along with the operator's ID information, may be transmitted directly to a designated site on the internet via wireless communication.

[0181] When the game timer reaches a predetermined time (for example, 3 minutes), score information stored in at least one of the target drone 101 and the control drone 102 is retrieved. Based on the retrieved score information, if the score reaches a predetermined value, the game can be extended by a predetermined time (for example, 1 minute). In other words, a bonus time can be earned.

[0182] In this way, bonus time is awarded, extending the game time and allowing you to play for a longer period, which in turn allows you to aim for a higher score. The game time can be extended again and again depending on the score you earn.

[0183] On the other hand, when the game timer reaches a predetermined time (for example, 3 minutes), score information stored in at least one of the target drone 101 and the control drone 102 is retrieved, and based on the retrieved score information, if the score has not reached a predetermined value, the game ends without extending the game time.

[0184] Furthermore, a game timer provided in at least one of the target drone 101 and the pilot drone 102 begins timing after the game starts. When the score information stored in at least one of the target drone 101 and the pilot drone 102 reaches a predetermined value (for example, 200 points), the game may end, and the time remaining until the predetermined value is reached may be output based on the timing of the game timer.

[0185] Thus, the game can also be a time trial to reach a predetermined score. If different drivers 105 play the game under the same conditions, the one who reaches the predetermined score in the shortest time wins.

[0186] On the other hand, if the score is reduced to a predetermined value (for example, -100 points), the game may be terminated before the game time (for example, 3 minutes) has elapsed. In this case, the time remaining until the predetermined value is reached may be output based on the game timer's timing.

[0187] If 105 different pilots play the game under the same conditions, the pilot who takes the longest time to reach the predetermined point threshold and trigger a game over (premature termination) will be declared the winner.

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

[0189] Specifically, if the score earned exceeds a certain threshold (for example, 50 points, when a maximum of 60 points can be earned in one minute) one minute after the start of the game, the pilot's rating will be triggered. You might assume the bell is high and increase the flight speed. This can increase the difficulty of the game and make it more exciting.

[0190] Furthermore, if the score earned falls below a predetermined score one minute after the start of the game (for example, -50 points, where the maximum penalty is -60 points per minute), the system may infer that the pilot's skill level is low (beginner level) and reduce the flight speed. This lowers the difficulty of the game, making it enjoyable even for beginners.

[0191] The scoring game system 100 is equipped with a display device that displays images. The display device may be installed on the control unit 104, or it may be a display device that can be connected to the control unit 104 (for example, a smartphone or tablet device). Alternatively, it may be a communication-enabled information processing device (notebook PC), display (television), or projector. These display devices may be located near the control unit, or they may be located in a remote location connected by a network.

[0192] Furthermore, the control device 104 itself may be an information processing terminal device (for example, a smartphone or tablet device) on which a control application is installed. This eliminates the need to prepare a dedicated control device 104.

[0193] Furthermore, the display device may be a goggle-type display device worn by the pilot (such as a VR (Virtual Reality) goggle).

[0194] The target drone 101 and the pilot drone 102 are equipped with cameras that capture images of each other's drones during the game. The captured images are then wirelessly transmitted to a display device. The display device then displays the received images.

[0195] Furthermore, the target drone 101 and the control drone 102 wirelessly transmit stored score information to the display device. Based on the received score information, the display device can display the score in real time on its screen.

[0196] This allows the tracking (chase) by the target drone 101 and the pilot drone 102, as well as the game status (such as the score), to be viewed on the display device. In particular, even when the drones are flying at a distance from the pilot and are difficult to see with the naked eye, the game status can be understood more accurately by viewing the images displayed on the display device. Furthermore, the game status can be viewed remotely via the network.

[0197] Furthermore, a third example of an unmanned aerial vehicle, the photography drone 103, is equipped with a camera that captures images of at least one of the target drone 101 and the piloted drone 102 during the game. The camera then wirelessly transmits the video information related to the captured images to a display device. The display device then displays the received images.

[0198] In this way, a scoring game can be played using this scoring game system 100, where players earn points by piloting a target drone 102. By keeping the flight conditions of the target drone 101 the same, a remote competition can be held. The competition can attract participants from all over the world. It can also be applied to certification tests for drone piloting skills.

[0199] Unlike virtual esports using computer programs, this involves actual drones. You can experience the joy of piloting.

[0200] (Flight of target drone 101) Next, we will explain the flight details of target drone 101.

[0201] In this scoring game system 100, once the game starts, the target drone 101 flies along a flight path based on predetermined flight data. The target drone 101 can then fly randomly within a predetermined range according to predetermined rules (flight patterns).

[0202] This flight pattern may also be a flight pattern that avoids approaching the piloted drone 102. By flying in a way that avoids approaching the piloted drone 102, it becomes more difficult for the piloted drone 102 to approach the target drone 101, thereby increasing the difficulty of the game.

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

[0204] The target drone 101 can perform random flight by acquiring its own position information and determining or changing its flight pattern based on the acquired position information and the position information and drive control information of the control drone 102 received from the control drone 102.

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

[0206] The drive control information acquired by the piloted drone 102 may specifically be, for example, control signals that control the drive of motors that rotate the propellers 201a to 201d (see Figure 2) that drive the piloted drone 102. By analyzing these control signals, the flight path and flight speed of the piloted drone 102 can be predicted. Then, from the predicted flight path and flight speed, a flight pattern that avoids approaching the piloted drone 102 can be calculated.

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

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

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

[0210] As shown in Figure 2, the drone 200 (target drone 101, pilot drone 102, and photography drone 103) specifically has four propellers 201a to 201d around it. A quadcopter equipped with [this feature] can be used.

[0211] The Drone 200 is not limited to quadcopters; it can utilize various multirotors, including hexacopters with six propellers and octocopters with eight propellers. By independently controlling the rotation direction and speed of each of its multiple propellers (propellers 201a to 201d), the Drone 200 can maintain its attitude and perform actions such as ascending, descending, and horizontal movement.

[0212] Furthermore, unmanned aerial vehicles are not limited to drones equipped with propellers. They may also be propelled by means other than propellers.

[0213] Although not shown in the illustration, the drone 200 can be shaped to resemble a bird such as a hawk flying in the air. The drone 200 is not limited to birds and mammals that exist in modern times, but may also be shaped to resemble extinct animals such as dinosaurs, mythical creatures such as dragons and unicorns, or insects, and may be equipped with components corresponding to characteristic parts of birds and mammals, such as tails, ears, feet (legs, limbs), horns, fangs, and whiskers, in addition to beaks, heads, wings, and tails.

[0214] Furthermore, the Drone 200 may be shaped like an airplane, fighter jet, or spaceship. It may also be shaped like a character from an anime or movie.

[0215] Furthermore, the drone 200 is equipped with a camera 202. The camera 202 can be implemented, for example, by a general-purpose digital camera. As shown in Figure 2, it may be mounted on the upper side of the drone 200's housing. Although not shown in the illustration, in the case of a drone 200 shaped like a bird such as a hawk, the lens of the camera 202 can be placed, for example, in the area corresponding to the eye. Alternatively, the camera 202 may be mounted on the lower (ventral) side of the drone 200's housing.

[0216] The drone 200 captures images of its surroundings using the camera 202. The drone 200 may be configured to recognize other drones and their operators based on the images captured by the camera 202.

[0217] Camera 202 may be implemented not as a general-purpose digital camera, but as a night vision camera that amplifies sensitivity to light to capture images in dark places, an infrared camera that is sensitive to infrared light, or an infrared color night vision camera that analyzes the grayscale in images captured by an infrared camera to capture color images. By capturing images using a night vision camera, infrared camera, infrared color night vision camera, etc., users can be accurately recognized even at night or in dimly lit rooms.

[0218] The camera 202 on the drone 200 may be one unit or multiple units. In the case of a drone 200 equipped with multiple cameras 202, it is not limited to one type of camera 202, but may be equipped with multiple different types of cameras 202.

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

[0220] Furthermore, the drone 200 is a drive unit that changes the attitude of the camera 202 relative to the drone. It may also have a mechanism. This allows the attitude of the camera 202 relative to the drone 200 to be adjusted without human intervention. The drive mechanism can be composed of, for example, a motor or a gear train. By making the attitude of the camera 202 relative to the drone 200 adjustable without human intervention, the shooting direction can be arbitrarily adjusted while the drone 200 is in flight, regardless of the attitude of the drone 200. The camera 202 may also have a zoom function.

[0221] The drone 200 may be equipped with a receiving coil for wireless power transfer (contactless power transmission). Wireless power transfer (wireless power supply) is a technology that receives power to a battery (see Figure 3) without using charging contacts, and is also called contactless power supply or wireless power supply.

[0222] The power receiving coil is located inside the outer casing of the drone 200. This prevents deterioration and failure of the power receiving coil due to water droplets such as rain and dew, or oil from hands. The drone 200 may also be equipped with charging contacts for charging the battery, either in place of or in addition to the power receiving coil.

[0223] The drone 200 is also equipped with a speaker 203. Although not shown in the illustration, in the case of an animal-shaped drone, for example, the speaker 203 may be placed in the area corresponding to the mouth.

[0224] Furthermore, the drone 200 is equipped with LED lamps 204. Although not shown in the illustration, in the case of an animal-shaped drone, for example, the LED lamps 204 may be provided in the area corresponding to the eyes. If the lens of the camera 202 is located in the area corresponding to the eyeball, the LED lamps 204 may be provided so as to surround the lens.

[0225] The drone 200 may also be equipped with solar cells (solar cells, see Figure 3) that generate electricity from ambient light such as sunlight. The solar cells may be installed, for example, on the upper surface of the drone 200's casing. This ensures that ambient light is reliably captured during flight and that power is generated efficiently. In addition, by equipping the drone with solar cells, it is possible to charge the drone while it is in flight, thus extending the flight time per charge.

[0226] (Hardware configuration of unmanned aerial vehicles (drones)) Next, we will explain the hardware configuration of Drone 200 (target drone 101, pilot drone 102, and photography drone 103).

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

[0228] As shown in Figure 3, the hardware of the drone 200 (target drone 101, pilot drone 102, and photography drone 103) consists of a battery 301, motor 302, camera 202, microphone 303, speaker 203, GPS sensor 305, object sensor 306, control circuit 307, accelerometer 308, communication interface 309, LED lamp 204, solar cell 310, etc. The various parts 202-204 and 301-309 of the drone 200 are connected by a bus 300.

[0229] Battery 301 supplies power to the various parts of the drone 200. Battery 301 is a secondary battery (rechargeable battery, storage battery) such as a lithium battery. This can be achieved. The battery 301, which is powered by a secondary battery, may be detachable from the drone 200.

[0230] Motor 302 is controlled by control circuit 307 and rotates the propellers 201a to 201d by rotating. Specifically, motor 302 can be a brushless motor in which the rotor is made up of permanent magnets and the stator is made up of coils.

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

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

[0233] Camera 202 is equipped with an image sensor and captures images by causing the image sensor to receive light that has passed through the photographic lens. Camera 202 also outputs the captured image, that is, image information (capture data) obtained by converting the optical signal received by the image sensor into an electrical signal, to the control circuit 307.

[0234] Camera 202 may also record video. The video includes a series of still images taken at predetermined time intervals. The image information is compressed using a predetermined video / audio data compression standard (for example, MPEG (Moving Picture Experts)). The image may be compressed by a group (or similar). Also, camera 202 may capture still images.

[0235] Microphone 303 collects sound from the surrounding area of ​​the drone 200. Microphone 303 converts the sound input as analog data into an electrical signal. Specifically, Microphone 303 converts the analog audio signal input as analog data from analog to digital and generates audio data in digital format.

[0236] The speaker 203 generates sound by vibrating a diaphragm in response to an electrical signal, which is an audio signal. The speaker 203 may also have an output terminal that outputs an audio signal, and an external speaker 203 may be connected to this output terminal to generate sound.

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

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

[0239] The GPS sensor 305 may also include a filter to remove unwanted components, and an amplifier such as an LNA (Low Noise Amplifier) ​​or a power amplifier PA (Power Amplifier).

[0240] The current location of Drone 200 is determined by positioning based on radio waves transmitted from multiple GPS satellites. This allows for precise positioning. The baseband unit calculates the distance to each of the four GPS satellites and performs positioning by calculating the point where these distances intersect. Instead of GPS, which determines the geometric position between the GPS satellites and the drone 200 based on radio waves received from GPS satellites, the current position of the drone 200 may be determined using satellite positioning systems such as Michibiki, GLONASS, or Galileo.

[0241] The object sensor 306 detects the presence or absence of obstacles within a predetermined range from the drone 200. The object sensor 306 also detects the distance to the obstacles. Obstacles are objects that hinder the flight of the drone 200, and specifically include, for example, walls, ceilings, furniture, and people. When the drone 200 is flown outdoors, all objects that hinder the flight of the drone 200, such as vehicles, other drones 200, trees, and buildings, are considered obstacles.

[0242] The object sensor 306 can be implemented by, specifically, a non-contact sensor such as an infrared sensor, a capacitive sensor, or an ultrasonic sensor.

[0243] The drone 200 may be equipped with multiple types of non-contact sensors as object sensors 306. Furthermore, the drone 200 may detect the presence or absence of obstacles within a predetermined range from the drone 200 based on images captured by the camera 202.

[0244] The accelerometer 308 detects gravity, vibrations, and other motions and shocks acting on the unmanned aerial vehicle. For example, the accelerometer 308 can be a frequency-varying accelerometer such as a quartz accelerometer, which has low noise and high stability. Alternatively, the accelerometer 308 may be a piezoelectric accelerometer, a capacitive accelerometer, or a piezoresistive accelerometer.

[0245] The solar cell 310 is constructed by bonding a positively charged P-type silicon semiconductor and a negatively charged N-type silicon semiconductor via a PN junction. In the solar cell 310, when light energy from ambient light such as sunlight is applied to the PN junction, the P-type silicon semiconductor becomes positively charged and the N-type silicon semiconductor becomes negatively charged. In the solar cell 310, electrodes are connected to the P-type silicon semiconductor and the N-type silicon semiconductor, and the generated electricity can be extracted via wires connected to these electrodes.

[0246] The control circuit 307 drives and controls various parts of the drone 200. The control circuit 307 can be implemented by a microcontroller consisting of a CPU and memory. The memory stores various types of information, such as the control program for the unmanned aerial vehicle according to this embodiment of the invention, information about a specific person, and information pre-input by the user of the drone 200.

[0247] The control circuit 307 can be implemented, for example, by an LSI (Large Scale Integration) or an FPGA (Field-Programmable Gate Array).

[0248] The CPU controls the entire drone 200 by executing programs stored in memory. The memory stores various types of information, such as programs executed by the CPU, information about various conditions related to the operation of the drone 200, and information about images captured by the camera 202.

[0249] The memory can be implemented as, for example, an IC memory or an SSD (Solid State Drive). Alternatively, the memory may be a memory card that can be attached to and removed from the drone 200 via a card slot provided on the drone 200.

[0250] The memory card function can be achieved using an IC card, such as an SD (Secure Digital) memory card. Alternatively, the memory function can be achieved using an external USB memory device.

[0251] Furthermore, the control circuit 307 includes a charging circuit that charges the battery 301 with electricity generated by the solar cell 310, and a remaining charge measurement circuit that measures the remaining charge of the battery 301.

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

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

[0254] The IMU (Inertial Measurement Unit) consists of sensors necessary for a drone to acquire external information, such as an accelerometer 308, a gyroscope, a barometric pressure sensor, an ultrasonic sensor, and a magnetic compass. The GPS sensor 305 mentioned above is also included in the IMU.

[0255] The accelerometer 308 detects changes in the drone's speed. Because the gyroscope and accelerometer 308 can calculate changes in both the drone's tilt and its speed, the drone can continue flying even if it remains tilted.

[0256] A gyroscope sensor detects changes in the drone's angle. For example, it detects changes in the drone's angle by measuring angular velocity using the Coriolis force. A gyroscope sensor allows for stable flight of the drone.

[0257] A barometric pressure sensor detects the drone's altitude. For example, the barometric pressure sensor detects the drone's altitude by detecting changes in atmospheric pressure. By measuring the drone's altitude using the barometric pressure sensor, the drone's altitude can be maintained.

[0258] The ultrasonic sensor detects the distance from an object located below the drone (such as the floor or an obstacle). For example, the ultrasonic sensor is mounted on the underside of the drone and uses the reflection of ultrasonic waves emitted downwards to detect the distance from an object located below the drone.

[0259] This allows for stable tracking of the drone on the ground (floor, ground, etc.) and stable landing. When an ultrasonic sensor is used as the object sensor 306, the drone emits ultrasonic waves in all directions, and the ultrasonic sensor acts as the object sensor 306. It is possible to achieve both the function of being a separate component and the function of being part of an IMU simultaneously.

[0260] The magnetic compass sensor detects which direction (north, south, east, or west) the drone is facing. Since the drone 200 is affected by magnetic fields depending on the location where it is flown, it is preferable to perform compass calibration and adjust the magnetic compass sensor when changing the flight location.

[0261] The IMU, together with the microcontroller mentioned above, constitutes the flight controller. The flight controller performs calculations related to the rotation control of motor 302 and outputs control signals to the ESC to control the rotation direction and speed of propellers 201a~201d (propeller motor 302). The ESC controls the rotation of motor 302 based on the control signals output from the flight controller. During the flight of the drone 200, the flight controller repeatedly performs calculations by detecting the tilt of the drone 200 and recursively outputs control signals to motor 302.

[0262] Specifically, the flight controller prevents the drone 200 from rotating by outputting control signals that, for example, control adjacent propellers 201a to 201d to rotate in opposite directions. It also moves the drone 200 forward by controlling the propellers 201a to 201d in the direction of travel to rotate slower than the propellers 201a to 201d in the direction of travel. Furthermore, it turns the drone 200 to the right by controlling the propeller on the right side in the direction of travel to rotate slower than the propeller on the left side in the direction of travel.

