Control device, flying object control method and program

Abstract

An aircraft (1) flies using a battery unit (20) or a photovoltaic device (30) as a power source. Mounted in the aircraft (1) is a control device (10) including a determination unit (110), a destination point identification unit (120), and an aircraft control unit (130). When the aircraft (1) is flying while using the battery unit (20) as a power source, the determination unit (110) determines whether or not the remaining capacity of the battery unit (20) is at or below a reference value. When the remaining capacity of the battery unit (20) has been determined to be at or below the reference value, the destination point identification unit (120) uses pieces of information from various sensors mounted in the aircraft (1) to infer a location at which light intensity is equal to or higher than a reference. Then, the destination point identification unit (120) identifies the inferred location as a destination point of the aircraft (1). The aircraft control unit (130) controls the mechanisms of the aircraft (1) to move the aircraft (1) to the destination point which has been identified by the destination point identification unit (120).

Description

[Technical field]

[0001] The present invention relates to a technique for controlling the behavior of an unmanned aerial vehicle. [Background technology]

[0002] In the field of logistics, technologies are being considered for delivering goods using unmanned aerial vehicles such as drones instead of people. Examples of technologies related to flight control of such unmanned aerial vehicles are disclosed in the following Patent Documents 1 to 3.

[0003] The following Patent Document 1 discloses a marine search system using an unmanned aerial vehicle. Patent Document 1 discloses a technology for controlling an unmanned aerial vehicle so that the vehicle lands on a landing pad set on a buoy closest to the vehicle's location when the remaining battery charge of the unmanned aerial vehicle falls below a threshold.

[0004] The following Patent Document 2 discloses a technology for preventing a flying robot from running out of battery power during flight as much as possible. Patent Document 2 discloses a technology for setting a mode in which the flying robot returns to a predetermined charging point that is reachable by itself when the remaining battery power of the flying robot falls below a predetermined threshold, and forcing the flying robot to head to the charging point.

[0005] The following Patent Document 3 discloses a technology for preventing a flying robot from running out of battery power during flight as much as possible. Patent Document 3 discloses a technology for continuing to fly a preset route based on the wind speed around the flying robot and the remaining battery power, or for calculating another route with less battery consumption and setting a new flight route. Patent Document 3 also discloses a technology for stopping the flight of the flying robot and landing the flying robot on the spot when the wind speed continues to be equal to or higher than a reference value for a predetermined period of time. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2020-21357 A [Patent Document 2] JP 2018-55463 A [Patent Document 3] JP 2018-52341 A Summary of the Invention [Problem to be solved by the invention]

[0007] Unmanned aircraft fly mainly by driving a thrust generating device powered by a battery. If the electric energy stored in the battery, which is the power source, is depleted or significantly reduced, sufficient lift may not be obtained and the aircraft may not be able to maintain its altitude. In particular, if sufficient lift is not obtained while delivering goods and the altitude decreases, the goods being delivered may come into contact with the ground or be damaged.

[0008] The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a technique for stably supplying power to an aircraft when the aircraft is used to deliver goods. [Means for solving the problem]

[0009] The control device in the present disclosure includes: A control device for an aircraft equipped with a battery and a photovoltaic device as a power source, a determination means for determining whether or not a remaining charge of the battery has fallen below a reference value while flying using the battery as a power source; a destination point identification means for estimating a location where the amount of light is equal to or greater than a reference value using information from a sensor mounted on the aircraft when it is determined that the remaining charge of the battery is equal to or less than the reference value, and identifying the estimated location as a destination point; a flying object control means for controlling a mechanism of the flying object to move the flying object to the destination point; Equipped with.

[0010] The flying object control method according to the present disclosure includes: A computer mounted on an aircraft having a battery and a photovoltaic device as a power source, determining whether or not a remaining charge of the battery has fallen below a reference value while the aircraft is flying using the battery as a power source; When it is determined that the remaining charge of the battery is equal to or less than the reference value, a location where the amount of light is equal to or greater than the reference value is estimated using information from a sensor mounted on the aircraft, and the estimated location is specified as a destination point; Controlling a mechanism of the aircraft to move the aircraft to the destination point; This includes:

[0011] The program in this disclosure is A computer mounted on an aircraft having a battery and a photovoltaic device as a power source, a determination means for determining whether or not a remaining charge of the battery has fallen below a reference value while flying using the battery as a power source; a destination point identification means for estimating a location where the amount of light is equal to or greater than a reference value using information from a sensor mounted on the flying object when it is determined that the remaining charge of the battery has fallen below the reference value, and identifying the estimated location as a destination point; a flying object control means for controlling a mechanism of the flying object to move the flying object to the destination point; Function as. Effect of the Invention

[0012] According to the present invention, when an item is delivered using an aircraft, power can be stably supplied to the aircraft. [Brief description of the drawings]

[0013] [Figure 1] FIG. 2 is a diagram illustrating an example of the configuration of an aircraft. [Diagram 2] FIG. 2 is a block diagram illustrating a hardware configuration of a control device. [Diagram 3] 4 is a flowchart illustrating a flow of processing executed by the control device of the first embodiment. [Figure 4]10A and 10B are diagrams for explaining an example of the operation of a destination point specifying unit; [Diagram 5] 10 is a flowchart illustrating a process for identifying a destination point, which is executed by a destination point identifying unit according to the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In all drawings, similar components are given similar reference numerals, and descriptions thereof will be omitted as appropriate. In addition, unless otherwise specified, in each block diagram, each block represents a functional configuration, not a hardware configuration. In addition, when there is an arrow in a drawing, the direction of the arrow is merely intended to clearly indicate the flow of information, and does not limit the direction of communication (one-way / two-way) unless otherwise specified.

[0015] [First embodiment] FIG. 1 is a diagram showing an example of the configuration of an aircraft 1. As illustrated in FIG. 1, the control device 10 includes a battery unit 20 and a photovoltaic power generation device 30 as power sources. Although not shown in FIG. 1, the aircraft 1 further includes other components used for autonomous flight (various sensors, a wireless transceiver, a power motor, a propeller, a flight controller, etc.). The aircraft 1 also includes a control device 10 having the functions described below. The control device 10 may also function as the flight controller described above.

[0016] <Example of functional configuration of the control device 10> The control device 10 illustrated in FIG. 1 includes a determination unit 110, a destination point identification unit 120, and an aircraft control unit 130. The determination unit 110 monitors the remaining charge of the battery unit 20 when the aircraft 1 flies using the battery unit 20 as a power source. When the determination unit 110 determines that the remaining charge of the battery unit 20 is equal to or lower than a predetermined reference value as a result of monitoring, the destination point identification unit 120 uses information from various sensors mounted on the aircraft 1 to estimate a location where the amount of light is equal to or higher than a reference value within the detection range of the sensor. Then, the destination point identification unit 120 identifies the location estimated as the "location where the amount of light is equal to or higher than a reference value" as a temporary destination. When the temporary destination is set by the destination point identification unit 120, the aircraft control unit 130 controls a mechanism such as a power motor mounted on the aircraft 1 to move the aircraft 1 toward the set destination point.

[0017] <Example of hardware configuration of the control device 10> Each functional component of the control device 10 may be realized by hardware that realizes each functional component (e.g., a hardwired electronic circuit, etc.), or may be realized by a combination of hardware and software (e.g., a combination of an electronic circuit and a program that controls it, etc.). Below, a further explanation will be given of the case where each functional component of the control device 10 is realized by a combination of hardware and software.

[0018] 2 is a block diagram illustrating an example of a hardware configuration of the control device 10. The control device 10 includes a bus 1010, a processor 1020, a memory 1030, a storage device 1040, an input / output interface 1050, and a network interface 1060.

[0019] The bus 1010 is a data transmission path for transmitting and receiving data among the processor 1020, memory 1030, storage device 1040, input / output interface 1050, and network interface 1060. However, the method of connecting the processor 1020 and the like to each other is not limited to bus connection.

[0020] The processor 1020 is implemented by a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), or the like.

[0021] The memory 1030 is a main storage device realized by a RAM (Random Access Memory) or the like.