[0263] The communication interface 309 is a wireless communication interface that connects the control unit 104 and network N via a communication line. It controls the interface between network N and the inside of the drone 200, and controls the input of data from and output of data to external devices connected via network N. Network N may be, for example, the Internet, LAN (Local Area Network), or WAN (Wide Area Network). This is achieved through networks, etc.

[0264] The communication interface 309 can be implemented, for example, by a wireless interface such as Wi-Fi (registered trademark). Alternatively, the communication interface 309 may be a wireless communication interface such as a mobile phone network (e.g., LTE (Long Term Evolution), PHS (Personal Handy-phone System)).

[0265] Communication via the communication interface 309 may be performed periodically, such as at predetermined times or intervals, or at any time depending on the status of the communication line. The memory mentioned above may store information obtained through communication via the communication interface 309.

[0266] The LED lamp 204 is controlled by the control circuit 307 to turn on, turn off, or blink. The LED lamp 204 may also indicate the status of the drone 200. Specifically, for example, it may blink in a predetermined pattern when the remaining battery charge falls below a predetermined threshold. The LED lamp 204 is not limited to one color, but may emit multiple colors.

[0267] The drone 200 may also include, although not shown in the illustration, input / output devices such as keys or buttons for giving input instructions to the drone 200, a power switch for turning the drone 200 on and off, and LED lamps located in positions other than the eye area. The input / output devices may be implemented by connection terminals to which other information processing devices can be connected.

[0268] (Hardware of the pilot 104) Next, we will describe the hardware of the control unit 104 that controls the drone 102.

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

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

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

[0272] The function of the memory card can be realized by an IC card such as an SD (Secure Digital) memory card. The function of the memory 402 may be realized by an external USB memory or the like.

[0273] The input device 403 is a device for the operator 105 to perform operations with a finger or the like, and is realized by, for example, a control lever, a button, a cross key, a keyboard, a touch panel, or the like.

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

[0275] Network N can be implemented by, for example, the Internet, a LAN (Local Area Network), or a WAN (Wide Area Network).

[0276] The communication interface 404 can be implemented, for example, by a wireless interface such as Wi-Fi (registered trademark). Alternatively, the communication interface 404 may be a wireless communication interface such as a mobile phone network (e.g., LTE (Long Term Evolution), PHS (Personal Handy-phone System)).

[0277] Communication via communication I / F 404 may be performed periodically, such as at predetermined times or intervals, or at any time depending on the status of the communication line. The memory mentioned above may store information obtained through communication via communication I / F 309.

[0278] The display device 405 displays images, videos, text, etc. The display device 405 can be implemented using various types of displays, such as liquid crystal displays and organic EL displays. The display device 405 can be made inputtable via a touch panel.

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

[0280] Speaker 407 generates sound by vibrating a diaphragm in response to an electrical signal, which is an audio signal. Speaker 407 may also be an output terminal that outputs an audio signal, and an external speaker 407 may be connected to this output terminal to generate sound. Speaker 407 may also be headphones or earphones worn by the pilot 105.

[0281] (Functional structure of the scoring game system) Next, we will explain the functional configuration of the scoring game system 100.

[0282] Figures 5A and 5B are explanatory diagrams showing the functional configuration of a scoring game system according to an embodiment of the present invention.

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

[0284] The flight data acquisition unit 511 acquires flight data of the target drone 101 itself. For example, it may extract flight data that has been pre-stored in memory, or it may receive it via communication. Specifically, the function of the flight data acquisition unit 511 can be realized by, for example, a control circuit 307, a communication I / F 309, etc.

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

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

[0287] The distance measuring unit 514 measures the distance to the piloted drone 102. Specifically, the distance measuring unit 514 can perform its function using, for example, an object sensor 306.

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

[0289] Then, the drive information generation unit 512 may generate the drive information of the own aircraft based on at least either the distance measured by the distance measurement unit 514 or the drive information received by the drive information receiving unit 515.

[0290] The function of the control drone १०२ can be realized by the drive information receiving unit 521, the drive information output unit 522, and the drive information transmitting unit 523.

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

[0292] The drive information output unit 522 outputs the drive information received from the controller 104 to each motor. Specifically, the drive information output unit 522 can realize its function by, for example, the control circuit 307 or the like.

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

[0294] The function of the imaging drone 103 can be realized by the drive information receiving unit 531, the distance measurement unit 532, the drive information generation unit 533, and the drive information output unit 534.

[0295] The drive information receiving unit 531 receives drive information transmitted from the target drone 101, the control drone 102, and the control unit 104. Specifically, the drive information receiving unit 531 can perform its function by means of, for example, a communication I / F 309.

[0296] The distance measuring unit 532 measures the distance to the target drone 101 and the piloted drone 102. Specifically, the distance measuring unit 532 can perform its function using, for example, an object sensor 306.

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

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

[0299] The functions of the control unit 104 can be realized by the drive information transmission unit 541.

[0300] The drive information transmission unit 541 transmits drive information generated based on the pilot's operation to the control drone 102, as well as to the target drone 101 and the photography drone 103. Specifically, the function of the drive information transmission unit 541 can be realized by means of, for example, a communication I / F 404.

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

[0302] The distance measuring unit 551 measures the distance to the controlled drone 102. Specifically, the distance measuring unit 551 can perform its function using, for example, an object sensor 306.

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

[0304] The score / deduction determination processing unit 553 determines the points to be earned and the points to be deducted based on the distance measured by the distance measuring unit 551 and the collision detected by the collision detection unit 552. Specifically, the score / deduction determination processing unit 553 can be implemented by, for example, a control circuit 307.

[0305] The score storage unit 554 stores score information related to points and deductions determined by the score / deduction determination processing unit 553. Specifically, the score storage unit 554 can implement its function using the memory of the control circuit 307, for example.

[0306] The score output unit 555 outputs the score information stored in the score storage unit 554. Specifically, the score output unit 555 can be implemented by, for example, a control circuit 307.

[0307] The notification unit 556 notifies the player of points earned and points deducted based on the distance measured by the distance measuring unit 551 and the collision detected by the collision detection unit 552. Specifically, the notification unit 556 can perform its function using, for example, a speaker 203 or an LED lamp 204.

[0308] Furthermore, in Figure 5B, the functions of the piloted drone 102 can be realized in the same way as the target drone 101, by a distance measuring unit 561, a collision detection unit 562, a score / deduction determination processing unit 563, a score storage unit 564, a score output unit 565, and a notification unit 566.

[0309] The distance measuring unit 561 measures the distance to the target drone 101. Specifically, the distance measuring unit 561 can perform its function using, for example, an object sensor 306.

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

[0311] The score / deduction determination processing unit 563 determines the points to be earned and the points to be deducted based on the distance measured by the distance measuring unit 561 and the collision detected by the collision detection unit 562. Specifically, the score / deduction determination processing unit 563 can be implemented by, for example, a control circuit 307.

[0312] The score storage unit 564 stores score information related to points and deductions determined by the score / deduction determination processing unit 563. Specifically, the score storage unit 564 can implement its function using the memory of the control circuit 307, for example.

[0313] The score output unit 565 outputs the score information stored in the score storage unit 564. Specifically, the score output unit 565 can be implemented by, for example, a control circuit 307.

[0314] The notification unit 566 notifies the player of points earned and points deducted based on the distance measured by the distance measuring unit 561 and the collision detected by the collision detection unit 562. Specifically, the notification unit 566 can implement its function using, for example, a speaker 203 or an LED lamp 204.

[0315] (Procedure for handling the first unmanned aerial vehicle (target drone 101)) Next, we will describe the processing procedure for target drone 101, which is an example of a first unmanned aerial vehicle.

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

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

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

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

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

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

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

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

[0324] Steps S604 to S609 are then repeatedly executed. In this way, for the next second, the aircraft will fly based on the drive pattern extracted in step S609.

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

[0326] Next, the interrupt processing for the automatic piloting of the target drone 101 (step S607 in Figure 6) will be explained. In the flowchart in Figure 7, the target drone 101 determines whether or not it has detected the piloted drone 102 within a predetermined distance (for example, 15 cm) (step S701).

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

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

[0329] Here, when determining the flight direction and flight speed, the drive information of the pilot drone 102 received from the pilot drone 102 may be referenced to determine a direction that allows for avoiding a sudden approach or collision with the pilot drone 102.

[0330] Then, based on the determined flight direction and speed, interrupt data is generated and output (step S704). As a result, the target drone 101 moves in the flight direction and speed specified in the interrupt data (collision avoidance flight).

[0331] In that state, it is determined whether a predetermined time has elapsed (step S705). Here, the system waits for a predetermined time (for example, 3 seconds) to elapse (step S705: No), and if the predetermined time has elapsed (step S705: Yes), it returns to step S701.

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

[0333] (Processing procedure for the scoring game system 100) Next, the processing procedure of the scoring game system 100 will be explained.

[0334] Figures 8, 9, and 10 are flowcharts showing the processing procedure of a scoring game system according to an embodiment of the present invention.

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

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

[0337] And the measurement results showed that the distance between the two drones was within a predetermined distance (for example, within 20 cm) It is determined whether or not to proceed (step S805). If it is within a predetermined distance (step S805: Yes), a point addition process is performed (step S806). That is, the stored score information is rewritten so that the acquired score is added to the stored score.

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

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

[0340] In step S809, if a predetermined score is reached (step S809: Yes), the game ends (game over), and the game timer time at the point when the predetermined score was reached is output (step S811). Then, the score corresponding to the stored score information is output (step S812). This allows the operator to be notified of the remaining game time and score until game over.

[0341] In step S803, if a predetermined time (for example, 3 minutes) has elapsed since the start of the game timer (step S803: Yes), the game is terminated (game over), and the score corresponding to the stored score information is output (step S812). This allows the score to be notified to the operator. In this way, the series of processes of the drone are completed.

[0342] These processes may be performed by the target drone 101 or by the piloting drone 102. Alternatively, the target drone 101 and the piloting drone 102 may perform the processes separately, or the processes may be distributed and each drone may share the distributed processing.

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

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

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

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

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

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

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

[0350] On the other hand, if the counter value reaches a predetermined value (step S913: Yes), a point deduction process is performed (step S914). That is, the stored score information is rewritten so that the points that have been deducted are subtracted from the score information stored.

[0351] Then, the penalty counter is reset. If the distance is not outside the predetermined range in step S910 (step S910: No), proceed to step S916 without doing anything.

[0352] Next, it is determined whether the score associated with the stored score information has reached a predetermined score (step S915). If the predetermined score has not been reached (step S915: No), the system waits for a predetermined time (for example, 0.1 seconds) to elapse (step S916: No), and if the predetermined time has elapsed (step S916: Yes), it returns to step S903. After that, each process from steps S903 to S916 is repeated.

[0353] In step S915, if a predetermined score is reached (step S915: Yes), the game ends (game over), and the game timer time at the point when the predetermined score was reached is output (step S917). Then, the score corresponding to the stored score information is output (step S918). This allows the operator to be notified of the remaining game time and score until game over.

[0354] In step S903, if a predetermined time (for example, 3 minutes) has elapsed since the start of the game timer (step S903: Yes), the game is terminated (game over), and the score corresponding to the stored score information is output (step S918). This allows the operator to be notified of the score.

[0355] This completes the drone's series of operations.

[0356] These processes may be performed by the target drone 101 or by the piloting drone 102. Alternatively, the target drone 101 and the piloting drone 102 may perform the processes separately, or the processes may be distributed and each drone may share the distributed processing.

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

[0358] Then, the system waits to detect a collision (Step S1001: No), and if a collision is detected (Step S1001: Yes), it calculates the degree of the collision (Step S1002). Next, based on the calculated degree of the collision, it calculates points to be added or deducted (Step S1003).

[0359] Then, the score is updated (step S1004). That is, the stored score information is rewritten so that the score is increased or decreased by the amount calculated for the points added or deducted from the stored score information. This completes the series of processes.

[0360] This completes the drone's series of operations.

[0361] These processes may be performed by the target drone 101 or by the piloting drone 102. Alternatively, the target drone 101 and the piloting drone 102 may perform the processes separately, or the processes may be distributed and each drone may share the distributed processing.

[0362] As described above, the scoring game system 100 according to this embodiment of the invention comprises a target drone 101 that flies within a predetermined space by automatic control, a pilot drone 102 that flies within a predetermined space by manual control, and a control unit 104 that wirelessly controls the pilot drone 102. The pilot 105 controls the pilot drone 102 by operating the control unit 104, making it follow the flying target drone 101, and earns points according to the degree of tracking. The score information related to the earned points is stored in at least one of the target drone 101 and the pilot drone 102, so that one person can enjoy a game in which they control the pilot drone 102 to follow the target drone 101 and earn points. In addition, they can improve their drone piloting skills while enjoying the game.

[0363] Furthermore, in the embodiment of the present invention, the scoring game system 100 is equipped with an object sensor 306 on at least one of the target drone 101 and the piloted drone 102. The object sensor 306 detects the distance between the target drone 101 and the piloted drone 102 at predetermined intervals. Based on the detection results of the object sensor 306, if the distance between the target drone 101 and the piloted drone 102 approaches within a predetermined distance after the start of the game, a predetermined score is awarded according to the frequency of such approach. This allows for efficient scoring of the degree to which the piloted drone 102 tracks the target drone 101.

[0364] Furthermore, the scoring game system 100 according to the embodiment of this invention is equipped with an object sensor 306 on at least one of the target drone 101 and the piloted drone 102. The object sensor 306 detects the distance between the target drone 101 and the piloted drone 102 at predetermined intervals. Based on the detection results of the object sensor 306, if the distance between the target drone 101 and the piloted drone 102 remains within a predetermined distance for a predetermined period of time after the start of the game, a predetermined score is awarded according to the length of time the drone is close. From another perspective, this allows for efficient scoring of the degree to which the piloted drone 102 tracks the target drone 101.

[0365] Furthermore, the scoring game system 100 according to the embodiment of this invention is based on the above invention. In this system, at least one of the control unit 104, the target drone 101, and the pilot drone 102 is equipped with a lamp, and when the distance between the target drone 101 and the pilot drone 102 approaches within a predetermined distance, the lamp is turned on or flashes, thereby more reliably notifying the user that they have scored points.

[0366] Furthermore, the scoring game system 100 according to the embodiment of this invention is equipped with speakers 203 and 407 on at least one of the pilot 104, target drone 101, and pilot drone 102, and outputs a predetermined sound from speakers 203 and 407 when the distance between the target drone 101 and the pilot drone 102 approaches within a predetermined distance, thereby more reliably notifying the player that a score has been earned.

[0367] Furthermore, in the embodiment of the present invention, the scoring game system 100 is equipped with an object sensor 306 on at least one of the target drone 101 and the piloted drone 102. The object sensor 306 detects the distance between the target drone 101 and the piloted drone 102 at predetermined intervals. Based on the detection results of the object sensor 306, if the distance between the target drone 101 and the piloted drone 102 exceeds a predetermined distance after the start of the game, a predetermined score is deducted according to the frequency of such separation. Thus, from another perspective, the degree to which the piloted drone 102 tracks the target drone 101 can be efficiently scored.

[0368] Furthermore, in the embodiment of the present invention, the scoring game system 100 is equipped with an object sensor 306 on at least one of the target drone 101 and the piloted drone 102. The object sensor 306 detects the distance between the target drone 101 and the piloted drone 102 at predetermined intervals. Based on the detection results of the object sensor 306, if the distance between the target drone 101 and the piloted drone 102 remains greater than or equal to a predetermined distance for a predetermined period of time after the start of the game, a predetermined number of points are deducted according to the duration of that distance. Thus, from another perspective, the degree to which the piloted drone 102 tracks the target drone 101 can be efficiently scored.

[0369] Furthermore, the scoring game system 100 according to the embodiment of this invention is equipped with a lamp on at least one of the piloting machine 104, the target drone 101, and the piloting drone 102, and the lamp lights up or flashes when the distance between the target drone 101 and the piloting drone 102 is greater than a predetermined distance, thereby more reliably notifying the player that points have been deducted.

[0370] Furthermore, the scoring game system 100 according to the embodiment of this invention is equipped with speakers 203 and 407 on at least one of the pilot 104, target drone 101, and pilot drone 102, and outputs a predetermined sound from the speakers 203 and 407 when the distance between the target drone 101 and the pilot drone 102 is greater than a predetermined distance, thereby more reliably notifying the player that points have been deducted.

[0371] Furthermore, the scoring game system 100 according to the embodiment of this invention is equipped with an acceleration sensor on at least one of the target drone 101 and the piloted drone 102. The acceleration sensor detects a collision between the target drone 101 and the piloted drone 102. Based on the detection result of the acceleration sensor, a predetermined score is awarded when the target drone 101 and the piloted drone 102 collide after the start of the game. From another perspective, the degree to which the piloted drone 102 tracks the target drone 101 can be efficiently scored.

[0372] Furthermore, the scoring game system 100 according to the embodiment of this invention is configured such that, in the above invention, at least one of the target drone 101 and the control drone 102 is equipped with an acceleration sensor. Equipped with an accelerometer, the accelerometer detects collisions between the target drone 101 and the controlled drone 102. Based on the detection results of the accelerometer, if a collision occurs between the target drone 101 and the controlled drone 102 after the start of the game, a predetermined score is deducted. Thus, from another perspective, the degree to which the controlled drone 102 tracks the target drone 101 can be efficiently scored.

[0373] Furthermore, the scoring game system 100 according to the embodiment of this invention is equipped with a lamp on at least one of the pilot 104, target drone 101, and pilot drone 102, and the lamp lights up or flashes when the target drone 101 and the pilot drone 102 collide, thereby more reliably notifying the player that the target drone 101 and the pilot drone 102 have collided.

[0374] Furthermore, in the embodiment of the present invention, the scoring game system 100 is equipped with speakers 203 and 407 on at least one of the pilot 104, target drone 101, and pilot drone 102. When the target drone 101 and the pilot drone 102 collide, predetermined sounds are output from the speakers 203 and 407, thereby more reliably notifying the player that the target drone 101 and the pilot drone 102 have collided.

[0375] Furthermore, the scoring game system 100 according to the embodiment of this invention is equipped with a timer in at least one of the pilot 104, target drone 101, and pilot drone 102. The timer measures time after the start of the game, and when the timer reaches a predetermined time, it ends the game and outputs the score information stored in at least one of the target drone 101 and pilot drone 102, so that the player can find out how many points were earned in the predetermined time.

[0376] Furthermore, in the embodiment of the present invention, the score-acquiring game system 100 acquires score information stored in at least one of the target drone 101 and the control drone 102 when the timer's timing reaches a predetermined time. Based on the acquired score information, if the score reaches a predetermined value, the game is extended for a predetermined time, and if the score does not reach the predetermined value, the game ends. As a result, players can acquire bonus time by scoring points and aim for higher scores.

[0377] Furthermore, the score-acquiring game system 100 according to this embodiment of the invention is equipped with a timer in at least one of the piloting machine 104, target drone 101, and piloting drone 102. The timer measures time after the start of the game and, based on the score information stored in at least one of the target drone 101 and piloting drone 102, ends the game and outputs the timer's remaining time when the score reaches a predetermined value. This allows for a time trial to see how quickly a predetermined score can be acquired. Also, if the player's proficiency in the game is low, the game will end earlier than the normal game time, allowing a new game to be started immediately, and proficiency can be improved by repeating the game.

[0378] Furthermore, in the embodiment of this invention, the score-acquiring game system 100 allows the target drone 101 to change its flight speed based on the score acquired during the game, thereby changing the difficulty level of the game during gameplay.

[0379] Furthermore, the score-acquisition game system 100 according to this embodiment of the invention increases the flight speed when the acquired score exceeds a predetermined score, thus allowing for an increase in the difficulty of the game for advanced players during gameplay.

[0380] Furthermore, the score-acquisition game system 100 according to this embodiment of the invention reduces the flight speed when the acquired score falls below a predetermined score, thus lowering the difficulty of the game for beginners during gameplay.

[0381] Furthermore, the scoring game system 100 according to the embodiment of this invention includes a display device for displaying images, a camera is mounted on at least one of the target drone 101 and the pilot drone 102, and at least one of the first unmanned aerial vehicle and the pilot drone 102 wirelessly transmits video information relating to the images captured by the camera during the game to the display device, and the display device displays the received images, so that the pilot drone 102 can reliably grasp the status of tracking the target drone 101.

[0382] Furthermore, the scoring game system 100 according to the embodiment of this invention includes a shooting drone 103 equipped with a camera that flies around the target drone 101 or the piloted drone 102 by automatic control and photographs at least one of the target drone 101 and the piloted drone 102. The shooting drone 103 wirelessly transmits video information related to the video captured by the camera during the game to a display device, and the display device displays the received video, so that the status of the piloted drone 102 following the target drone 101 can be reliably grasped.

[0383] Furthermore, in the score-acquisition game system 100 according to the embodiment of this invention, at least one of the target drone 101 and the control drone 102 wirelessly transmits the stored score information to a display device, and the display device displays the received score information, so that the score status during the game can be understood.

[0384] Furthermore, in the score-acquisition game system 100 according to the embodiment of this invention, since the display device is provided on the control unit 104, the operator can check the contents displayed on the display device at their fingertips.

[0385] Furthermore, in the score-acquisition game system 100 according to the embodiment of this invention, the display device is a goggle-type display device worn by the operator, so the operator can grasp the tracking status of the target drone 101 as if they were riding in the piloted drone 102.

[0386] Furthermore, in the scoring game system 100 according to the embodiment of this invention, the piloted drone 102 acquires positional information of its current position and transmits the positional information and drive control information of its own aircraft to the target drone 101. The target drone 101 acquires positional information of its own aircraft and determines or changes its own flight pattern based on the acquired positional information of its own aircraft and the positional information and drive control information of the piloted drone 102 received from the piloted drone 102. Thus, the target drone 101 can determine its own flight pattern after understanding the movements of the piloted drone 102.

[0387] Furthermore, in the embodiment of the present invention, the scoring game system 100 is equipped with an object sensor 306 that measures the distance to the piloted drone 102. Based on the acquired position information of the piloted drone 101, the position information and drive control information of the piloted drone 102 received from the piloted drone 102, and the distance to the piloted drone 102 measured by the object sensor 306, the piloted drone 101 determines or changes its own flight pattern. Thus, the target drone 101 can determine its own flight pattern after understanding the approaching status of the piloted drone 102.

[0388] Furthermore, in the embodiment of the present invention, the scoring game system 100 has a flight pattern that avoids approaching the piloted drone 102, making it difficult for the piloted drone 102 to approach the target drone 101, thereby increasing the difficulty of the game.

[0389] Furthermore, in the scoring game system 100 according to the embodiment of this invention, the location information is latitude, longitude, and altitude information calculated by GPS (Global Positioning System), so more accurate location information can be obtained.

[0390] Furthermore, in the scoring game system 100 according to the embodiment of this invention, the drive control information is a control signal that controls the drive of the motors that rotate the propellers 201a to 201d that drive the piloted drone 102, so that the target drone 101 can grasp the movement (flight) of the piloted drone 102 more accurately.

[0391] Furthermore, in the embodiment of the present invention, the scoring game system 100 does not require a dedicated controller 104, as the controller 104 is an information processing terminal device equipped with a display screen.

[0392] Furthermore, the unmanned aerial vehicle (target drone 101) according to this embodiment of the invention is a target drone 101 that flies within a predetermined space by automatic piloting for use in a scoring game. It acquires its own position information and determines or changes its own flight pattern based on the acquired position information of its own aircraft and the position information of the pilot drone 102 and the drive control information of the pilot drone 102 that flies within a predetermined space by manual piloting. Thus, it is possible to determine the flight pattern of its own aircraft after understanding the movement (flight) of the pilot drone 102.

[0393] Furthermore, the unmanned aerial vehicle (target drone 101) according to the embodiment of this invention is equipped with an object sensor 306 that measures the distance to the pilot drone 102. Based on the acquired position information of the aircraft, the position information and drive control information of the pilot drone 102 received from the pilot drone 102, and the distance to the pilot drone 102 measured by the object sensor 306, the aircraft determines or changes its flight pattern. This allows the aircraft to determine its flight pattern after understanding the approach status of the pilot drone 102.

[0394] Furthermore, in the embodiment of this invention, the unmanned aerial vehicle (target drone 101) has a flight pattern that avoids approaching the piloted drone 102, making it difficult for the piloted drone 102 to approach the target drone 101 and increasing the difficulty of the game.

[0395] Furthermore, in the embodiment of this invention, the unmanned aerial vehicle (target drone 101) obtains more accurate positional information because the positional information is calculated using GPS (Global Positioning System) latitude, longitude, and altitude information.

[0396] Furthermore, in the embodiment of this invention, the unmanned aerial vehicle (target drone 101) is such that, in the above invention, the drive control information is a control signal that controls the drive of the motors that rotate the propellers 201a to 201d that drive the pilot drone 102. Therefore, the target drone 101 can more accurately grasp the movement (flight) of the pilot drone 102.

[0397] Furthermore, the control method according to this embodiment of the invention is a control method for an unmanned aerial vehicle (target drone 101) that flies in a predetermined space by automatic piloting, used in a scoring game, and acquires the position information of the aircraft itself. Based on the acquired position information of the aircraft itself and the position information of the pilot drone 102 and the drive control information of the pilot drone 102 that flies in a predetermined space by manual piloting, the flight pattern of the aircraft itself is determined or changed. Thus, the flight pattern of the aircraft can be determined after understanding the movement (flight) of the pilot drone 102.

[0398] Furthermore, in the control method according to the embodiment of this invention, the distance to the piloted drone 102 is measured, and the flight pattern of the pilot aircraft is determined or changed based on the acquired position information of the pilot aircraft, the position information and drive control information of the piloted drone 102 received from the piloted drone 102, and the measured distance to the piloted drone 102. Therefore, the flight pattern of the pilot aircraft can be determined after understanding the approach status of the piloted drone 102.

[0399] Furthermore, in the control method according to the embodiment of this invention, since the flight pattern is a flight pattern that avoids approaching the piloted drone 102, it is possible to make it difficult for the piloted drone 102 to approach the target drone 101 and increase the difficulty of the game.

[0400] Furthermore, in the control method according to the embodiment of this invention, the position information is latitude, longitude, and altitude information calculated by GPS (Global Positioning System), so more accurate position information can be obtained.

[0401] Furthermore, in the control method according to the embodiment of this invention, the drive control information is a control signal that controls the drive of the motors that rotate the propellers 201a to 201d that drive the piloted drone 102, so that the target drone 101 can grasp the movement (flight) of the piloted drone 102 more accurately.

[0402] Furthermore, the control program according to this embodiment of the invention is a control program for an unmanned aerial vehicle that flies within a predetermined space by automatic piloting and is used in a scoring game. The program acquires the position information of the aircraft itself, and based on the acquired position information of the aircraft itself, the position information of the pilot drone 102 that flies within a predetermined space by manual piloting, and the drive control information of the pilot drone 102, the program causes the unmanned aerial vehicle to perform a process to determine or change the flight pattern of the aircraft itself. The program can determine the flight pattern of the aircraft itself after understanding the movement (flight) of the pilot drone 102.

[0403] Furthermore, the control program of the embodiment of this invention measures the distance to the piloted drone 102 and determines or changes the flight pattern of the pilot based on the acquired position information of the pilot, the position information and drive control information of the piloted drone 102 received from the piloted drone 102, and the measured distance to the piloted drone 102. This allows the pilot to determine the flight pattern of the pilot after understanding the approach status of the piloted drone 102.

[0404] Furthermore, in the embodiment of this invention, the control program has a flight pattern that avoids approaching the piloted drone 102, making it difficult for the piloted drone 102 to approach the target drone 101, thereby increasing the difficulty of the game.

[0405] Furthermore, the control program of the embodiment according to this invention is, in the above invention, a positional information The report includes latitude, longitude, and altitude information calculated using GPS (Global Positioning System), allowing for the acquisition of more accurate location information.

[0406] Furthermore, in the embodiment of this invention, the control program is such that the drive control information is a control signal that controls the drive of the motors that rotate the propellers 201a to 201d that drive the piloted drone 102. Therefore, the target drone 101 can more accurately grasp the movement (flight) of the piloted drone 102.

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

[0408] The details of the embodiment are described below as an addendum.

[0409] (Note 1) A first unmanned aerial vehicle that flies within a predetermined space under automatic control, A second unmanned aerial vehicle that flies within a designated space under manual control, The second unmanned aerial vehicle is remotely controlled by a control unit, A scoring game system equipped with, A scoring game system characterized by controlling the second unmanned aircraft by operating the control device, making the first unmanned aircraft follow it, earning points according to the degree of the follow, and storing score information related to the earned points in at least one of the first unmanned aircraft and the second unmanned aircraft.

[0410] (Note 2) At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an object-targeting sensor, The object sensor detects the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined intervals. The scoring game system according to Appendix 1, characterized in that, based on the detection results of the object sensor, if the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle approaches within a predetermined distance after the start of the game, a predetermined score is awarded according to the frequency of such approach.

[0411] (Note 3) At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an object-targeting sensor, The object sensor detects the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined intervals. The scoring game system according to Appendix 1, characterized in that, based on the detection results of the object sensor, if the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle approaches within a predetermined distance for a predetermined period of time after the start of the game, a predetermined score is awarded according to the length of time the two vehicles are close together.

[0412] (Note 4) The control unit, the first unmanned aerial vehicle, and the second unmanned aerial vehicle are equipped with a ramp, The scoring game system according to Appendix 2 or 3, characterized in that the lamp is turned on or flashed when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle approaches within a predetermined distance.

[0413] (Note 5) The pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle are equipped with speakers. A scoring game system according to any one of appendices 2 to 4, characterized in that a predetermined sound is output from the speaker when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle approaches within a predetermined distance.

[0414] (Note 6) At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an object-targeting sensor, The object sensor detects the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined intervals. The scoring game system according to Appendix 1 or 2, characterized in that, based on the detection results of the object sensor, if the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle becomes greater than or equal to a predetermined distance after the start of the game, a predetermined score is deducted according to the frequency of such distance.

[0415] (Note 7) At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an object-targeting sensor, The object sensor detects the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined intervals. The scoring game system according to Appendix 1 or 3, characterized in that, based on the detection results of the object sensor, if the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle remains greater than or equal to a predetermined distance for a predetermined period of time after the start of the game, a predetermined number of points are deducted according to the duration of that distance.

[0416] (Note 8) The control unit, the first unmanned aerial vehicle, and the second unmanned aerial vehicle are equipped with a ramp, The scoring game system according to Appendix 6 or 7, characterized in that the lamp is turned on or flashes when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle is greater than or equal to a predetermined distance.

[0417] (Note 9) The pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle are equipped with speakers. A scoring game system according to any one of appendices 6 to 8, characterized in that a predetermined sound is output from the speaker when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle is greater than or equal to a predetermined distance.

[0418] (Note 10) At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an acceleration sensor, The acceleration sensor detects a collision between the first unmanned aerial vehicle and the second unmanned aerial vehicle. Based on the detection results of the acceleration sensor, after the game starts, the first unmanned aerial vehicle and the front A scoring game system described in any one of the appendices 1 to 9, characterized in that a predetermined score is obtained when a collision occurs with the second unmanned aerial vehicle.

[0419] (Note 11) At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an acceleration sensor, The acceleration sensor detects a collision between the first unmanned aerial vehicle and the second unmanned aerial vehicle. A scoring game system according to any one of the appendices 1 to 9, characterized in that, based on the detection results of the acceleration sensor, a predetermined score is deducted if the first unmanned aerial vehicle and the second unmanned aerial vehicle collide after the start of the game.

[0420] (Note 12) The control unit, the first unmanned aerial vehicle, and the second unmanned aerial vehicle are equipped with a ramp, The scoring game system according to appendix 10 or 11, characterized in that the lamp is turned on or flashes when the first unmanned aerial vehicle and the second unmanned aerial vehicle collide.

[0421] (Note 13) The pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle are equipped with speakers. A scoring game system according to any one of appendices 10 to 12, characterized in that a predetermined sound is output from the speaker when the first unmanned aerial vehicle and the second unmanned aerial vehicle collide.

[0422] (Note 14) The pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle are equipped with a timer. The aforementioned timer starts counting time after the game begins. A scoring game system according to any one of the appendices 1 to 13, characterized in that when the timer's timing reaches a predetermined time, the game ends and score information stored in at least one of the first and second unmanned aerial vehicles is output.

[0423] (Note 15) The scoring game system according to Appendix 14, characterized in that when the timer's timing reaches a predetermined time, score information stored in at least one of the first and second unmanned aerial vehicles is acquired, and based on the acquired score information, if the score has reached a predetermined value, the game is extended for a predetermined time, and if the score has not reached the predetermined value, the game is terminated.

[0424] (Note 16) The pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle are equipped with a timer. The aforementioned timer starts counting time after the game begins. A scoring game system according to any one of the appendices 1 to 13, characterized in that, based on score information stored in at least one of the first and second unmanned aerial vehicles, the game ends and the timer's remaining time is output when the score reaches a predetermined value.

[0425] (Note 17) The scoring game system according to any one of the appendices 1 to 16, characterized in that during the game, the first unmanned aerial vehicle changes its flight speed based on the points it has earned.

[0426] (Note 18) The scoring game system according to Appendix 17, characterized in that the flight speed is increased when the score obtained exceeds a predetermined score.

[0427] (Note 19) The scoring game system according to Appendix 17, characterized in that the flight speed is reduced when the score obtained falls below a predetermined score.

[0428] (Note 20) Equipped with a display device that shows images, A camera is mounted on at least one of the first and second unmanned aerial vehicles. At least one of the first and second unmanned aerial vehicles wirelessly transmits video information relating to the video captured by the camera during the game to the display device. The scoring game system according to any one of the appendices 1 to 19, characterized in that the display device displays the received video.

[0429] (Note 21) The system includes a third unmanned aircraft that flies around the first or second unmanned aircraft by autopilot and is equipped with a camera that photographs at least one of the first or second unmanned aircraft, The third unmanned aerial vehicle wirelessly transmits video information relating to the video captured by the camera during the game to the display device. The scoring game system according to any one of appendices 1 to 20, characterized in that the display device displays the received video.

[0430] (Note 22) At least one of the first and second unmanned aerial vehicles wirelessly transmits the stored score information to the display device. The scoring game system according to Appendix 20 or 21, characterized in that the display device displays the received score information.

[0431] (Note 23) The scoring game system according to any one of appendices 20 to 22, characterized in that the display device is provided in the control unit.

[0432] (Note 24) The scoring game system according to any one of the appendices 20 to 22, characterized in that the display device is a goggle-type display device worn by the operator.

[0433] (Note 25) The second unmanned aerial vehicle acquires location information of its current position, The position information and the propulsion control information of the aircraft are transmitted to the first unmanned aircraft. The first unmanned aerial vehicle is characterized by acquiring its own position information and determining or changing its flight pattern based on the acquired position information and the position information and drive control information of the second unmanned aerial vehicle received from the second unmanned aerial vehicle, as described in Appendix 1 to 24. The scoring game system is described in either one of the following terms.

[0434] (Note 26) The first unmanned aerial vehicle is equipped with an object sensor that measures the distance to the second unmanned aerial vehicle, The scoring game system according to Appendix 25, characterized in that it determines or changes the flight pattern of the aircraft based on the acquired position information of the aircraft itself, the position information and drive control information of the second unmanned aircraft received from the second unmanned aircraft, and the distance to the second unmanned aircraft measured by the object sensor.

[0435] (Note 27) The scoring game system according to Appendix 25 or 26, characterized in that the aforementioned flight pattern is a flight pattern that avoids approaching the second unmanned aircraft.