[0022] The storage device 1040 is an auxiliary storage device realized by a hard disk drive (HDD), a solid state drive (SSD), a memory card, a read only memory (ROM), etc. The storage device 1040 stores program modules that realize each function of the control device 10 (such as the determination unit 110, the destination point identification unit 120, and the aircraft control unit 130). The processor 1020 loads each of these program modules onto the memory 1030 and executes them, thereby realizing each function corresponding to each program module.

[0023] The input / output interface 1050 is an interface for connecting the control device 10 to various input / output devices. For example, various sensors such as an image sensor, an infrared sensor, a gyro sensor, an acceleration sensor, a sound wave sensor, an air pressure sensor, a magnetic direction sensor, a temperature sensor, and a GPS (Global Positioning System) sensor are connected to the input / output interface 1050.

[0024] The network interface 1060 is an interface for connecting the control device 10 to other devices on a network. For example, a communication module for connecting to various networks such as a Long Term Evolution (LTE) network or a 5th Generation (5G) network is connected to the network interface 1060. The control device 10 can communicate with other devices connected to the network using the communication module connected via the network interface 1060.

[0025] 2 is merely an example, and the hardware configuration of the control device 10 according to the present disclosure is not limited to the example in FIG.

[0026] <Processing flow> The flow of processing executed by the control device 10 of the present embodiment will be described with reference to Fig. 3. Fig. 3 is a flowchart illustrating the flow of processing executed by the control device 10 of the first embodiment.

[0027] When the flying object 1 starts flying using the battery unit 20 as a power source, the determination unit 110 executes a process of monitoring the remaining charge of the battery unit 20 while flying using the battery unit 20 as a power source (S102). The determination unit 110 can measure the remaining charge of the battery unit 20 using a known measurement method such as a voltage measurement method, a coulomb counter method, a battery cell modeling method, or an impedance track method. In the process of monitoring the remaining charge of the battery unit 20, the determination unit 110 determines whether the measured remaining charge of the battery unit 20 is equal to or lower than a reference (S104). Information on the reference for the remaining charge of the battery unit 20 is stored in a storage area such as the memory 1030 or the storage device 1040. In this case, the determination unit 110 can read information on the reference from the storage area and compare the measured remaining charge of the battery unit 20 with the reference.

[0028] If it is determined that the remaining charge of the battery unit 20 exceeds the standard (S104: NO), the process returns to S102, and the determination unit 110 continues to monitor the remaining charge of the battery unit 20 while flying using the battery unit 20 as a power source.

[0029] On the other hand, if it is determined that the remaining charge of the battery unit 20 is below the standard (S104: YES), the destination point identification unit 120 uses information from the sensor installed in the aircraft 1 to estimate a location where the amount of light is above the standard, and identifies that location as a temporary destination point (S106).

[0030] Here, the destination point identification unit 120 can estimate the location where the amount of light is equal to or greater than the reference level, for example, by using information obtained from an image sensor, information obtained from an infrared sensor, or a combination of these. Destination point identification section 120 analyzes the image (image data) of the vicinity of the flying position of the aircraft 1 obtained from the image sensor, and obtains information showing the distribution of brightness in the entire area of ​​the image. Destination point identification section 120 Based on information indicating the distribution of brightness in an image, a location corresponding to an image region (a set of pixels) having a certain level of brightness or more is estimated as a location where the amount of light is equal to or greater than a reference level. Destination point identification section 120 obtains information indicating the distribution of the surface temperature of the ground around the flying position of the flying object 1 from the infrared sensor; and Destination point identification section 120 Based on information indicating the distribution of the surface temperature of the ground around the flight position, the system estimates a location corresponding to an area where the surface temperature is equal to or higher than a certain level as a location where the amount of light is equal to or higher than the standard. Destination point identification section 120 identifies the material on the ground around the flight position of the aircraft 1 by analyzing the image obtained from the image sensor, and obtains information indicating the distribution of the surface temperature of the ground around the flight position of the aircraft 1 from the infrared sensor. Destination point identification section 120 For example, an image obtained from an image sensor can be segmented based on the type (category) of a material appearing in the image using a model that has been trained to be able to identify the type of material based on a known machine learning algorithm. Destination point identification section 120 The system estimates the location where the amount of light is above a certain level based on a heat balance model corresponding to the type of material identified and information on the temperature distribution obtained from an infrared sensor. For example, Destination point identification section 120 specifies a temperature corresponding to a certain image region from information on temperature distribution obtained from an infrared sensor, and estimates the amount of light (intensity of thermal energy) in the image region based on the specified temperature and a heat balance model of a material identified in the image region. Destination point identification section 120can estimate whether the location corresponding to the image area is a "location where the amount of light is equal to or greater than a standard" depending on whether the estimated amount of light exceeds a predetermined standard. In this case, the image sensor and the infrared sensor are adjusted so that their respective sensing ranges overlap almost completely, or information indicating the correspondence between the respective sensing ranges is stored in a predetermined storage area (memory 1030 or storage device 1040).