[0436] (Note 28) The scoring game system described in any one of the appendices 25 to 27, characterized in that the aforementioned location information is latitude, longitude, and altitude information calculated by GPS (Global Positioning System).

[0437] (Note 29) The scoring game system according to any one of the appendices 25 to 28, characterized in that the drive control information is a control signal that controls the drive of a motor that rotates a propeller that drives the second unmanned aerial vehicle.

[0438] (Note 30) The scoring game system according to any one of the appendices 1 to 29, characterized in that the control device is an information processing terminal device equipped with a display screen.

[0439] (Note 31) An unmanned aerial vehicle used in a scoring game, which flies within a predetermined space under automatic control, An unmanned aircraft characterized by acquiring its own position information, and determining or changing its own flight pattern based on the acquired position information of the aircraft, the position information of a manually piloted unmanned aircraft flying in a predetermined space under manual control, and the drive control information of the manually piloted unmanned aircraft.

[0440] (Note 32) It is equipped with an object sensor that measures the distance to the aforementioned manually operated unmanned aerial vehicle, An unmanned aircraft as described in Appendix 31, characterized in that it determines or changes the flight pattern of its own aircraft based on acquired position information of the aircraft itself, position information of the manually piloted unmanned aircraft and drive control information of the manually piloted unmanned aircraft received from the said aircraft, and the distance to the manually piloted unmanned aircraft measured by the object sensor.

[0441] (Note 33) The unmanned aircraft according to appendix 31 or 32, characterized in that the flight pattern is a flight pattern that avoids approaching the manually operated unmanned aircraft.

[0442] (Note 34) The aforementioned location information is characterized by being latitude, longitude, and altitude information calculated by GPS (Global Positioning System), as described in appendices 31-33. Any one of the unmanned aerial vehicles listed.

[0443] (Note 35) The unmanned aircraft according to any one of the appendices 31 to 34, characterized in that the drive control information is a control signal that controls the drive of a motor that rotates a propeller that drives the manually operated unmanned aircraft.

[0444] (Note 36) A method for controlling an unmanned aerial vehicle that flies within a predetermined space by autopilot, used in a scoring game, A control method characterized by acquiring the position information of the aircraft itself, and determining or changing the flight pattern of the aircraft based on the acquired position information of the aircraft itself, the position information of a manually piloted unmanned aerial vehicle (UAV) flying in a predetermined space under manual control, and the drive control information of the UAV.

[0445] (Note 37) The distance to the aforementioned manually operated unmanned aerial vehicle is measured, The control method according to Appendix 36, characterized in that it determines or changes the flight pattern of the aircraft based on the acquired position information of the aircraft, the position information and drive control information of the manually piloted unmanned aerial vehicle received from the said manually piloted unmanned aerial vehicle, and the measured distance to the said manually piloted unmanned aerial vehicle.

[0446] (Note 38) The control method according to Appendix 36 or 37, characterized in that the flight pattern is a flight pattern that avoids approaching the manually operated unmanned aerial vehicle.

[0447] (Note 39) The control method according to any one of the appendices 36 to 38, characterized in that the position information is latitude, longitude, and altitude information calculated by GPS (Global Positioning System).

[0448] (Note 40) The control method according to any one of the appendices 36 to 39, characterized in that the drive control information is a control signal that controls the drive of a motor that rotates the propeller driving the manually operated unmanned aerial vehicle.

[0449] (Note 41) A control program for an unmanned aerial vehicle that flies within a predetermined space under automatic control, used in a scoring game, A control program characterized by acquiring the position information of the aircraft itself, and causing the unmanned aerial vehicle to perform a process to determine or change the flight pattern of the aircraft based on the acquired position information of the aircraft itself, the position information of the manually piloted unmanned aerial vehicle that is flying in a predetermined space under manual control, and the drive control information of the manually piloted unmanned aerial vehicle.

[0450] (Note 42) The distance to the aforementioned manually operated unmanned aerial vehicle is measured, The control program according to Appendix 41, characterized in that it determines or changes the flight pattern of the aircraft based on the acquired position information of the aircraft, the position information and drive control information of the manually piloted unmanned aerial vehicle received from the said manually piloted unmanned aerial vehicle, and the measured distance to the said manually piloted unmanned aerial vehicle.

[0451] (Note 43) The control program according to appendix 41 or 42, characterized in that the flight pattern is a flight pattern that avoids approaching the manually operated unmanned aerial vehicle.

[0452] (Note 44) The control program described in any one of the appendices 41 to 43, characterized in that the aforementioned position information is latitude, longitude, and altitude information calculated by GPS (Global Positioning System).

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

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

[0455] (An example of an overview of the scoring game system (part 2)) First, we will describe an example of the outline of a scoring game system according to another embodiment (Embodiment 2) of this invention.

[0456] Figure 11 is an explanatory diagram showing an example of the outline of a score-scoring game system according to another embodiment (Embodiment 2) of the present invention. In Figure 11, the score-scoring game system 1100 consists of a pursuit drone 1101, which is an example of a first unmanned aerial vehicle; a piloting drone 1102, which is an example of a second unmanned aerial vehicle; a photography drone 1103, which is an example of a third unmanned aerial vehicle; and a control unit 1104 that wirelessly controls the piloting drone 1102. The unmanned aerial vehicles 1101 to 1103 have the characteristics of drones as shown in Figure 2. Hereinafter, unmanned aerial vehicles will be referred to as drones.

[0457] The pursuit drone 1101, the piloting drone 1102, and the photography drone 1103 may fly indoors or outdoors. The pilot 1105 only pilots the piloting drone 1102. The pursuit drone 1101 and the photography drone 1103 are autopilot drones, and the pilot 1105 does not directly pilot these pursuit drones 1101 and photography drones 1103.

[0458] In this scoring game system 1100, the pursuit drone 1101 flies within a predetermined space under automatic control. The pilot drone 1102 flies within a predetermined space under manual control by a control device 1104 operated by the pilot 1105. When the game starts, the pursuit drone 1101 chases the flying pilot drone 1102, approaches it, and attempts to collide with it.

[0459] The pilot 1105 directly (with the naked eye) or indirectly (via a monitor such as a display screen on the control unit 1104) observes the movement (flight path) of the pursuit drone 1101, which is flying on autopilot, and operates the control unit 1104 to fly the pilot drone 1102 in a manner that allows it to escape from the approaching pursuit drone 1101. In order to allow the pilot drone 1102 to avoid being pursued (approached) by the pursuit drone 1101 and to maintain a distance from the pursuit drone 1101, the pilot 1105 skillfully operates the control unit 1104 to control the pilot drone 1102, sometimes reflexively in response to the flight of the pursuit drone 1101, and sometimes by predicting the flight path of the pursuit drone 1101.

[0460] Then, points are earned (or points are deducted) depending on the degree to which the piloted drone 1102 evades the pursuing drone 1101. In other words, by flying the piloted drone 1102 in a way that allows it to escape from the pursuing drone 1101 and maintain a distance from it, more points can be earned (and points deducted can be minimized).

[0461] The inventor named this scoring game according to this embodiment, in which the player controls the piloted drone 1102 to fly while avoiding the pursuit of the automatically piloted pursuit drone 1101 and earns points according to the degree of avoidance against the pursuing pursuit drone 1101, "DRONE RUNAWAY" or its abbreviation "DRO-RA". Another name given to it is "DRONE ESCAPE" or its abbreviation "DRO-ES".

[0462] The pursuit drone 1101 is equipped with an object sensor (specifically, the object sensor 306 shown in Figure 3), which repeatedly measures (detects) the distance to the controlled drone 1102 at predetermined intervals during the game. If the distance between the pursuit drone 1101 and the controlled drone 1102 is greater than or equal to a predetermined distance, points can be earned. On the other hand, if the distance measured by the object sensor is less than or equal to a predetermined distance, no points can be earned.

[0463] Specifically, the distance between the pursuit drone 1101 and the control drone 1102 is measured at predetermined intervals (for example, every 0.1 seconds). If the distance is 40 cm or more, a bonus point (for example, 1 point) is awarded. On the other hand, if the distance is less than 40 cm, 0 points are awarded.

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

[0465] Furthermore, in addition to the measurement frequency, the points awarded may be made variable according to the distance. That is, if the tracking is performed at a closer distance, more points may be awarded accordingly. Specifically, if the measured distance is 40 cm or more, for example, 1 point may be awarded, and if the measured distance is 60 cm or more, for example, 2 points may be awarded.

[0466] In this way, the degree to which the pursuing drone 1101 is avoided can be determined based on the circumstances of the approach to the pursuing drone 1101, more specifically, the frequency of approaches and the distance approached at predetermined intervals.

[0467] The object sensor was equipped on the pursuit drone 1101, but it may also be equipped on the piloting drone 1102. Alternatively, both the pursuit drone 1101 and the piloting drone 1102 may each be equipped with an object sensor. If both are equipped with object sensors, the decision may be made based on the measurement results of either one of the object sensors, or based on the measurement results of both object sensors.

[0468] If the measurement results differ between the two objective sensors, the average value may be taken, or the measurement result from one of the objective sensors may be given priority. The same applies to objective sensors as follows.

[0469] Furthermore, in this scoring game system 1100, the degree to which the pursuing drone 1101 is avoided may be determined from the perspective of how long the pursuit has been avoided consecutively. That is, if the distance between the pursuing drone 1101 and the controlled drone 1102 remains above a predetermined distance for a predetermined period of time, a predetermined score may be awarded according to the amount of time that distance has been maintained.

[0470] Here, points are awarded if the piloted drone 1102 remains separated from the pursuing drone 1101 for a certain period of time. Therefore, if the piloted drone 1102 is separated for only a moment but then immediately closes the distance to the pursuing drone 1101, no points will be awarded. In this way, points cannot be awarded if the piloted drone 1102 accidentally separates from the pursuing drone 1101, regardless of the pilot's skill level. This allows for more accurate scoring based on the pilot's skill level, making the game more interesting.

[0471] Specifically, the distance between the two is measured every 0.1 seconds, and if the measurement result is 40cm or more for 1 consecutive seconds, i.e., 10 times, 10 points are awarded. Therefore, even if the measurement result is 40cm or more for 0.9 seconds, i.e., 9 times, if the measurement result after the next 0.1 seconds is closer than 40cm, no points are awarded (the score is 0 points). In this way, the more consecutively you can avoid the pursuing drone 1101, the more points you can earn.

[0472] The pursuit drone 1101 and the control drone 1102 are equipped with LED lights. When the distance between the pursuit drone 1101 and the control drone 1102 exceeds a predetermined distance, the LED lights can be turned on or flashed. The operator 1105 or spectators of this scoring game can confirm that points have been scored by seeing the LED lights turn on or flash.

[0473] In this way, the controlled drone 1102 successfully evades the pursuing drone 1101, and the system uses LED lights to indicate that points have been scored. This allows for a more accurate understanding of the scoring situation, especially in games played outdoors at night.

[0474] The intensity, color, flashing speed, and flashing pattern of the light can be changed depending on the distance avoided. In other words, the intensity, color, flashing speed, and flashing pattern of the light make it easy to see how many points have been earned.

[0475] The operator can freely set the LED lights to turn on or off, including whether they are on or off. This allows the operator to concentrate more on playing the game.

[0476] The LED lamp may be provided on the control unit 1104. By providing the LED lamp on the control unit 1104, even if the LED lamps on the pursuit drone 1101 and the control drone 1102 are not lit or flashing, the operator 1105 can be reliably notified that points have been scored.

[0477] The LED lamps on the control unit 1104 can be freely set by the operator, including whether they are on or off. This allows the operator to concentrate more on playing the game.

[0478] Furthermore, the pursuit drone 1101 and the control drone 1102 are equipped with speakers (for example, the speaker 203 shown in Figure 2 above). When the distance to Loan 1102 exceeds a predetermined distance, sound can be output from the speaker. The operator 1105 or spectators of this scoring game can confirm that points have been scored by listening to the sound from this speaker.

[0479] In this way, the system successfully avoids being tracked by the pursuit drone 1101 and notifies the player of points earned using voice (for example, "Scoring!", "POINT GET!", "GOOD!", "65 points!"). This allows for a more accurate understanding of the score, especially in games played outdoors at night. The volume and content of the sounds or voices can be changed depending on the distance. In other words, the player can easily understand how many points have been earned based on the volume and content of the sounds or voices.

[0480] The operator can freely configure the audio output, including whether to turn it on or off. This allows the operator to concentrate more on playing the game.

[0481] A speaker (for example, speaker 407 in Figure 4 mentioned above) may be provided on the control unit 1104. The speaker may also be headphones or earphones worn by the operator. By providing a speaker on the control unit 1104, the operator 1105 can be reliably notified that points have been scored, even if the LED lights on the pursuit drone 1101 and the control drone 1102 cannot be confirmed to be lit or flashing.

[0482] The audio output from the speaker on the control unit 1104 can be freely configured by the operator, including whether to turn it on or off. This allows the operator to concentrate more on playing the game.

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

[0484] Therefore, the key to success in this scoring game lies in how skillfully the piloted drone 1102 can be controlled using the control unit 1104, thereby avoiding pursuit by the autopilot-driven pursuit drone 1101. Furthermore, this scoring game can also be used as a simulator to improve proficiency in drone piloting skills.

[0485] The above explains how to earn points in this scoring game. However, depending on how the drone 1102 is operated, it may be possible to not only earn points, but also to have points deducted instead of earning points.

[0486] The pursuit drone 1101 uses an object sensor to repeatedly measure (detect) the distance between it and the controlled drone 1102 at predetermined intervals during the game. If the distance between the pursuit drone 1101 and the controlled drone 1102 approaches within a predetermined distance, points are deducted. Conversely, if the distance does not approach within the predetermined distance, no points are deducted.

[0487] Specifically, the distance between the pursuit drone 1101 and the control drone 1102 is measured at predetermined intervals (for example, every 0.1 seconds). If the distance approaches within 20 cm, a negative point (for example, -1 point) is deducted. On the other hand, if the distance does not approach within 20 cm, the points remain unchanged. Therefore, in this case, since measurements are taken 10 times per second, a maximum of 10 points can be deducted from the earned points (resulting in a total of -10 points).

[0488] The predetermined time is not limited to 0.1 seconds. Based on the distance measurement performance of the object sensor and the game content (accuracy of scoring), the predetermined time indicating the interval between measurements, i.e., the measurement frequency, can be set and changed as appropriate. Furthermore, it may be the same time as the predetermined time for scoring points, or it may be a different time (longer or shorter than the predetermined time for scoring points).

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

[0490] In this way, the degree to which the pursuit drone 1101 avoids tracking can be determined based on the situation of how close the drone is to the pursuit drone 1101, more specifically, the frequency of approach and the distance between them at predetermined intervals.

[0491] Alternatively, in this scoring game system 1100, the degree of avoidance of pursuit may be determined from the perspective of how long the pursuit has not been avoided consecutively. That is, if the distance between the pursuit drone 1101 and the piloting drone 1102 approaches within a predetermined distance for a predetermined period of time consecutively, a predetermined score may be deducted according to the length of time the drone has been close.

[0492] Here, points are deducted if the drone approaches continuously for a certain period of time. Therefore, if the drone approaches for only a moment but then immediately moves away from the pursuit drone 1101, no points will be deducted. This prevents points from being deducted for accidentally approaching the pursuit drone 1101, regardless of piloting skill, and allows for a more accurate deduction of points for poor piloting skills.

[0493] Specifically, the distance between the two objects is measured every 0.1 seconds, and if the measurement results for 1 consecutive seconds, i.e., 10 times, are within 20 cm, 10 points can be deducted. Therefore, even if the measurement results for 0.9 seconds, i.e., 9 times, are within 20 cm, if the measurement result 0.1 seconds later is greater than 20 cm, no points will be deducted (the score will not change). In this way, points can be avoided unless the objects are continuously close together.

[0494] Using the LED lamps provided on the pursuit drone 1101 and the control drone 1102, the LED lamps can be made to light up or flash when the distance between the pursuit drone 1101 and the control drone 1102 approaches within a predetermined distance. The operator 1105 or spectators of this scoring game can confirm that points have been deducted by seeing the LED lamps light up or flash.

[0495] In this way, if the player fails to successfully evade the pursuit drone 1101 and loses points, the system uses LED lights to notify the player of this. This is especially useful in games played outdoors at night, as it allows for a more accurate understanding of the point deduction situation. The intensity, color, flashing speed, and flashing pattern of the light can be changed depending on the distance between the players. In other words, the intensity, color, flashing speed, and flashing pattern of the light make it easy to see how many points have been lost.

[0496] Furthermore, the LED lamp's brightness, color, flashing speed, and flashing pattern can be changed depending on whether points have been gained or lost. This makes it easy to distinguish between gaining and losing points.

[0497] Furthermore, the LED lamp can be configured to light up or flash only when points are earned, and not light up or flash when points are deducted. Conversely, the LED lamp can be configured to light up or flash only when points are deducted, and not light up or flash when points are earned.

[0498] The operator can freely set the LED lights to turn on or off, including whether they are on or off. This allows the operator to concentrate more on playing the game.

[0499] Depending on the penalty situation, the LED lamps on the control unit 1104 are turned on or flashed, so that even if the LED lamps on the pursuit drone 1101 and the control drone 1102 are not turned on or flashed, the operator 1105 can be reliably notified that points have been deducted.

[0500] The LED lamps on the control unit 1104 can be freely set by the operator, including whether they are on or off. This allows the operator to concentrate more on playing the game.

[0501] Furthermore, speakers installed on the pursuit drone 1101 and the control drone 1102 can be used to output sound when the distance between the pursuit drone 1101 and the control drone 1102 exceeds a predetermined distance. The operator 1105 or spectators of this scoring game can hear the sound from these speakers to confirm that points have been deducted.

[0502] In this way, if the pursuit drone 1101 fails to track properly and points are deducted, it is notified using voice (for example, "Deduction in progress!", "LOSE!", "Locked on!"). This allows for a more accurate understanding of the score, especially in games played outdoors at night. The volume and content of the sound or voice can be changed depending on the approaching distance. In other words, the volume and content of the sound or voice make it easy to understand how many points have been deducted.

[0503] The operator can freely configure the audio output, including whether to turn it on or off. This allows the operator to concentrate more on playing the game.

[0504] The speaker may be located on the control unit 1104. The speaker may also be headphones or earphones worn by the operator. By having the speaker located on the control unit 1104, even if the LED lights on the pursuit drone 1101 and the control drone 1102 cannot be seen lit or flashing, the operator 1105 can be reliably informed that points have been deducted.

[0505] The audio output from the speaker on the control unit 1104 can be freely configured by the operator, including whether to turn it on or off. This allows the operator to concentrate more on playing the game.

[0506] As described above, the objective of the game is to score as many points as possible within the time limit. After the game ends, the scores are announced (output). If different operators 1105 play the game under the same conditions, the one who scores the most points wins.

[0507] Therefore, the key to success in this scoring game lies in how skillfully the pilot drone 1102 can be controlled using the control device 1104 to keep pace with the pursuit drone 1101 flying on autopilot. If the pilot 1105 loses concentration until the end of the game, the points they have earned will be deducted. This scoring game can be used as a simulator to improve drone piloting skills and also to enhance concentration.

[0508] Furthermore, the pursuit drone 1101 is equipped with an accelerometer (specifically, the accelerometer 308 shown in Figure 3 above), which detects when it collides (contacts) with the controlled drone 1102 during the game. When a collision (contact) is detected, a predetermined score is deducted. The score deduction may be performed each time a collision occurs.

[0509] Furthermore, the accelerometer may be used to detect a collision (contact) between the controlled drone 1102 and the system during gameplay, thereby awarding a predetermined score. Points may be awarded each time a collision occurs.

[0510] Whether a collision results in points being awarded or points being deducted depends on the nature of the game. In games where the goal is to avoid being tracked by an object, collisions will result in points. On the other hand, in games that emphasize drone control, minor collisions (contacts) may be judged as advanced control and earn points.

[0511] In addition to the number of collisions, the points awarded may be varied according to the degree (severity) of the collision. That is, more points may be deducted for stronger (more violent) collisions. Specifically, 1 point may be deducted for a light touch and 5 points for a strong collision. Alternatively, 1 point may be awarded for a light touch (grazing).

[0512] Depending on the game's objective, you can intentionally (on purpose) drive close to the pursuit drone 1101 to earn points. However, be aware that a strong collision due to poor control will result in a significant penalty.

[0513] Furthermore, if a strong collision occurs, or if a predetermined number of collisions occur, the game may be ended prematurely before the game's end time is reached. The game may also be ended immediately if even a single contact occurs.

[0514] Although the pursuit drone 1101 is equipped with an accelerometer, the piloting drone 1102 may also be equipped with one. Alternatively, both the pursuit drone 1101 and the piloting drone 1102 may each be equipped with an accelerometer. If both are equipped with accelerometers, the decision may be made based on the measurement results of either one of the accelerometers, or based on the measurement results of both accelerometers.

[0515] If the measurement results from both accelerometers differ, the degree of impact may be averaged, or the measurement result from one of the accelerometers may be prioritized. The same applies to accelerometers as follows.

[0516] In this way, the degree of tracking of the pursuit drone 1101 is determined by the collision with the pursuit drone 1101. The decision can be made based on the circumstances of the contact.

[0517] Using the LED lamps provided on the pursuit drone 1101 and the control drone 1102, the LED lamps can be made to light up or flash when the pursuit drone 1101 and the control drone 1102 collide (contact). The operator 1105 or spectators of this scoring game can confirm that points have been scored or deducted due to the collision (contact) by seeing the LED lamps light up or flash.

[0518] In this way, when the piloted drone 1102 collides with the pursuing drone 1101, the system uses LED lights to indicate whether points have been gained or lost. This allows for a more accurate understanding of the score / loss situation, especially in games played outdoors at night.

[0519] The intensity, color, flashing speed, and flashing pattern of the light can be changed depending on the strength of the impact during a collision. In other words, these changes in light intensity, color, flashing speed, and flashing pattern make it easy to understand how strong the impact was during a collision and whether points were gained or lost.

[0520] The operator can freely set the LED lights to turn on or off, including whether they are on or off. This allows the operator to concentrate more on playing the game.

[0521] Depending on the score / deduction status, the LED lamps on the control unit 1104 are turned on or flashed, so that even if the LED lamps on the pursuit drone 1101 and the control drone 1102 are not turned on or flashed, the operator 1105 can be reliably notified that points have been scored or deducted.

[0522] The LED lamps on the control unit 1104 can be freely set by the operator, including whether they are on or off. This allows the operator to concentrate more on playing the game.

[0523] Furthermore, speakers installed on the pursuit drone 1101 and the control drone 1102 can be used to output sound when the pursuit drone 1101 and the control drone 1102 collide (come into contact). The operator 1105 or spectators of this scoring game can hear the sound from these speakers to confirm whether points have been earned or deducted.

[0524] In this way, collisions with the pursuit drone 1101 and resulting points / deductions are notified using voice prompts (for example, "deduction," "collision!", "CRASH!"). This allows for a more accurate understanding of the scoring / deduction situation, especially in games played outdoors at night.

[0525] The volume, sound content, and other characteristics can be altered depending on the impact of the collision. This means that the magnitude of the collision and the resulting score / deduction can be easily determined.

[0526] The operator can freely configure the audio output, including whether to turn it on or off. This allows the operator to concentrate more on playing the game.

[0527] The speaker may be provided on the control unit 1104. The speaker may also be headphones or earphones worn by the pilot. By doing so, even if the LED lights on the pursuit drone 1101 and the control drone 1102 cannot be seen lighting up or flashing, the operator 1105 can be reliably notified that points have been scored.

[0528] The audio output from the speaker on the control unit 1104 can be freely configured by the operator, including whether to turn it on or off. This allows the operator to concentrate more on playing the game.

[0529] As described above, the objective of the game is to score as many points as possible within the time limit. After the game ends, the scores are announced (output). If different operators 1105 play the game under the same conditions, the one who scores the most points wins.

[0530] Therefore, the key to success in this scoring game lies in how skillfully the pilot can control the drone 1102 using the control unit 1104, fly it on autopilot, and evade the pursuing drone 1101. Furthermore, if bonus points can be earned through collision, the pilot 1105 is required to perform more advanced maneuvers, such as actively trying to hit the pursuing drone 1101 (intentionally making light contact) while escaping from it, even at the risk of injury. Thus, when points are awarded through collision, this scoring game can also be used as a simulator to improve drone piloting skills and concentration.

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

[0532] If the game ends, the pursuit drone 1101 will cease flight and either stop (hover) at its designated position or return to its designated position (for example, the pilot's location).

[0533] Then, the score information (which may be negative due to deductions) stored in the pursuit drone 1101 and the control drone 1102 is output. The score information may also be transmitted to the control unit 1104 via wireless communication. Alternatively, the score information, along with the pilot's ID information, may be transmitted directly to a designated website on the internet via wireless communication.

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

[0535] In this way, bonus time is awarded, extending the game time and allowing you to play for a longer period, which in turn allows you to aim for a higher score. The game time can be extended again and again depending on the score you earn.

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

[0537] Furthermore, a game timer provided in at least one of the pursuit drone 1101 and the piloting drone 1102 begins timing after the game starts. When the score information stored in at least one of the pursuit drone 1101 and the piloting drone 1102 reaches a predetermined value (for example, 200 points), the game may be terminated, and the time remaining until the predetermined value is reached may be output based on the timing of the game timer.

[0538] Thus, the game can also be a time trial to reach a predetermined score. If two different pilots 1105 play the game under the same conditions, the one who reaches the predetermined score in the shortest time wins.

[0539] On the other hand, if the score is reduced to a predetermined value (for example, -100 points), the game may be terminated before the game time (for example, 3 minutes) has elapsed. In this case, the time remaining until the predetermined value is reached may be output based on the game timer's timing.

[0540] If five different pilots (1105) play the game under the same conditions, the pilot who accumulates the most points before the game ends (ends prematurely) is declared the winner.

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

[0542] Specifically, if the score earned exceeds a predetermined level (for example, 50 points, when a maximum of 60 points can be earned in one minute) one minute after the start of the game, the system may infer that the pilot's skill level is high and increase the flight speed. This makes it more difficult to avoid the pursuit drone 1101, increasing the difficulty of the game and making it more exciting.

[0543] Furthermore, if the score earned falls below a predetermined score one minute after the start of the game (for example, -50 points, where the maximum penalty is -60 points per minute), the system may infer that the pilot's skill level is low (beginner level) and reduce the flight speed. This makes it easier to avoid the pursuit drone 1101, lowering the difficulty of the game and making it enjoyable even for beginners.

[0544] In Figure 11, there is one pursuit drone 1101, but there may be multiple drones. Having multiple drones track a single piloted drone 1102 can increase the difficulty of the game.

[0545] The scoring game system 1100 is equipped with a display device that displays images. The display device may be installed on the control unit 1104, or it may be a display device that can be connected to the control unit 1104 (for example, a smartphone or tablet device). Alternatively, it may be a communication-enabled information processing device (notebook PC), display (television), or projector. These display devices may be located near the control unit, or they may be located in a remote location connected by a network.

[0546] Furthermore, the control device 1104 itself may be an information processing terminal device (for example, a smartphone or tablet device) on which a control application is installed. This eliminates the need to prepare a dedicated control device 1104.

[0547] Furthermore, the display device may be a goggle-type display device worn by the pilot (such as a VR (Virtual Reality) goggle).

[0548] The pursuit drone 1101 and the piloting drone 1102 are equipped with cameras that capture images of each other's drones during the game. The captured images are then wirelessly transmitted to a display device. The display device then displays the received images.

[0549] Furthermore, the pursuit drone 1101 and the control drone 1102 wirelessly transmit stored score information to the display device. Based on the received score information, the display device can display the score on its screen in real time.

[0550] This allows the tracking (chase) by the pursuit drone 1101 and the control drone 1102, as well as the game status (score, etc.), to be viewed on the display device. In particular, even when the drones are flying at a distance from the pilot and are difficult to see with the naked eye, the game status can be more accurately understood by viewing the images displayed on the display device. Furthermore, the game status can be viewed remotely via the network.

[0551] Furthermore, a third example of an unmanned aerial vehicle, the photography drone 1103, is equipped with a camera that captures images of at least one of the pursuit drone 1101 and the piloting drone 1102 during the game. The camera then wirelessly transmits the video information of the captured images to a display device. The display device then displays the received images.

[0552] In this way, a scoring game can be played using this scoring game system 1100, where players earn points by piloting a drone 1102. By keeping the flight conditions of the pursuit drone 1101 the same, a remote competition can be held. The competition can attract participants from all over the world. It can also be applied to certification tests for drone piloting skills.

[0553] Unlike virtual esports using computer programs, this allows you to experience the fun of actually piloting a real drone.

[0554] (Flight of pursuit drone 1101) Next, I will explain the flight details of pursuit drone 1101.

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

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

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

[0558] The drive control information of the pilot drone 1102 acquired by the pursuit drone 1101 is, specifically, For example, this could be a control signal that controls the drive of the motors that rotate the propellers 201a to 201d shown in Figure 2, which drive the piloted drone 1102. By analyzing this control signal, the flight path and flight speed of the piloted drone 1102 can be predicted. Then, from the predicted flight path and flight speed, a flight pattern that approaches or collides with the piloted drone 1102 can be calculated.

[0559] Furthermore, the pursuit drone 1101 may be equipped with an object sensor to measure the distance to the pilot drone 1102, and may determine or change its flight pattern based on the acquired position information of the aircraft, the position information and drive control information of the pilot drone 1102 received from the pilot drone 1102, and the distance to the pilot drone 1102 measured by the object sensor. By also referring to the distance to the pilot drone 1102 measured by the object sensor, it is possible to calculate a flight pattern that makes approaching or colliding with the pilot drone 1102 more certain.

[0560] Furthermore, the appearance of the pursuit drone 1101, the piloting drone 1102, and the photography drone 1103 is the same as that shown in Figure 2, so their illustration and description are omitted.

[0561] Furthermore, the hardware configurations of the pursuit drone 1101, the piloting drone 1102, and the photography drone 1103 are the same as those shown in Figure 3, so their illustration and explanation are omitted.

[0562] Furthermore, the hardware configuration of the control unit 1104 that controls the drone 1102 is the same as that shown in Figure 4, so its illustration and explanation are omitted.

[0563] The functional configuration of the scoring game system 1100 is the same as that shown in Figures 5A and 5B, so its illustration and explanation are omitted.

[0564] (Procedure for dealing with the first unmanned aerial vehicle (pursuit drone 1101)) Next, we will describe the procedure for handling the pursuit drone 1101, which is an example of the first unmanned aerial vehicle.

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

[0566] In the flowchart of Figure 12, the pursuit drone 1101 performs hovering at a predetermined position (for example, a position at a predetermined altitude at a predetermined distance from the control unit 1104) (step S1201).

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

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

[0569] Here, when determining the flight direction and flight speed, the drive information of the pilot drone 1102 received from the pilot drone 1102 is referenced to determine whether to approach or collide with the pilot drone 1102. You may also decide which direction is possible.

[0570] Then, based on the determined flight direction and speed, the device generates and outputs its own drive information (step S1205). As a result, the pursuit drone 1101 moves in a flight direction and speed that will cause it to approach or collide.

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

[0572] For example, the game can be deemed to have ended when a predetermined amount of time has elapsed since the start of the game, or when a predetermined score has been reached.

[0573] If the game has not ended (step S1207: No), the process returns to step S1203. Then, the direction in which the control drone 1102 is located relative to the pursuit drone 1101, and the distance from the pursuit drone 1101 are calculated again. Subsequently, each process from steps S1203 to S1207 is repeated.

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

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

[0576] (Processing procedure for the scoring game system 1100) Next, the processing procedure of the scoring game system 1100 will be explained.

[0577] Figures 13, 14, and 15 are flowcharts showing the processing procedure of a scoring game system according to another embodiment (Embodiment 2) of the present invention.

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

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

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

[0581] On the other hand, if it is not within the predetermined distance (step S1305: No), it is determined whether or not it is outside the predetermined distance (for example, 40 cm or more) (step S1307). Here, outside the predetermined distance If there is a condition (Step S1307: Yes), then the scoring process is performed (Step S1308). That is, the stored score information is rewritten so that the added score is added to the stored score. If the distance is not outside the predetermined distance in Step S1307 (Step S1307: No), then nothing is done and the process proceeds to Step S1310.

[0582] Next, it is determined whether the score associated with the stored score information has reached a predetermined score (step S1309). If the predetermined score has not been reached (step S1309: No), the system waits for a predetermined time (for example, 0.1 seconds) to elapse (step S1310: No), and if the predetermined time has elapsed (step S1310: Yes), it returns to step S1303. After that, each process from steps S1303 to S1310 is repeated.

[0583] In step S1309, if a predetermined score is reached (step S1309: Yes), the game ends (game over), and the game timer time at the point when the predetermined score was reached is output (step S1311). Then, the score corresponding to the stored score information is output (step S1312). This allows the operator to be notified of the remaining game time and score until game over.

[0584] In step S1303, if a predetermined time (for example, 3 minutes) has elapsed since the start of the game timer (step S1303: Yes), the game is terminated (game over), and the score related to the stored score information is output (step S1312). This allows the score to be notified to the operator. In this way, the series of processes of the drone are completed.

[0585] These scoring processes may be performed by the pursuit drone 1101 or by the piloting drone 1102. Alternatively, both the pursuit drone 1101 and the piloting drone 1102 may perform the processes separately, or the processes may be distributed and each drone may share the distributed processing.

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

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

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

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

[0590] On the other hand, if the counter value of the score counter reaches a predetermined value (step S1408: Yes), the score addition process is performed (step S1409). That is, the stored score information is rewritten so that the acquired score is added to the stored score. Then, reset the bonus counter. After that, proceed to step S1415.

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

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

[0593] On the other hand, if the counter value reaches a predetermined value (step S1413: Yes), a point deduction process is performed (step S1414). That is, the stored score information is rewritten so that the points that have been deducted are subtracted from the score information stored.

[0594] Then, the penalty counter is reset. If the distance is not within the predetermined range in step S1410 (step S1410: No), do nothing and proceed to step S1416.

[0595] Next, it is determined whether the score associated with the stored score information has reached a predetermined score (step S1415). If the predetermined score has not been reached (step S1415: No), the system waits for a predetermined time (for example, 0.1 seconds) to elapse (step S1416: No), and if the predetermined time has elapsed (step S1416: Yes), it returns to step S1403. After that, each process from steps S1403 to S1416 is repeated.

[0596] In step S1415, if a predetermined score is reached (step S1415: Yes), the game ends (game over), and the game timer time at the point when the predetermined score was reached is output (step S1417). Then, the score corresponding to the stored score information is output (step S1418). This allows the operator to be notified of the remaining game time and score until game over.

[0597] In step S1403, if a predetermined time (for example, 3 minutes) has elapsed since the start of the game timer (step S1403: Yes), the game is terminated (game over), and the score corresponding to the stored score information is output (step S1418). This allows the operator to be notified of the score.

[0598] This completes the drone's series of operations.

[0599] These scoring processes may be performed by the pursuit drone 1101 or by the piloting drone 1102. Alternatively, both the pursuit drone 1101 and the piloting drone 1102 may perform the processes separately, or the processes may be distributed and each drone may share the distributed processing.

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

[0601] Then, wait for a collision to be detected (Step S1501: No), and if a collision is detected (Step S1501: Yes), calculate the degree of the collision (Step S150 2) Next, based on the calculated degree of collision, a penalty or bonus is calculated (step S1503).

[0602] Specifically, the greater the degree of collision (impact), the higher the penalty points, and the smaller the degree of collision (impact), the lower the penalty points. In addition, if the degree of collision is extremely small (just a scrape), it may be considered a narrow escape from collision and may be eligible for bonus points. In other words, pilot 1105 may earn points by performing an advanced maneuver (skill) such as deliberately causing the piloted drone 1102 to scrape against the pursuing drone 1101.