[0031] In addition, the destination point identification unit 120 may estimate a location where the amount of light is equal to or greater than a reference value based on the current flight position of the flying object 1 and information indicating the flight environment. In this case, the destination point identification unit 120 operates, for example, as follows. First, the destination point identification unit 120 acquires information indicating the current flight position of the flying object 1 using various sensors mounted on the flying object 1. For example, the destination point identification unit 120 can acquire information indicating the estimated position of the flying object 1 obtained by a self-position estimation process performed using outputs from various sensors during autonomous flight as information indicating the current flight position of the flying object 1. Known technologies can be used for the self-position estimation process using various sensors. In addition, if the flying object 1 is equipped with a GPS sensor, the destination point identification unit 120 may acquire GPS information obtained from the GPS sensor as information indicating the current position of the flying object 1. In addition, the destination point identification unit 120 acquires map information including information regarding the shape and height of features and information indicating the current date and time as information indicating the flight environment. Map information including information on the shape and height of features is stored in advance in, for example, the memory 1030 or the storage device 1040. The destination point identification unit 120 may communicate with a system that provides map information present on the network via the network interface 1060, and obtain map information from the system. The destination point identification unit 120 may obtain information indicating the current date and time from a system clock managed by an OS (Operating System) installed in the control device 10, or a hardware clock mounted on a circuit board of the control device 10. The destination point identification unit 120 estimates how sunlight hits the area around the position of the aircraft 1 based on the current position of the aircraft 1, information on the shape and height of features located around the position, and information indicating the current date and time. An overview of the operation of the destination point identification unit 120 will be described with reference to FIG. 4.

[0032] FIG. 4 is a diagram for explaining an example of the operation of the destination point identification unit 120. As shown in FIG. 4, the destination point identification unit 120 acquires map information of the vicinity of the current position of the aircraft 1 (for example, a range within 10 m from the current position of the aircraft 1) based on map information and information indicating the current position of the aircraft 1. Also, as shown in the figure, the destination point identification unit 120 estimates the position of the sun (direction of light) based on information indicating the current date and time. The information indicating the position of the sun is stored in the memory 1030, the storage device 1040, etc., in association with information indicating the season and time period. The destination point identification unit 120 can acquire information indicating the position of the sun corresponding to the current date and time by referring to information stored in the storage unit based on the information of the current date and time. Then, based on information on the shape and height of feature F present around the current position of the flying object 1 and information indicating the position of the sun (direction of light), the destination point identification unit 120 calculates places where sunlight hits (areas not hatched in the figure) and places where sunlight does not hit (areas hatched with diagonal lines in the figure) around the current position of the flying object 1. Then, the destination point identification unit 120 estimates the places where sunlight hits calculated in this way on the map information as places where the amount of light is above a standard, and identifies them as temporary destination points.

[0033] When the destination point specification unit 120 specifies a temporary destination point, the flying object control unit 130 controls mechanisms related to the flight operation of the flying object 1, such as the power motor, to move the flying object 1 to the destination point (S108). The flying object control unit 130 may cause the flying object 1 to continue autonomous flight via an airspace corresponding to the destination point specified by the destination point specification unit 120, or may cause the flying object 1 to land at the destination point specified by the destination point specification unit 120. While the flying object 1 is flying through the destination point specified by the destination point specification unit 120, the photovoltaic power generation device 30 generates power by light that hits the destination point. The power generated by the photovoltaic power generation device 30 may be used to charge the battery unit 20, or may be used as a temporary power source when the remaining charge of the battery unit 20 is exhausted.