[0603] This technique requires advanced skill because it carries the risk of penalties depending on the degree of collision, and can therefore be used to earn bonus points.

[0604] Then, the score is updated (step S1504). That is, the stored score information is rewritten so that the score is increased or decreased by the amount calculated for the points added or deducted from the stored score information. This completes the series of processes.

[0605] This completes the drone's series of operations.

[0606] These scoring processes may be performed by the pursuit drone 1101 or by the piloting drone 1102. Alternatively, both the pursuit drone 1101 and the piloting drone 1102 may perform the processes separately, or the processes may be distributed and each drone may share the distributed processing.

[0607] As described above, the scoring game system 1100 of Embodiment 2 of this invention comprises a pursuit drone 1101 that flies within a predetermined space by automatic control, a pilot drone 1102 that flies within a predetermined space by manual control, and a control unit 1104 that wirelessly controls the pilot drone 1102. The pilot 1105 controls the pilot drone 1102 by operating the control unit 1104, avoids the pursuing pursuit drone 1101, and earns points according to the degree of avoidance. The score information related to the earned points is stored in at least one of the pursuit drone 1101 and the pilot drone 1102. This allows one to enjoy a game by piloting the pilot drone 1102 to avoid the pursuit drone 1101 and earn points. Furthermore, the pilot can improve their drone piloting skills while enjoying the game.

[0608] Furthermore, the scoring game system 1100 of Embodiment 2 according to the present invention is equipped with an object sensor 306 on at least one of the pursuit drone 1101 and the pilot drone 1102. The object sensor 306 detects the distance between the pursuit drone 1101 and the pilot drone 1102 at predetermined intervals. Based on the detection results of the object sensor 306, if the distance between the pursuit drone 1101 and the pilot drone 1102 increases to a predetermined distance or more after the start of the game, a predetermined score is awarded according to the frequency of such increases. This allows for efficient scoring of the degree to which the pilot drone 1102 avoids the pursuit drone 1101.

[0609] Furthermore, the scoring game system 1100 of Embodiment 2 according to this invention is equipped with an object sensor 306 on at least one of the pursuit drone 1101 and the pilot drone 1102, and the object sensor 306 detects the distance between the pursuit drone 1101 and the pilot drone 1102 at predetermined intervals, and based on the detection result of the object sensor 306, if the distance between the pursuit drone 1101 and the pilot drone 1102 remains greater than or equal to a predetermined distance for a predetermined period of time after the start of the game, a predetermined score is awarded according to the length of time they are separated. From another perspective, the pilot drone 1102 is positioned relative to the pursuit drone 1101. The degree to which avoidance is achieved can be efficiently scored.

[0610] Furthermore, the scoring game system 1100 of Embodiment 2 according to the present invention is equipped with a lamp on at least one of the piloting machine 1104, the pursuit drone 1101, and the piloting drone 1102, and the lamp is turned on or flashes when the distance between the pursuit drone 1101 and the piloting drone 1102 is greater than a predetermined distance, thereby more reliably notifying the player that a score has been earned.

[0611] Furthermore, the scoring game system 1100 of Embodiment 2 according to the present invention is equipped with speakers 203 and 407 on at least one of the piloting machine 1104, the pursuit drone 1101, and the piloting drone 1102. When the distance between the pursuit drone 1101 and the piloting drone 1102 exceeds a predetermined distance, predetermined sounds are output from the speakers 203 and 407, thereby more reliably notifying the player that a score has been earned.

[0612] Furthermore, the scoring game system 1100 of Embodiment 2 according to the present invention is equipped with an object sensor 306 on at least one of the pursuit drone 1101 and the pilot drone 1102. The object sensor 306 detects the distance between the pursuit drone 1101 and the pilot drone 1102 at predetermined intervals. Based on the detection results of the object sensor 306, if the distance between the pursuit drone 1101 and the pilot drone 1102 approaches within a predetermined distance after the start of the game, a predetermined score is deducted according to the frequency of such approach. From another perspective, the degree to which the pilot drone 1102 avoids the pursuit drone 1101 can be efficiently scored.

[0613] Furthermore, the scoring game system 1100 of Embodiment 2 according to the present invention is equipped with an object sensor 306 on at least one of the pursuit drone 1101 and the pilot drone 1102. The object sensor 306 detects the distance between the pursuit drone 1101 and the pilot drone 1102 at predetermined intervals. Based on the detection results of the object sensor 306, if the distance between the pursuit drone 1101 and the pilot drone 1102 is continuously within a predetermined distance for a predetermined period of time after the start of the game, a predetermined number of points are deducted according to the length of time the distance is close. From another perspective, the degree to which the pilot drone 1102 avoids the pursuit drone 1101 can be efficiently scored.

[0614] Furthermore, the scoring game system 1100 of Embodiment 2 according to this invention is equipped with a lamp on at least one of the piloting machine 1104, the pursuit drone 1101, and the piloting drone 1102, and the lamp is turned on or flashes when the distance between the pursuit drone 1101 and the piloting drone 1102 approaches within a predetermined distance, thereby more reliably notifying the player that points have been deducted.

[0615] Furthermore, the scoring game system 1100 of Embodiment 2 according to this invention is equipped with speakers 203 and 407 on at least one of the piloting machine 1104, the pursuit drone 1101, and the piloting drone 1102. When the distance between the pursuit drone 1101 and the piloting drone 1102 approaches within a predetermined distance, a predetermined sound is output from the speakers 203 and 407, thereby more reliably notifying the player that points have been deducted.

[0616] Furthermore, the scoring game system 1100 of Embodiment 2 according to this invention is equipped with an acceleration sensor on at least one of the pursuit drone 1101 and the pilot drone 1102, and the acceleration sensor detects a collision between the pursuit drone 1101 and the pilot drone 1102, and based on the detection result of the acceleration sensor, if the pursuit drone 1101 and the pilot drone 1102 collide after the start of the game, a predetermined score is deducted, so From this perspective, the degree to which the piloted drone 1102 evades the pursuing drone 1101 can be efficiently scored.

[0617] Furthermore, the scoring game system 1100 of Embodiment 2 according to this invention is equipped with an acceleration sensor on at least one of the pursuit drone 1101 and the pilot drone 1102. The acceleration sensor detects a collision between the pursuit drone 1101 and the pilot drone 1102. Based on the detection result of the acceleration sensor, a predetermined score is awarded when the pursuit drone 1101 and the pilot drone 1102 collide after the start of the game. From another perspective, the degree to which the pilot drone 1102 avoids the pursuit drone 1101 and the level of piloting skill can be efficiently scored.

[0618] Furthermore, the scoring game system 1100 of Embodiment 2 according to this invention is equipped with a lamp on at least one of the piloting machine 1104, the pursuit drone 1101, and the piloting drone 1102, and the lamp lights up or flashes when the pursuit drone 1101 and the piloting drone 1102 collide, so that the collision between the pursuit drone 1101 and the piloting drone 1102 can be notified more reliably.

[0619] Furthermore, the scoring game system 1100 of Embodiment 2 according to this invention is equipped with speakers 203 and 407 on at least one of the piloting machine 1104, the pursuit drone 1101, and the piloting drone 1102, and outputs a predetermined sound from the speakers 203 and 407 when the pursuit drone 1101 and the piloting drone 1102 collide, thereby more reliably notifying the player that the pursuit drone 1101 and the piloting drone 1102 have collided.

[0620] Furthermore, the scoring game system 1100 of Embodiment 2 according to this invention is equipped with a timer in at least one of the piloting machine 1104, the pursuit drone 1101, and the piloting drone 1102. The timer measures time after the start of the game, and when the timer's measurement time reaches a predetermined time, the game ends and the scoring information stored in at least one of the pursuit drone 1101 and the piloting drone 1102 is output, so that the player can find out how many points were earned in the predetermined time.

[0621] Furthermore, in the second embodiment of the present invention, the score-acquiring game system 1100 acquires score information stored in at least one of the pursuit drone 1101 and the control drone 1102 when the timer's timing reaches a predetermined time. Based on the acquired score information, if the score reaches a predetermined value, the game is extended for a predetermined time, and if the score does not reach the predetermined value, the game ends. As a result, players can acquire bonus time by acquiring points and aim for higher scores.

[0622] Furthermore, the scoring game system 1100 of Embodiment 2 of this invention is equipped with a timer in at least one of the piloting machine 1104, the pursuit drone 1101, and the piloting drone 1102. The timer measures time after the start of the game and, based on the score information stored in at least one of the pursuit drone 1101 and the piloting drone 1102, ends the game and outputs the timer's remaining time when the score reaches a predetermined value. This allows for a time trial to see how quickly a predetermined score can be achieved. Also, if the player's proficiency in the game is low, the game will end earlier than the normal game time, allowing a new game to be started immediately, and proficiency can be improved by repeating the game.

[0623] Furthermore, in the second embodiment of this invention, the scoring game system 1100, in the above invention, during the game, the pursuit drone 1101 adjusts its flight speed based on the score it has earned. Since it can be changed, the difficulty level of the game can be altered during gameplay.

[0624] Furthermore, the score-acquisition game system 1100 of Embodiment 2 of this invention increases the flight speed when the acquired score exceeds a predetermined score, thus allowing for an increase in the difficulty of the game for advanced players during gameplay.

[0625] Furthermore, the score-acquisition game system 1100 of Embodiment 2 of this invention reduces the flight speed when the acquired score falls below a predetermined score, thus lowering the difficulty of the game for beginners during gameplay.

[0626] Furthermore, the scoring game system 1100 of Embodiment 2 according to this invention includes a display device for displaying images, and at least one of the pursuit drone 1101 and the piloting drone 1102 is equipped with a camera. At least one of the first unmanned aerial vehicle and the piloting drone 1102 wirelessly transmits video information related to the images captured by the camera during the game to the display device, and the display device displays the received images, so that the piloting drone 1102 can reliably grasp the situation of evasion against the pursuit drone 1101.

[0627] Furthermore, the scoring game system 1100 of Embodiment 2 according to the present invention includes a shooting drone 1103 equipped with a camera that flies around the pursuit drone 1101 or the pilot drone 1102 by automatic control and photographs at least one of the pursuit drone 1101 and the pilot drone 1102. The shooting drone 1103 wirelessly transmits video information related to the video captured by the camera during the game to a display device, and the display device displays the received video, so that the situation of the pilot drone 1102's evasion of the pursuit drone 1101 can be reliably grasped.

[0628] Furthermore, in the second embodiment of the present invention, the scoring game system 1100, in which at least one of the pursuit drone 1101 and the control drone 1102 wirelessly transmits the stored score information to a display device, and the display device displays the received score information, so that the score status during the game can be grasped.

[0629] Furthermore, in the second embodiment of the present invention, the scoring game system 1100 is equipped with a display device on the control unit 1104, so that the operator 1105 can check the contents displayed on the display device at their fingertips.

[0630] Furthermore, in the second embodiment of the present invention, the scoring game system 1100 is a goggle-type display device worn by the operator 1105. Therefore, the operator 1105 can grasp the status of tracking the pursuit drone 1101 as if they were riding in the pilot drone 1102.

[0631] Furthermore, in the second embodiment of the present invention, the scoring game system 1100 is configured such that, in the above invention, the pilot drone 1102 acquires positional information of its current position and transmits the positional information and drive control information of its own aircraft to the pursuit drone 1101. The pursuit drone 1101 acquires positional information of its own aircraft and determines or changes its own flight pattern based on the acquired positional information of its own aircraft and the positional information and drive control information of the pilot drone 1102 received from the pilot drone 1102. Thus, the pursuit drone 1101 can determine its own flight pattern after understanding the movements of the pilot drone 1102.

[0632] Furthermore, in the second embodiment of the present invention, the scoring game system 1100 is equipped with an object sensor 306 that measures the distance to the control drone 1102, and the acquired position information of the self and the information received from the control drone 1102. Based on the position information and drive control information of the piloted drone 1102, and the distance to the piloted drone 1102 measured by the object sensor 306, the pursuit drone 1101 determines or changes its own flight pattern. Therefore, the pursuit drone 1101 can determine its own flight pattern after understanding the approaching status of the piloted drone 1102.

[0633] Furthermore, in the second embodiment of the present invention, the scoring game system 1100 has a flight pattern that approaches or collides with the piloted drone 1102, making it difficult for the piloted drone 1102 to approach the pursuit drone 1101, thereby increasing the difficulty of the game.

[0634] Furthermore, in the second embodiment of this invention, the scoring game system 1100 uses latitude, longitude, and altitude information calculated by GPS (Global Positioning System) as the location information, thus enabling the acquisition of more accurate location information.

[0635] Furthermore, in the second embodiment of the present invention, the scoring game system 1100 is such that, in the above invention, the drive control information is a control signal that controls the drive of the motor that rotates the propellers 201a to 201d that drive the piloted drone 1102. Therefore, the pursuit drone 1101 can more accurately grasp the movement (flight) of the piloted drone 1102.

[0636] Furthermore, in the second embodiment of the present invention, the scoring game system 1100 is an information processing terminal device equipped with a display screen, so there is no need to prepare a dedicated controller 1104.

[0637] Furthermore, the unmanned aerial vehicle (pursuit drone 1101) of Embodiment 2 of this invention is a pursuit drone 1101 that flies within a predetermined space by automatic piloting for use in a scoring game. It acquires its own position information and determines or changes its own flight pattern based on the acquired position information of its own aircraft and the position information of the pilot drone 1102 and the drive control information of the pilot drone 1102 that flies within a predetermined space by manual piloting. Thus, it is possible to determine the flight pattern of its own aircraft after understanding the movement (flight) of the pilot drone 1102.

[0638] Furthermore, the unmanned aerial vehicle (pursuit drone 1101) of Embodiment 2 according to this invention is equipped with an object sensor 306 that measures the distance to the pilot drone 1102, and determines or changes the flight pattern of the aircraft based on the acquired position information of the aircraft, the position information and drive control information of the pilot drone 1102 received from the pilot drone 1102, and the distance to the pilot drone 1102 measured by the object sensor 306. Thus, the aircraft can determine its flight pattern after understanding the approaching status of the pilot drone 1102.

[0639] Furthermore, in the second embodiment of this invention, the unmanned aerial vehicle (pursuit drone 1101) has a flight pattern that approaches or collides with the piloted drone 1102, making it difficult for the piloted drone 1102 to approach the pursuit drone 1101 and increasing the difficulty of the game.

[0640] Furthermore, in the second embodiment of this invention, the unmanned aerial vehicle (pursuit drone 1101) uses latitude, longitude, and altitude information calculated by GPS (Global Positioning System) as the positional information in the above invention, thus enabling the acquisition of more accurate positional information.

[0641] Furthermore, in the second embodiment of this invention, the unmanned aerial vehicle (pursuit drone 1101) is such that, in the above invention, the drive control information is a control signal that controls the drive of the motors that rotate the propellers 201a to 201d that drive the pilot drone 1102. Therefore, the pursuit drone 1101 can more accurately grasp the movement (flight) of the pilot drone 1102.

[0642] Furthermore, the control method of Embodiment 2 according to this invention is a control method for an unmanned aerial vehicle (pursuit drone 1101) that flies within a predetermined space by automatic piloting, used in a scoring game. The method acquires the position information of the aircraft itself, and determines or changes the flight pattern of the aircraft based on the acquired position information of the aircraft itself and the position information of the pilot drone 1102 and the drive control information of the pilot drone 1102 that flies within a predetermined space by manual piloting. This allows the aircraft to determine its own flight pattern after understanding the movement (flight) of the pilot drone 1102.

[0643] Furthermore, in the second embodiment of this invention, the control method measures the distance to the piloted drone 1102, and determines or changes the flight pattern of the aircraft based on the acquired position information of the aircraft, the position information and drive control information of the piloted drone 1102 received from the piloted drone 1102, and the measured distance to the piloted drone 1102. This allows the aircraft to determine its flight pattern after understanding the approach status of the piloted drone 1102.

[0644] Furthermore, in the control method of Embodiment 2 of this invention, since the flight pattern is a flight pattern that approaches or collides with the piloted drone 1102, it is possible to make it difficult for the piloted drone 1102 to approach the pursuit drone 1101 and increase the difficulty of the game.

[0645] Furthermore, in the control method of Embodiment 2 of this invention, since the position information is latitude, longitude, and altitude information calculated by GPS (Global Positioning System), more accurate position information can be obtained.

[0646] Furthermore, in the control method of Embodiment 2 of this invention, the drive control information is a control signal that controls the drive of the motor that rotates the propellers 201a to 201d that drive the piloted drone 1102, so that the pursuit drone 1101 can grasp the movement (flight) of the piloted drone 1102 more accurately.

[0647] Furthermore, the control program of Embodiment 2 according to this invention is a control program for an unmanned aerial vehicle that flies within a predetermined space by automatic piloting and is used in a scoring game. The program acquires the position information of the aircraft itself, and based on the acquired position information of the aircraft itself, the position information of the pilot drone 1102 that flies within a predetermined space by manual piloting, and the drive control information of the pilot drone 1102, the program causes the unmanned aerial vehicle to perform a process to determine or change the flight pattern of the aircraft itself. The program can determine the flight pattern of the aircraft itself after understanding the movement (flight) of the pilot drone 1102.

[0648] Furthermore, the control program of Embodiment 2 of this invention measures the distance to the piloted drone 1102 and determines or changes the flight pattern of the aircraft based on the acquired position information of the aircraft, the position information and drive control information of the piloted drone 1102 received from the piloted drone 1102, and the measured distance to the piloted drone 1102. This allows the aircraft to determine its flight pattern after understanding the approach status of the piloted drone 1102.

[0649] Furthermore, the control program of Embodiment 2 according to this invention is, in the above invention, flight The pattern involves a flight pattern that approaches or collides with the piloted drone 1102, making it difficult for the piloted drone 1102 to approach the pursuing drone 1101 and increasing the difficulty of the game.