[0034] When landing the aircraft 1 at the destination point, the determination unit 110 may be configured to monitor the charge state of the battery unit 20, and notify the aircraft control unit 130 when the remaining charge reaches or exceeds a predetermined standard (e.g., 50% of the full charge capacity). In this case, the aircraft control unit 130 controls mechanisms related to the flight operation of the aircraft 1 in response to the notification from the determination unit 110, causing the aircraft 1 to resume autonomous flight. Thereafter, the aircraft 1 starts moving toward the location that was originally set as the destination point.

[0035] <Examples of effects> As described above, in this embodiment, when the flying object 1 is flying using the battery unit 20 as a power source, if the remaining charge of the battery unit 20 falls below a reference level, a location around the flying object 1 where the amount of light is above a reference level is estimated, and the flying object 1 is controlled to move toward that location. This allows the photovoltaic device 30 to generate electricity, and can cover the electricity required for the mechanism for obtaining thrust and lift. This prevents problems such as the flying object 1 losing altitude because it cannot generate sufficient lift, causing the delivered goods to come into contact with the ground, buildings, etc. and be damaged.

[0036] [Second embodiment] There are airspaces in which aircraft should not fly. For example, there may be places where the air current is unstable due to environmental factors such as the structure of the surrounding terrain and the presence or absence of buildings, making it unsuitable for flight. In addition, there are places where the flight of aircraft is restricted, such as around important facilities. The control device 10 of this embodiment further has a function of avoiding places where such aircraft should not fly.

[0037] <Example of functional configuration> The control device 10 of this embodiment has a configuration similar to that of the first embodiment (e.g., FIG. 1). The destination point identification unit 120 of this embodiment uses information defining a place to be avoided by the flying object 1 during flight to determine whether or not the "place where the amount of light is equal to or greater than a standard" estimated as described in the first embodiment is suitable as a temporary destination point. Specifically, the destination point identification unit 120 determines whether or not the place estimated as the "place where the amount of light is equal to or greater than a standard" and the place to be avoided during flight overlap at least partially based on the information defining a place to be avoided by the flying object. Then, when it is determined as a result of the determination that the place estimated as the "place where the amount of light is equal to or greater than a standard" does not overlap with the place to be avoided during flight, the destination point identification unit 120 identifies the estimated place as a destination point.

[0038] Places that aircraft should avoid when flying include, for example, no-fly zones set by the national or local government, or police, and areas near high-rise buildings where the wind is strong and the air currents are unstable (aircraft cannot fly stably). fly Information defining the places to be avoided during flight (hereinafter also referred to as "flight restriction information") is stored in advance, for example, in the memory 1030 or the storage device 1040. Furthermore, the information defining the places to be avoided during flight may be included in map information used by the aircraft 1 during autonomous flight. Here, the flight restriction information includes a coordinate value (or a combination of multiple coordinate values) for each place set as a place to be avoided during flight. This coordinate value (or a combination of multiple coordinate values) is defined, for example, as a coordinate value in a coordinate system used by the aircraft 1 during autonomous flight.

[0039] <Processing flow> The flow of processing executed by the control device 10 of this embodiment will be described with reference to Fig. 5. Fig. 5 is a flowchart illustrating the flow of processing for identifying a destination point executed by the destination point identification unit 120 of the second embodiment. Fig. 5 shows the flow of processing (S1061 to S1065) executed by the destination point identification unit 120 of this embodiment in the processing of S106 shown in the flowchart of Fig. 3. The processing of S1061 to S1065 shown in Fig. 5 will be mainly described below.

[0040] The destination point identification unit 120 estimates a location where the amount of light is equal to or greater than a reference value, in the vicinity of the flight position of the aircraft 1, using information from various sensors mounted on the aircraft 1 (S1061). The destination point identification unit 120 can estimate a location where the amount of light is equal to or greater than a reference value, for example, using a method such as that described in the first embodiment. In addition, the destination point identification unit 120 acquires flight restriction information stored in the memory 1030 or the storage device 1040, or that is included in advance in the map information (S1062).

[0041] Then, the destination point identification unit 120 determines whether or not the location estimated in the process of S1061 as the "location where the amount of light is equal to or greater than the standard" overlaps with the location defined as the "location where the aircraft should avoid flying" by the flight restriction information acquired in the process of S1062 (S1063). For example, the destination point identification unit 120 can compare the coordinate value of the location estimated in the process of S1061 with the coordinate value of each location defined in the flight restriction information acquired in the process of S1062, and determine whether or not the two locations at least partially overlap.

[0042] When it is determined that the location estimated as the "location where the amount of light is equal to or greater than the standard" overlaps at least partially with the location defined as the "location where the flying object should avoid flying" (S1063: YES), the destination point identification unit 120 estimates a new "location where the amount of light is equal to or greater than the standard" (S1064). At this time, the destination point identification unit 120 excludes the area corresponding to the location once estimated from the area for estimating the "location where the amount of light is equal to or greater than the standard" so that the location already estimated in the previous process is not estimated again as the "location where the amount of light is equal to or greater than the standard". Thereafter, the process returns to S1063, and a determination is again made regarding the overlap between the location estimated as the "location where the amount of light is equal to or greater than the standard" and the location defined as the "location where the flying object should avoid flying".

[0043] If it is determined that the location estimated as the "location where the amount of light is equal to or greater than the standard" does not overlap with the location defined as the "location where the flying object should avoid flying" (S1063: NO), the destination point identification unit 120 identifies the location estimated as the "location where the amount of light is equal to or greater than the standard" as the target point (S1065). At this time, the destination point identification unit 120 stores, for example, the coordinate value of the location estimated as the "location where the amount of light is equal to or greater than the standard" as the coordinate value of the destination point in the memory 1030 or the like. Thereafter, the flying object control unit 130 uses information indicating the coordinate value of the target point to control a mechanism related to the flying operation of the flying object 1 to move the flying object 1 to the target point.

[0044] <Examples of effects> As described above, in this embodiment, if a location estimated as a location where the amount of light is equal to or greater than a standard does not overlap with a location that the flying object should avoid during flight, the estimated location is specified as the destination point. This makes it possible to prevent the flying object 1 from erroneously entering an airspace where flight is prohibited or an airspace where stable flight is not expected when moving to a location where a certain amount of light is expected for power generation by the photovoltaic device 30.

[0045] Although the embodiments of the present invention have been described above with reference to the drawings, the present invention should not be interpreted as being limited thereto, and various modifications, improvements, etc. can be made based on the knowledge of a person skilled in the art without departing from the gist of the present invention. In addition, the multiple components disclosed in the embodiments can be appropriately combined to form various inventions. For example, some components may be deleted from all the components shown in the embodiments, or components of different embodiments may be appropriately combined.

[0046] In addition, in the flowcharts used in the above description, multiple steps (processes) are described in order, but the order of execution of the steps performed in each embodiment is not limited to the order described. In each embodiment, the order of the steps shown in the figures can be changed to the extent that the content is not affected. In addition, the above-mentioned embodiments can be combined to the extent that the content is not contradictory.