[0650] Furthermore, in the control program of Embodiment 2 of this invention, the position information is latitude, longitude, and altitude information calculated by GPS (Global Positioning System), so more accurate position information can be obtained.

[0651] Furthermore, in the second embodiment of this invention, the control program is such that the drive control information is a control signal that controls the drive of the motors that rotate the propellers 201a to 201d that drive the piloted drone 1102. Therefore, the pursuit drone 1101 can more accurately grasp the movement (flight) of the piloted drone 1102.

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

[0653] The details of Embodiment 2 are described below as an addendum.

[0654] (Note 1) A first unmanned aerial vehicle that flies within a predetermined space under automatic control, A second unmanned aerial vehicle that flies within a designated space under manual control, The second unmanned aerial vehicle is remotely controlled by a control unit, A scoring game system equipped with, A scoring game system characterized by the operator controlling the second unmanned aircraft by operating the control device, avoiding the first unmanned aircraft that is following it, earning points according to the degree of avoidance, and storing score information related to the earned points in at least one of the first unmanned aircraft and the second unmanned aircraft.

[0655] (Note 2) At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an object-targeting sensor, The object sensor detects the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined intervals. The scoring game system according to Appendix 1, characterized in that, based on the detection results of the object sensor, if the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle becomes greater than or equal to a predetermined distance after the start of the game, a predetermined score is awarded according to the frequency of such distance.

[0656] (Note 3) At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an object-targeting sensor, The object sensor detects the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined intervals. As described in Appendix 1, based on the detection results of the object sensor, if the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle remains above a predetermined distance for a predetermined period of time after the start of the game, a predetermined score is awarded according to the duration of that distance. The scoring system for the game.

[0657] (Note 4) The control unit, the first unmanned aerial vehicle, and the second unmanned aerial vehicle are equipped with a ramp, The scoring game system according to Appendix 2 or 3, characterized in that the lamp is turned on or flashes when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle is greater than or equal to a predetermined distance.

[0658] (Note 5) The pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle are equipped with speakers. A scoring game system according to any one of the appendices 2 to 4, characterized in that a predetermined sound is output from the speaker when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle is greater than or equal to a predetermined distance.

[0659] (Note 6) At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an object-targeting sensor, The object sensor detects the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined intervals. A scoring game system according to Appendix 1 or 2, characterized in that, based on the detection results of the object sensor, if the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle approaches within a predetermined distance after the start of the game, a predetermined score is deducted according to the frequency of such approach.

[0660] (Note 7) At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an object-targeting sensor, The object sensor detects the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined intervals. A scoring game system according to Appendix 1 or 3, characterized in that, based on the detection results of the object sensor, if the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle approaches within a predetermined distance for a predetermined period of time after the start of the game, a predetermined number of points are deducted according to the length of time the distance is close.

[0661] (Note 8) The control unit, the first unmanned aerial vehicle, and the second unmanned aerial vehicle are equipped with a ramp, The scoring game system according to Appendix 6 or 7, characterized in that the lamp is turned on or flashed when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle approaches within a predetermined distance.

[0662] (Note 9) The pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle are equipped with speakers. A scoring game system according to any one of appendices 6 to 8, characterized in that a predetermined sound is output from the speaker when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle approaches within a predetermined distance.

[0663] (Note 10) At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an acceleration sensor, The acceleration sensor detects a collision between the first unmanned aerial vehicle and the second unmanned aerial vehicle. A scoring game system according to any one of the appendices 1 to 9, characterized in that, based on the detection results of the acceleration sensor, a predetermined score is deducted if the first unmanned aerial vehicle and the second unmanned aerial vehicle collide after the start of the game.

[0664] (Note 11) At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an acceleration sensor, The acceleration sensor detects a collision between the first unmanned aerial vehicle and the second unmanned aerial vehicle. A scoring game system according to any one of the appendices 1 to 9, characterized in that, based on the detection results of the acceleration sensor, a predetermined score is awarded when the first unmanned aerial vehicle and the second unmanned aerial vehicle collide after the start of the game.

[0665] (Note 12) The control unit, the first unmanned aerial vehicle, and the second unmanned aerial vehicle are equipped with a ramp, The scoring game system according to appendix 10 or 11, characterized in that the lamp is turned on or flashes when the first unmanned aerial vehicle and the second unmanned aerial vehicle collide.

[0666] (Note 13) The pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle are equipped with speakers. A scoring game system according to any one of appendices 10 to 12, characterized in that a predetermined sound is output from the speaker when the first unmanned aerial vehicle and the second unmanned aerial vehicle collide.

[0667] (Note 14) The pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle are equipped with a timer. The aforementioned timer starts counting time after the game begins. A scoring game system according to any one of the appendices 1 to 13, characterized in that when the timer's timing reaches a predetermined time, the game ends and score information stored in at least one of the first and second unmanned aerial vehicles is output.

[0668] (Note 15) The scoring game system according to Appendix 14, characterized in that when the timer's timing reaches a predetermined time, score information stored in at least one of the first and second unmanned aerial vehicles is acquired, and based on the acquired score information, if the score has reached a predetermined value, the game is extended for a predetermined time, and if the score has not reached the predetermined value, the game is terminated.

[0669] (Note 16) The pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle are equipped with a timer. The aforementioned timer starts counting time after the game begins. A scoring game system according to any one of the appendices 1 to 13, characterized in that, based on score information stored in at least one of the first and second unmanned aerial vehicles, the game ends and the timer's remaining time is output when the score reaches a predetermined value.

[0670] (Note 17) The scoring game system according to any one of the appendices 1 to 16, characterized in that during the game, the first unmanned aerial vehicle changes its flight speed based on the points it has earned.

[0671] (Note 18) The scoring game system according to Appendix 17, characterized in that the flight speed is increased when the score obtained exceeds a predetermined score.

[0672] (Note 19) The scoring game system according to Appendix 17, characterized in that the flight speed is reduced when the score obtained falls below a predetermined score.

[0673] (Note 20) Equipped with a display device that shows images, A camera is mounted on at least one of the first and second unmanned aerial vehicles. At least one of the first and second unmanned aerial vehicles wirelessly transmits video information relating to the video captured by the camera during the game to the display device. The scoring game system according to any one of the appendices 1 to 19, characterized in that the display device displays the received video.

[0674] (Note 21) The system includes a third unmanned aircraft that flies around the first or second unmanned aircraft by autopilot and is equipped with a camera that photographs at least one of the first or second unmanned aircraft, The third unmanned aerial vehicle wirelessly transmits video information relating to the video captured by the camera during the game to the display device. The scoring game system according to any one of appendices 1 to 20, characterized in that the display device displays the received video.

[0675] (Note 22) At least one of the first and second unmanned aerial vehicles wirelessly transmits the stored score information to the display device. The scoring game system according to Appendix 20 or 21, characterized in that the display device displays the received score information.

[0676] (Note 23) The scoring game system according to any one of appendices 20 to 22, characterized in that the display device is provided in the control unit.

[0677] (Note 24) The scoring game system according to any one of the appendices 20 to 22, characterized in that the display device is a goggle-type display device worn by the operator.

[0678] (Note 25) The second unmanned aerial vehicle acquires location information of its current position, The position information and the propulsion control information of the aircraft are transmitted to the first unmanned aircraft. The scoring game system according to any one of the appendices 1 to 24, characterized in that the first unmanned aerial vehicle acquires its own position information and determines or changes its own flight pattern based on the acquired position information and the position information and drive control information of the second unmanned aerial vehicle received from the second unmanned aerial vehicle.

[0679] (Note 26) The first unmanned aerial vehicle is equipped with an object sensor that measures the distance to the second unmanned aerial vehicle, The scoring game system according to Appendix 25, characterized in that it determines or changes the flight pattern of the aircraft based on the acquired position information of the aircraft itself, the position information and drive control information of the second unmanned aircraft received from the second unmanned aircraft, and the distance to the second unmanned aircraft measured by the object sensor.

[0680] (Note 27) The scoring game system according to Appendix 25 or 26, characterized in that the aforementioned flight pattern is a flight pattern that approaches or collides with the second unmanned aerial vehicle.

[0681] (Note 28) The scoring game system described in any one of the appendices 25 to 27, characterized in that the aforementioned location information is latitude, longitude, and altitude information calculated by GPS (Global Positioning System).

[0682] (Note 29) The scoring game system according to any one of the appendices 25 to 28, characterized in that the drive control information is a control signal that controls the drive of a motor that rotates a propeller that drives the second unmanned aerial vehicle.

[0683] (Note 30) The scoring game system according to any one of the appendices 1 to 29, characterized in that the control device is an information processing terminal device equipped with a display screen.

[0684] (Note 31) An unmanned aerial vehicle used in a scoring game, which flies within a predetermined space under automatic control, An unmanned aircraft characterized by acquiring its own position information, and determining or changing its own flight pattern based on the acquired position information of the aircraft, the position information of a manually piloted unmanned aircraft flying in a predetermined space under manual control, and the drive control information of the manually piloted unmanned aircraft.

[0685] (Note 32) It is equipped with an object sensor that measures the distance to the aforementioned manually operated unmanned aerial vehicle, An unmanned aircraft as described in Appendix 31, characterized in that it determines or changes the flight pattern of its own aircraft based on acquired position information of the aircraft itself, position information of the manually piloted unmanned aircraft and drive control information of the manually piloted unmanned aircraft received from the said aircraft, and the distance to the manually piloted unmanned aircraft measured by the object sensor.

[0686] (Note 33) The unmanned aircraft according to appendix 31 or 32, characterized in that the aforementioned flight pattern is a flight pattern that approaches or collides with the manually operated unmanned aircraft.

[0687] (Note 34) An unmanned aerial vehicle as described in any one of the appendices 31 to 33, characterized in that the aforementioned position information is latitude, longitude, and altitude information calculated by GPS (Global Positioning System).

[0688] (Note 35) The unmanned aircraft according to any one of the appendices 31 to 34, characterized in that the drive control information is a control signal that controls the drive of a motor that rotates a propeller that drives the manually operated unmanned aircraft.

[0689] (Note 36) A method for controlling an unmanned aerial vehicle that flies within a predetermined space by autopilot, used in a scoring game, A control method characterized by acquiring the position information of the aircraft itself, and determining or changing the flight pattern of the aircraft based on the acquired position information of the aircraft itself, the position information of a manually piloted unmanned aerial vehicle (UAV) flying in a predetermined space under manual control, and the drive control information of the UAV.

[0690] (Note 37) The distance to the aforementioned manually operated unmanned aerial vehicle is measured, The control method according to Appendix 36, characterized in that it determines or changes the flight pattern of the aircraft based on the acquired position information of the aircraft, the position information and drive control information of the manually piloted unmanned aerial vehicle received from the said manually piloted unmanned aerial vehicle, and the measured distance to the said manually piloted unmanned aerial vehicle.

[0691] (Note 38) The control method according to Appendix 36 or 37, characterized in that the flight pattern is a flight pattern that approaches or collides with the manually operated unmanned aircraft.

[0692] (Note 39) The control method according to any one of the appendices 36 to 38, characterized in that the position information is latitude, longitude, and altitude information calculated by GPS (Global Positioning System).

[0693] (Note 40) The control method according to any one of the appendices 36 to 39, characterized in that the drive control information is a control signal that controls the drive of a motor that rotates the propeller driving the manually operated unmanned aerial vehicle.

[0694] (Note 41) A control program for an unmanned aerial vehicle that flies within a predetermined space under automatic control, used in a scoring game, A control program characterized by acquiring the position information of the aircraft itself, and causing the unmanned aerial vehicle to perform a process to determine or change the flight pattern of the aircraft based on the acquired position information of the aircraft itself, the position information of the manually piloted unmanned aerial vehicle that is flying in a predetermined space under manual control, and the drive control information of the manually piloted unmanned aerial vehicle.

[0695] (Note 42) The distance to the aforementioned manually operated unmanned aerial vehicle is measured, The control program according to Appendix 41, characterized in that it determines or changes the flight pattern of the aircraft based on the acquired position information of the aircraft, the position information and drive control information of the manually piloted unmanned aerial vehicle received from the said manually piloted unmanned aerial vehicle, and the measured distance to the said manually piloted unmanned aerial vehicle.

[0696] (Note 43) The control program according to appendix 41 or 42, characterized in that the flight pattern is a flight pattern that approaches or collides with the manually operated unmanned aircraft.

[0697] (Note 44) The control program described in any one of the appendices 41 to 43, characterized in that the aforementioned position information is latitude, longitude, and altitude information calculated by GPS (Global Positioning System).

[0698] (Note 45) The control program according to any one of the appendices 41 to 44, characterized in that the drive control information is a control signal that controls the drive of a motor that rotates the propeller that drives the manually operated unmanned aerial vehicle. [Industrial applicability]

[0699] As described above, the score-scoring game system, unmanned aerial vehicle, control method, and control program according to this invention are useful for score-scoring game systems, unmanned aerial vehicles, control methods, and control programs that can be enjoyed using unmanned aerial vehicles, and are particularly suitable for score-scoring game systems, unmanned aerial vehicles, control methods, and control programs that can be enjoyed by a single person. [Explanation of symbols]

[0700] 100-point scoring game system 101 Target Drone 102 Piloted Drone 103 Filming Drone 104 pilots 105 pilots 201a~201d Propeller 202 Camera 203 Speakers 204 LED lamps 300 bus 301 Battery 302 Motor 303 Mike 305 GPS Sensor 306 Object Sensor 307 Control Circuit 308 Accelerometer 309 Communication I / F 310 solar cells 401 CPU 402 memory 403 Input device 404 Communication I / F 405 Display device 406 LED lamps 407 Speaker 511 Flight Data Acquisition Unit 512 Drive Information Generation Unit 513 Drive Information Output Unit 514 Distance measuring unit 515 Drive Information Receiving Unit 521 Drive Information Receiving Unit 522 Drive Information Output Unit 523 Drive Information Transmission Unit 531 Drive Information Receiving Unit 532 Distance measuring unit 533 Drive Information Generation Unit 534 Drive Information Output Unit 541 Drive Information Transmission Unit 551 Distance measuring unit 552 Collision detection unit 553 Score / Deduction Determination Processing Unit 554 Score Memory Unit 555 Score Output Unit 556 Hochi Department 561 Distance measuring unit 562 Collision detection unit 563 Score / Deduction Determination Processing Unit 564 Score Memory Unit 565 Score Output Unit 566 Hochi Department 1100-point scoring game system 1101 Pursuit Drone 1102 Piloted Drone 1103 Photography drone 1104 pilot 1105 Pilot

Claims

1. A first unmanned aerial vehicle that flies within a predetermined space under automatic control, A second unmanned aerial vehicle that flies within a designated space under manual control, The second unmanned aerial vehicle is remotely controlled by a control unit, A scoring game system equipped with, A scoring game system characterized by the operator controlling the second unmanned aircraft by operating the control device, avoiding the first unmanned aircraft that is following it, earning points according to the degree of avoidance, and storing score information related to the earned points in at least one of the first unmanned aircraft and the second unmanned aircraft.

2. At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an object-targeting sensor, The object sensor detects the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined intervals. The scoring game system according to claim 1, characterized in that, based on the detection results of the object sensor, if the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle becomes greater than or equal to a predetermined distance after the start of the game, a predetermined score is awarded according to the frequency of such distance.

3. At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an object-targeting sensor, The object sensor detects the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined intervals. The scoring game system according to claim 1, characterized in that, based on the detection results of the object sensor, if the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle remains greater than or equal to a predetermined distance for a predetermined period of time after the start of the game, a predetermined score is awarded according to the duration of that distance.

4. The control unit, the first unmanned aerial vehicle, and the second unmanned aerial vehicle are equipped with a ramp, The scoring game system according to claim 2 or 3, characterized in that the lamp is turned on or flashed when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle is greater than or equal to a predetermined distance.

5. The pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle are equipped with speakers. The scoring game system according to any one of claims 2 to 4, characterized in that a predetermined sound is output from the speaker when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle is greater than or equal to a predetermined distance.

6. At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an object-targeting sensor, The object sensor detects the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined intervals. The scoring game system according to claim 1 or 2, characterized in that, based on the detection results of the object sensor, if the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle approaches within a predetermined distance after the start of the game, a predetermined score is deducted according to the frequency of such approach.

7. Object sensor on at least one of the first and second unmanned aerial vehicles. - equipped, The object sensor detects the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined intervals. The scoring game system according to claim 1 or 3, characterized in that, based on the detection results of the object sensor, if the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle approaches within a predetermined distance for a predetermined period of time after the start of the game, a predetermined number of points are deducted according to the length of time the distance is close.

8. The control unit, the first unmanned aerial vehicle, and the second unmanned aerial vehicle are equipped with a ramp, The scoring game system according to claim 6 or 7, characterized in that the lamp is turned on or flashed when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle approaches within a predetermined distance.

9. The pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle are equipped with speakers. The scoring game system according to any one of 6 to 8, characterized in that a predetermined sound is output from the speaker when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle approaches within a predetermined distance.

10. At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an acceleration sensor, The acceleration sensor detects a collision between the first unmanned aerial vehicle and the second unmanned aerial vehicle. A scoring game system according to any one of claims 1 to 9, characterized in that, based on the detection results of the acceleration sensor, a predetermined score is deducted if the first unmanned aerial vehicle and the second unmanned aerial vehicle collide after the start of the game.

11. At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an acceleration sensor, The acceleration sensor detects a collision between the first unmanned aerial vehicle and the second unmanned aerial vehicle. A scoring game system according to any one of claims 1 to 9, characterized in that, based on the detection results of the acceleration sensor, a predetermined score is awarded when the first unmanned aerial vehicle and the second unmanned aerial vehicle collide after the start of the game.

12. The control unit, the first unmanned aerial vehicle, and the second unmanned aerial vehicle are equipped with a ramp, The scoring game system according to claim 10 or 11, characterized in that the lamp is turned on or flashed when the first unmanned aerial vehicle and the second unmanned aerial vehicle collide.