[0047] A part or all of the above-described embodiments can be described as, but are not limited to, the following supplementary notes. 1. A control device for an aircraft equipped with a battery and a photovoltaic device as a power source, a determination means for determining whether or not a remaining charge of the battery has fallen below a reference value while flying using the battery as a power source; a destination point identification means for estimating a location where the amount of light is equal to or greater than a reference value using information from a sensor mounted on the aircraft when it is determined that the remaining charge of the battery is equal to or less than the reference value, and identifying the estimated location as a destination point; a flying object control means for controlling a mechanism of the flying object to move the flying object to the destination point; A control device comprising: 2. The aircraft control means lands the aircraft at the destination point. 1. A control device as described in claim 1. 3. The determination means further determines whether or not the remaining charge of the battery has exceeded a reference value for resuming flight, the aircraft control means causes the aircraft to resume flight when the remaining charge of the battery exceeds the reference value for resuming flight after the aircraft has landed at the destination point; 2. A control device as described in claim 1. 4. The aircraft control means causes the aircraft to continue flying along a route that passes through the airspace of the destination point. 1. A control device as described in claim 1. 5. The destination point identification means estimates a location where the amount of light is equal to or greater than a reference level, using image data generated by an image sensor mounted on the aircraft as the sensor. 5. A control device according to any one of 1. to 4. 6. The destination point specifying means acquiring location information indicating a location of the aircraft using the sensor; estimating a location where the amount of light is equal to or greater than a reference level based on map information including information on the shape and height of features, information indicating a current date and time, and the acquired location information; 6. A control device according to any one of 1. to 5. 7. The destination point specifying means determining whether or not the location estimated as the location where the amount of light is equal to or greater than a reference level overlaps at least partially with the location to be avoided based on information defining a location to be avoided when the flying object flies; specifying the estimated location as the destination point when it is determined that the estimated location does not overlap with the location to be avoided; 7. A control device according to any one of 1. to 6. 8. The places to be avoided during flight of the aircraft include at least one of places where flight of the aircraft is prohibited and places where the aircraft may not be able to fly stably. 7. A control device as described in claim 7. 9. A computer mounted on an aircraft having a battery and a photovoltaic device as a power source, determining whether or not a remaining charge of the battery has fallen below a reference value while the aircraft is flying using the battery as a power source; When it is determined that the remaining charge of the battery is equal to or less than the reference value, a location where the amount of light is equal to or greater than the reference value is estimated using information from a sensor mounted on the aircraft, and the estimated location is specified as a destination point; Controlling a mechanism of the aircraft to move the aircraft to the destination point; A method for controlling an aircraft, comprising: 10. The computer lands the air vehicle at the destination point. 9. The method for controlling an aircraft as described in claim 9. 11. The computer further determines whether the remaining charge of the battery exceeds a reference value for resuming flight; before After the aircraft lands at the destination point, when the remaining charge of the battery exceeds the reference value for resuming flight, the aircraft is caused to resume flight. 10. The method for controlling an aircraft described in claim 10. 12. The computer causes the aircraft to continue flying along a route that passes through the airspace of the destination point. 9. The method for controlling an aircraft as described in claim 9. 13. The computer estimates a location where the amount of light is equal to or greater than a reference level using image data generated by an image sensor mounted on the aircraft as the sensor. 13. A method for controlling an aircraft described in any one of 9. to 12., which includes: 14. The computer, acquiring location information indicating a location of the aircraft using the sensor; estimating a location where the amount of light is equal to or greater than a reference level based on map information including information on the shape and height of features, information indicating a current date and time, and the acquired location information; 14. A method for controlling an aircraft described in any one of 9. to 13., which includes: 15. The computer, determining whether or not the location estimated as the location where the amount of light is equal to or greater than a reference level overlaps at least partially with the location to be avoided based on information defining a location to be avoided when the flying object flies; specifying the estimated location as the destination point when it is determined that the estimated location does not overlap with the location to be avoided; 15. A method for controlling an aircraft described in any one of 9. to 14., which includes: 16. The places to be avoided during flight of the aircraft include at least one of places where flight of the aircraft is prohibited and places where the aircraft may not be able to fly stably. 15. An aircraft control method as described above. 17. A computer mounted on an aircraft having a battery and a photovoltaic device as a power source, a determination means for determining whether or not a remaining charge of the battery has fallen below a reference value while flying using the battery as a power source; a destination point identification means for estimating a location where the amount of light is equal to or greater than a reference value using information from a sensor mounted on the flying object when it is determined that the remaining charge of the battery has fallen below the reference value, and identifying the estimated location as a destination point; a flying object control means for controlling a mechanism of the flying object to move the flying object to the destination point; A program to function as a 18. The aircraft control means lands the aircraft at the destination point. 17. The program described in. 19. The determination means further determines whether or not the remaining charge of the battery has exceeded a reference value for resuming flight, the aircraft control means causes the aircraft to resume flight when the remaining charge of the battery exceeds the reference value for resuming flight after the aircraft has landed at the destination point; 18. The program described in. 20. The aircraft control means causes the aircraft to continue flying along a route that passes through the airspace of the destination point. 17. The program described in. twenty one. The destination point identification means estimates a location where the amount of light is equal to or greater than a reference level, using image data generated by an image sensor mounted on the aircraft as the sensor. 20. The program according to any one of 17. to 20. twenty two. The destination point specifying means acquiring location information indicating a location of the aircraft using the sensor; estimating a location where the amount of light is equal to or greater than a reference level based on map information including information on the shape and height of features, information indicating a current date and time, and the acquired location information; 2. A program according to any one of 17. to 21. twenty three. The destination point specifying means determining whether or not the location estimated as the location where the amount of light is equal to or greater than a reference level overlaps at least partially with the location to be avoided based on information defining a location to be avoided when the flying object flies; specifying the estimated location as the destination point when it is determined that the estimated location does not overlap with the location to be avoided; 2. A program according to any one of 17. to 22. twenty four. The places to be avoided during flight of the aircraft include at least one of places where flight of the aircraft is prohibited and places where the aircraft may not be able to fly stably. 23. The program described in. [Explanation of symbols]

[0048] 1. Flying object 10 Control device 1010 Bus 1020 Processor 1030 Memory 1040 Storage Device 1050 Input / Output Interface 1060 Network Interface 110 Judgment section 120 Destination point identification part 130 Aircraft control unit 20 Battery section 30 Photovoltaic Device

Claims

1. A control device for an aircraft equipped with a battery and a photovoltaic device as a power source, a determination means for determining whether or not a remaining charge of the battery has fallen below a reference value while flying using the battery as a power source; a destination point identification means for estimating a location where the amount of light is equal to or greater than a reference value using optical information and thermal information obtained from a sensor mounted on the aircraft when it is determined that the remaining charge of the battery is equal to or less than the reference value, and identifying the estimated location as a destination point; a flying object control means for controlling a mechanism of the flying object to move the flying object to the destination point; A control device comprising:

2. The aircraft control means lands the aircraft at the destination point. The control device according to claim 1 .

3. The determination means further determines whether or not the remaining charge of the battery has exceeded a reference value for resuming flight, the aircraft control means causes the aircraft to resume flight when the remaining charge of the battery exceeds the reference value for resuming flight after the aircraft has landed at the destination point; The control device according to claim 2.

4. The aircraft control means causes the aircraft to continue flying along a route that passes through the airspace of the destination point. The control device according to claim 1 .

5. The destination point identification means estimates a location where the amount of light is equal to or greater than a reference level by using image data generated by an image sensor mounted on the aircraft as the sensor as the optical information. A control device according to any one of claims 1 to 4.

6. The destination point specifying means acquiring location information indicating a location of the aircraft using the sensor; estimating a location where the amount of light is equal to or greater than a reference level based on map information including information on the shape and height of features, information indicating a current date and time, and the acquired location information; A control device according to any one of claims 1 to 5.

7. The destination point specifying means determining whether or not the location estimated as the location where the amount of light is equal to or greater than a reference level overlaps at least partially with the location to be avoided based on information defining a location to be avoided when the flying object flies; specifying the estimated location as the destination point when it is determined that the estimated location does not overlap with the location to be avoided; A control device according to any one of claims 1 to 6.

8. The places to be avoided during flight of the aircraft include at least one of places where flight of the aircraft is prohibited and places where the aircraft may not be able to fly stably. The control device according to claim 7.

9. A computer mounted on an aircraft having a battery and a photovoltaic device as a power source, determining whether or not a remaining charge of the battery has fallen below a reference value while the aircraft is flying using the battery as a power source; When it is determined that the remaining charge of the battery is equal to or less than the reference value, a location where the amount of light is equal to or greater than a reference value is estimated using optical information and thermal information obtained from a sensor mounted on the flying object, and the estimated location is specified as a destination point; Controlling a mechanism of the aircraft to move the aircraft to the destination point; A method for controlling an aircraft, comprising:

10. A computer mounted on an aircraft having a battery and a photovoltaic device as a power source, a determination means for determining whether or not a remaining charge of the battery has fallen below a reference value while flying using the battery as a power source; a destination point identification means for estimating a location where the amount of light is equal to or greater than a reference value using optical information and thermal information obtained from a sensor mounted on the flying object when it is determined that the remaining charge of the battery has fallen below the reference value, and identifying the estimated location as a destination point; a flying object control means for controlling a mechanism of the flying object to move the flying object to the destination point; A program to function as a

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