13. The pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle are equipped with speakers. The scoring game system according to any one of claims 10 to 12, characterized in that a predetermined sound is output from the speaker when the first unmanned aerial vehicle and the second unmanned aerial vehicle collide.

14. The control unit, the first unmanned aerial vehicle, and the second unmanned aerial vehicle are equipped with a timer. The aforementioned timer starts counting time after the game begins. The scoring game system according to any one of claims 1 to 13, characterized in that when the timer's timing reaches a predetermined time, the game ends and score information stored in at least one of the first and second unmanned aerial vehicles is output.

15. The scoring game system according to claim 14, characterized in that when the timer's timing reaches a predetermined time, score information stored in at least one of the first and second unmanned aerial vehicles is acquired, and based on the acquired score information, if the score has reached a predetermined value, the game is extended for a predetermined time, and if the score has not reached the predetermined value, the game is terminated.

16. The control unit, the first unmanned aerial vehicle, and the second unmanned aerial vehicle are equipped with a timer. The aforementioned timer starts counting time after the game begins. A score-acquisition game system according to any one of claims 1 to 13, characterized in that, based on score information stored in at least one of the first and second unmanned aerial vehicles, the game ends and the timer's remaining time is output when the score reaches a predetermined value.

17. The scoring game system according to any one of claims 1 to 16, characterized in that during the game, the first unmanned aerial vehicle changes its flight speed based on the points it has earned.

18. The scoring game system according to claim 17, characterized in that the flight speed is increased when the score obtained exceeds a predetermined score.

19. The scoring game system according to claim 17, characterized in that the flight speed is reduced when the score obtained falls below a predetermined score.

20. Equipped with a display device that shows images, A camera is mounted on at least one of the first and second unmanned aerial vehicles. At least one of the first and second unmanned aerial vehicles wirelessly transmits video information relating to the video captured by the camera during the game to the display device. The scoring game system according to any one of claims 1 to 19, characterized in that the display device displays the received video.

21. The system includes a third unmanned aircraft that flies around the first or second unmanned aircraft by autopilot and is equipped with a camera that photographs at least one of the first or second unmanned aircraft, The third unmanned aerial vehicle wirelessly transmits video information relating to the video captured by the camera during the game to the display device. The scoring game system according to any one of claims 1 to 20, characterized in that the display device displays the received video.

22. At least one of the first and second unmanned aerial vehicles wirelessly transmits the stored score information to the display device. The scoring game system according to claim 20 or 21, characterized in that the display device displays the received score information.

23. The scoring game system according to any one of 20 to 22, characterized in that the display device is provided in the control unit.

24. The scoring game system according to any one of claims 20 to 22, characterized in that the display device is a goggle-type display device worn by the operator.

25. The second unmanned aerial vehicle acquires positional information of its current location, The position information and the drive control information of the aircraft are transmitted to the first unmanned aircraft. The scoring game system according to any one of claims 1 to 24, characterized in that the first unmanned aerial vehicle acquires its own position information and determines or changes its own flight pattern based on the acquired position information and the position information and drive control information of the second unmanned aerial vehicle received from the second unmanned aerial vehicle.

26. The first unmanned aerial vehicle is equipped with an object sensor that measures the distance to the second unmanned aerial vehicle, The scoring game system according to claim 25, characterized in that it determines or changes the flight pattern of the aircraft based on the acquired position information of the aircraft itself, the position information and drive control information of the second unmanned aircraft received from the second unmanned aircraft, and the distance to the second unmanned aircraft measured by the object sensor.

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

28. The scoring game system according to any one of 25 to 27, characterized in that the location information is latitude, longitude, and altitude information calculated by GPS (Global Positioning System).

29. The scoring game system according to any one of 25 to 28, characterized in that the drive control information is a control signal that controls the drive of a motor that rotates a propeller that drives the second unmanned aerial vehicle.

30. The scoring game system according to any one of claims 1 to 29, characterized in that the control device is an information processing terminal device equipped with a display screen.

31. An unmanned aerial vehicle used in a scoring game, which flies within a predetermined space under automatic control, An unmanned aircraft characterized by acquiring its own position information, and determining or changing its own flight pattern based on the acquired position information of the aircraft, the position information of a manually piloted unmanned aircraft flying in a predetermined space under manual control, and the drive control information of the manually piloted unmanned aircraft.

32. It is equipped with an object sensor that measures the distance to the aforementioned manually operated unmanned aerial vehicle, The unmanned aircraft according to claim 31, characterized in that it determines or changes the flight pattern of its own aircraft based on acquired position information of the aircraft itself, position information of the manually piloted unmanned aircraft and drive control information of the manually piloted unmanned aircraft received from the aircraft itself, and the distance to the aircraft measured by the object sensor.

33. The unmanned aircraft according to claim 31 or 32, characterized in that the flight pattern is a flight pattern that approaches or collides with the manually operated unmanned aircraft.

34. The unmanned aerial vehicle according to any one of 31 to 33, characterized in that the position information is latitude, longitude, and altitude information calculated by GPS (Global Positioning System).

35. The unmanned aircraft according to any one of 31 to 34, characterized in that the drive control information is a control signal that controls the drive of a motor that rotates a propeller that drives the manually operated unmanned aircraft.

36. A method for controlling an unmanned aerial vehicle that flies within a predetermined space by autopilot, used in a scoring game, A control method characterized by acquiring the position information of the aircraft itself, and determining or changing the flight pattern of the aircraft based on the acquired position information of the aircraft itself, the position information of a manually piloted unmanned aerial vehicle (UAV) flying in a predetermined space under manual control, and the drive control information of the UAV.

37. The distance to the aforementioned manually operated unmanned aerial vehicle is measured, The control method according to 36, characterized in that it determines or changes the flight pattern of the aircraft based on the acquired position information of the aircraft, the position information and drive control information of the manually piloted unmanned aerial vehicle received from the said manually piloted unmanned aerial vehicle, and the measured distance to the said manually piloted unmanned aerial vehicle.

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

39. The control method according to any one of claims 36 to 38, characterized in that the position information is latitude, longitude, and altitude information calculated by GPS (Global Positioning System).

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

41. A control program for an unmanned aerial vehicle that flies within a predetermined space under automatic control, used in a scoring game, A control program characterized by acquiring the position information of the aircraft itself, and causing the unmanned aerial vehicle to perform a process to determine or change the flight pattern of the aircraft based on the acquired position information of the aircraft itself, the position information of the manually piloted unmanned aerial vehicle that is flying in a predetermined space under manual control, and the drive control information of the manually piloted unmanned aerial vehicle.

42. The distance to the aforementioned manually operated unmanned aerial vehicle is measured, The control program according to claim 41, characterized in that it determines or changes the flight pattern of the aircraft based on the acquired position information of the aircraft, the position information and drive control information of the manually piloted unmanned aerial vehicle received from the said manually piloted unmanned aerial vehicle, and the measured distance to the said manually piloted unmanned aerial vehicle.

43. The control program according to claim 41 or 42, characterized in that the flight pattern is a flight pattern that approaches or collides with the manually operated unmanned aerial vehicle.

44. The aforementioned location information is transmitted via GPS (Global Positioning System). A control program according to any one of 41 to 43, characterized in that it is latitude / longitude information and altitude information calculated from the above.

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

46. A first unmanned aerial vehicle that flies within a predetermined space under automatic control, A second unmanned aerial vehicle that flies within a designated space under manual control, The second unmanned aerial vehicle is remotely controlled by a control unit, A scoring game system equipped with, A scoring game system characterized by controlling the second unmanned aircraft by operating the control device by the pilot, making the first unmanned aircraft follow it in flight, earning points according to the degree of the follow, and storing score information related to the earned points in at least one of the first unmanned aircraft and the second unmanned aircraft.

47. At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an object-targeting sensor, The object sensor detects the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined intervals. The scoring game system according to claim 46, characterized in that, based on the detection results of the object sensor, if the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle approaches within a predetermined distance after the start of the game, a predetermined score is awarded according to the frequency of such approach.

48. At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an object-targeting sensor, The object sensor detects the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined intervals. The scoring game system according to claim 46, characterized in that, based on the detection results of the object sensor, if the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle approaches within a predetermined distance for a predetermined period of time after the start of the game, a predetermined score is awarded according to the length of time the two vehicles are approaching.

49. The control unit, the first unmanned aerial vehicle, and the second unmanned aerial vehicle are equipped with a ramp, The scoring game system according to claim 47 or 48, characterized in that the lamp is turned on or flashed when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle approaches within a predetermined distance.

50. The pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle are equipped with speakers. A scoring game system according to any one of 47 to 49, characterized in that a predetermined sound is output from the speaker when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle approaches within a predetermined distance.

51. At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an object-targeting sensor, The object sensor detects the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined intervals. Based on the detection results of the object sensor, after the game starts, the first unmanned aerial vehicle and the The scoring game system according to 46 or 47, characterized in that when the distance from the second unmanned aerial vehicle exceeds a predetermined distance, a predetermined score is deducted according to the frequency of such distance.

52. At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an object-targeting sensor, The object sensor detects the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle at predetermined intervals. The scoring game system according to 46 or 48, characterized in that, based on the detection results of the object sensor, if the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle remains greater than or equal to a predetermined distance for a predetermined period of time after the start of the game, a predetermined number of points are deducted according to the duration of that distance.

53. The control unit, the first unmanned aerial vehicle, and the second unmanned aerial vehicle are equipped with a ramp, The scoring game system according to claim 51 or 52, characterized in that the lamp is turned on or flashed when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle is greater than or equal to a predetermined distance.

54. The pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle are equipped with speakers. A scoring game system according to any one of 51 to 53, characterized in that a predetermined sound is output from the speaker when the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle is greater than or equal to a predetermined distance.

55. At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an acceleration sensor, The acceleration sensor detects a collision between the first unmanned aerial vehicle and the second unmanned aerial vehicle. A scoring game system according to any one of 46 to 54, characterized in that, based on the detection results of the acceleration sensor, a predetermined score is obtained when the first unmanned aerial vehicle and the second unmanned aerial vehicle collide after the start of the game.

56. At least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle is equipped with an acceleration sensor, The acceleration sensor detects a collision between the first unmanned aerial vehicle and the second unmanned aerial vehicle. A scoring game system according to any one of 46 to 54, characterized in that, based on the detection results of the acceleration sensor, a predetermined score is deducted if the first unmanned aerial vehicle and the second unmanned aerial vehicle collide after the start of the game.

57. The control unit, the first unmanned aerial vehicle, and the second unmanned aerial vehicle are equipped with a ramp, The scoring game system according to claim 55 or 56, characterized in that the lamp is turned on or flashed when the first unmanned aerial vehicle and the second unmanned aerial vehicle collide.

58. The pilot, the first unmanned aerial vehicle, and the second unmanned aerial vehicle are equipped with speakers. If the first unmanned aerial vehicle and the second unmanned aerial vehicle collide, the speaker or A scoring game system according to any one of 55 to 57, characterized in that it outputs a predetermined sound.

59. The control unit, the first unmanned aerial vehicle, and the second unmanned aerial vehicle are equipped with a timer. The aforementioned timer starts counting time after the game begins. The scoring game system according to any one of 46 to 58, characterized in that when the timer's timing reaches a predetermined time, the game ends and score information stored in at least one of the first and second unmanned aerial vehicles is output.

60. The scoring game system according to claim 59, characterized in that when the timer's timing reaches a predetermined time, score information stored in at least one of the first and second unmanned aerial vehicles is acquired, and based on the acquired score information, if the score has reached a predetermined value, the game is extended for a predetermined time, and if the score has not reached the predetermined value, the game is terminated.

61. The control unit, the first unmanned aerial vehicle, and the second unmanned aerial vehicle are equipped with a timer. The aforementioned timer starts counting time after the game begins. A scoring game system according to any one of 46 to 58, characterized in that, based on score information stored in at least one of the first and second unmanned aerial vehicles, the game ends and the timer's time is output when the score reaches a predetermined value.

62. The scoring game system according to any one of 46 to 59, characterized in that during the game, the first unmanned aerial vehicle changes its flight speed based on the points it has earned.

63. The scoring game system according to claim 62, characterized in that the flight speed is increased when the score obtained exceeds a predetermined score.

64. The scoring game system according to claim 62, characterized in that the flight speed is reduced when the score obtained falls below a predetermined score.

65. Equipped with a display device that shows images, A camera is mounted on at least one of the first and second unmanned aerial vehicles. At least one of the first and second unmanned aerial vehicles wirelessly transmits video information relating to the video captured by the camera during the game to the display device. The scoring game system according to any one of 46 to 64, characterized in that the display device displays the received video.

66. The system includes a third unmanned aircraft that flies around the first or second unmanned aircraft by autopilot and is equipped with a camera that photographs at least one of the first or second unmanned aircraft, The third unmanned aerial vehicle wirelessly transmits video information relating to the video captured by the camera during the game to the display device. The scoring game system according to any one of 46 to 65, characterized in that the display device displays the received video.

67. At least one of the first and second unmanned aerial vehicles wirelessly transmits the stored score information to the display device. The score acquisition game system according to 65 or 66, characterized in that the display device displays the received score information.

68. The scoring game system according to any one of 65 to 67, characterized in that the display device is provided in the control unit.

69. The scoring game system according to any one of 65 to 67, characterized in that the display device is a goggle-type display device worn by the operator.

70. The second unmanned aerial vehicle acquires positional information of its current location, The position information and the drive control information of the aircraft are transmitted to the first unmanned aircraft. The scoring game system according to any one of 46 to 49, characterized in that the first unmanned aircraft acquires its own position information and determines or changes its own flight pattern based on the acquired position information and the position information and drive control information of the second unmanned aircraft received from the second unmanned aircraft.

71. The first unmanned aerial vehicle is equipped with an object sensor that measures the distance to the second unmanned aerial vehicle, The scoring game system according to claim 70, characterized in that it determines or changes the flight pattern of the aircraft based on the acquired position information of the aircraft itself, the position information and drive control information of the second unmanned aircraft received from the second unmanned aircraft, and the distance to the second unmanned aircraft measured by the object sensor.

72. The scoring game system according to claim 70 or 71, characterized in that the aforementioned flight pattern is a flight pattern that avoids approaching the second unmanned aircraft.

73. The scoring game system according to any one of claims 70 to 72, characterized in that the location information is latitude, longitude, and altitude information calculated by GPS (Global Positioning System).

74. The scoring game system according to any one of 70 to 78, characterized in that the drive control information is a control signal that controls the drive of a motor that rotates a propeller that drives the second unmanned aerial vehicle.

75. The scoring game system according to any one of 46 to 74, characterized in that the control device is an information processing terminal device equipped with a display screen.

76. An unmanned aerial vehicle used in a scoring game, which flies within a predetermined space under automatic control, An unmanned aircraft characterized by acquiring its own position information, and determining or changing its own flight pattern based on the acquired position information of the aircraft, the position information of a manually piloted unmanned aircraft flying in a predetermined space under manual control, and the drive control information of the manually piloted unmanned aircraft.

77. It is equipped with an object sensor that measures the distance to the aforementioned manually operated unmanned aerial vehicle, Based on the acquired position information of the aircraft, the position information and drive control information of the manually piloted unmanned aerial vehicle received from the said manually piloted unmanned aerial vehicle, and the distance to the manually piloted unmanned aerial vehicle measured by the object sensor, the aircraft's flight pattern is determined. The unmanned aerial vehicle according to claim 76, characterized by making a decision or change.

78. The unmanned aircraft according to claim 76 or 77, characterized in that the flight pattern is a flight pattern that avoids approaching the manually operated unmanned aircraft.

79. The unmanned aerial vehicle according to any one of 76 to 78, characterized in that the position information is latitude, longitude, and altitude information calculated by GPS (Global Positioning System).

80. The unmanned aircraft according to any one of 76 to 79, characterized in that the drive control information is a control signal for controlling the drive of a motor that rotates a propeller that drives the manually operated unmanned aircraft.

81. A method for controlling an unmanned aerial vehicle that flies within a predetermined space by autopilot, used in a scoring game, A control method characterized by acquiring the position information of the aircraft itself, and determining or changing the flight pattern of the aircraft based on the acquired position information of the aircraft itself, the position information of a manually piloted unmanned aerial vehicle (UAV) flying in a predetermined space under manual control, and the drive control information of the UAV.

82. The distance to the aforementioned manually operated unmanned aerial vehicle is measured, The control method according to 81, characterized in that it determines or changes the flight pattern of the aircraft based on the acquired position information of the aircraft, the position information and drive control information of the manually piloted unmanned aerial vehicle received from the said manually piloted unmanned aerial vehicle, and the measured distance to the said manually piloted unmanned aerial vehicle.

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

84. The control method according to any one of 81 to 83, characterized in that the position information is latitude, longitude, and altitude information calculated by GPS (Global Positioning System).

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

86. A control program for an unmanned aerial vehicle that flies within a predetermined space under automatic control, used in a scoring game, A control program characterized by acquiring the position information of the aircraft itself, and causing the unmanned aerial vehicle to perform a process to determine or change the flight pattern of the aircraft based on the acquired position information of the aircraft itself, the position information of the manually piloted unmanned aerial vehicle that is flying in a predetermined space under manual control, and the drive control information of the manually piloted unmanned aerial vehicle.

87. The distance to the aforementioned manually operated unmanned aerial vehicle is measured, The control program according to 86, characterized in that it determines or changes the flight pattern of the aircraft based on the acquired position information of the aircraft, the position information and drive control information of the manually piloted unmanned aerial vehicle received from the said manually piloted unmanned aerial vehicle, and the measured distance to the said manually piloted unmanned aerial vehicle.

88. The control program according to 86 or 87, characterized in that the flight pattern is a flight pattern that avoids approaching the manually operated unmanned aerial vehicle.

89. The control program according to any one of 86 to 88, characterized in that the position information is latitude, longitude, and altitude information calculated by GPS (Global Positioning System).

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

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