Judgment system and judgment method

Abstract

[Problem] To provide a determination system and a determination method that can improve safety when a drone flies. [Solution] A determination system according to the present disclosure is characterized by comprising: a field information acquisition unit that acquires registration information of a selected target field from a storage unit in which location information of a plurality of fields is pre-registered; a placement information acquisition unit that acquires setting information including a placement position and a placement orientation for placing an aerial vehicle in the target field; and a comparison and verification unit that, after disposing the aerial vehicle at a prescribed position in a prescribed orientation in the target field, determines whether or not the aerial vehicle has been placed in an appropriate position by comparing measurement information including a measured position and a measured orientation of the aerial vehicle as obtained by positioning the aerial vehicle and measuring the orientation of the aerial vehicle, respectively, with the setting information.

Description

[Technical field]

[0001] The present disclosure relates to a determination system and a determination method. [Background technology]

[0002] Conventionally, with regard to unmanned aerial vehicles and drones, for example Patent Document 1 discloses that a flight area is defined by measuring the position coordinates of the end points of the flight area in advance using a surveying instrument or the like. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2021 / 166175 Summary of the Invention [Problem to be solved by the invention]

[0004] However, if a user mistakenly selects a target field in which the drone is to fly, the drone will fly in a direction not intended by the user, so in order to ensure higher safety, it is desirable to confirm that the specified target field matches the field in which the user is to fly. In addition, since there is a possibility that the drone may come into contact with a person when taking off, it is desirable to have the drone take off from a predetermined takeoff position. In addition, if there is a difference between the position coordinate information of the target field registered in advance and the actual target field position, there is a risk that the flying object will fly outside the target field.

[0005] Therefore, the present disclosure has been made in consideration of at least one of the above three problems, and its purpose is to provide a judgment system and judgment method that can improve safety during drone flights. [Means for solving the problem]

[0006] According to the present disclosure, a determination system is provided that includes a field information acquisition unit that acquires registration information of a selected target field from a memory unit in which positional information of a plurality of fields is pre-registered; an installation information acquisition unit that acquires setting information including an installation position and installation orientation for installing an aircraft in the target field; and a comparison and collation unit that determines whether the aircraft is installed in an appropriate position by placing the aircraft at a predetermined position in a predetermined orientation in the target field and comparing the setting information with measurement information including a measured position and measured orientation obtained by measuring the position and orientation of the aircraft, respectively.

[0007] Furthermore, according to the present disclosure, there is provided a determination method comprising: a field information acquisition step of acquiring registration information of a selected target field from a memory unit in which positional information of a plurality of fields is pre-registered; an installation information acquisition step of acquiring setting information including an installation position and installation orientation for installing an aircraft in the target field; and a comparison and collation step of determining whether or not the aircraft is installed in an appropriate position by placing the aircraft at a predetermined position in a predetermined orientation in the target field and comparing the setting information with measurement information including a measured position and measured orientation acquired by positioning and orientation measurement of the aircraft. Effect of the Invention

[0008] According to the present disclosure, it is possible to provide a determination system and a determination method that can improve safety during drone flight. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram illustrating an example of a configuration of a system according to an embodiment of the present disclosure. [Diagram 2] FIG. 11 is a diagram illustrating another configuration example of a system according to an embodiment of the present disclosure. [Diagram 3] FIG. 11 is a diagram illustrating another configuration example of a system according to an embodiment of the present disclosure. [Figure 4] FIG. 11 is a diagram illustrating another configuration example of a system according to an embodiment of the present disclosure. [Diagram 5] FIG. 2 is a diagram illustrating functional blocks of a drone according to an embodiment of the present disclosure. [Figure 6] FIG. 2 is a diagram showing functional blocks of a control device according to an embodiment of the present disclosure. [Figure 7] FIG. 2 is a diagram illustrating functional blocks of a server according to an embodiment of the present disclosure. [Figure 8] FIG. 2 is a flowchart illustrating an operation flow of a system according to an embodiment of the present disclosure. [Figure 9] 11A and 11B are diagrams illustrating an example of a display of a plurality of fields displayed on a display unit according to an embodiment of the present disclosure. [Figure 10] 11A to 11D are diagrams illustrating an example of a display of a target field, an installation position, and an installation orientation displayed on a display unit according to an embodiment of the present disclosure. [Figure 11] FIG. 2 is a flow chart illustrating a measurement flow of a system according to an embodiment of the present disclosure. [Figure 12] FIG. 2 is a flowchart showing a comparison and collation flow of the system according to an embodiment of the present disclosure. [Figure 13] 11 is a diagram illustrating a display example of a matching result displayed on a display unit according to an embodiment of the present disclosure. FIG. [Figure 14] FIG. 11 is a diagram showing an example of comparison and collation between registration information and measurement information according to an embodiment of the present disclosure. [Figure 15] FIG. 13 is a diagram showing another example of comparison and collation between registration information and measurement information according to an embodiment of the present disclosure. [Figure 16] FIG. 13 is a diagram showing another example of comparison and collation between registration information and measurement information according to an embodiment of the present disclosure. [Figure 17] FIG. 11 is a flowchart illustrating another example of a measurement flow of the system according to an embodiment of the present disclosure. [Figure 18] FIG. 13 is a flowchart illustrating another example of the comparison and collation flow of the system according to an embodiment of the present disclosure. [Figure 19] FIG. 11 is a diagram showing an example of comparison and collation between registration information and measurement information according to an embodiment of the present disclosure. [Figure 20]FIG. 11 is a diagram showing an example of comparison and collation between registration information and measurement information according to an embodiment of the present disclosure. [Figure 21] FIG. 11 is a diagram showing an example of comparison and collation between registration information and measurement information according to an embodiment of the present disclosure. [Figure 22] FIG. 11 is a flowchart illustrating another example of a measurement flow of the system according to an embodiment of the present disclosure. [Diagram 23] FIG. 13 is a flowchart illustrating another example of the comparison and collation flow of the system according to an embodiment of the present disclosure. [Figure 24] FIG. 11 is a diagram showing an example of comparison and collation between registration information and measurement information according to an embodiment of the present disclosure. [Diagram 25] FIG. 11 is a diagram showing an example of comparison and collation between registration information and measurement information according to an embodiment of the present disclosure. [Figure 26] FIG. 1 is a diagram showing an example of a target field and a flight geofence displayed on a display unit according to an embodiment of the present disclosure. [Figure 27] FIG. 13 is a diagram showing an example of an error contained in registration information according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Preferred embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. In this specification and the drawings, components having substantially the same functional configurations are denoted by the same reference numerals to avoid repetitive description. The embodiments shown below are merely examples, and other known elements or alternative means may be adopted depending on the application, purpose, scale, etc.

[0011] FIG. 1 shows an overview of the overall configuration of a system 1 using a drone as an example of a moving body according to an embodiment of the present invention. The system 1 may include a drone 100 having a photographing function, a control device 200 for a pilot to operate the drone 100, and a server 300 (e.g., a cloud server) connected to the control device 200 via a network 400 such as an Internet line. The drone 100 can receive satellite signals from a satellite 500, and can estimate its own position using GNSS based on the received satellite signals. In addition, the drone 100 further includes a base station 600 that provides information on a reference point of a fixed station used for relative positioning such as RTK (Real Time Kinematic), and the base station is connected to the drone and the control device so as to be able to wirelessly communicate with each other, thereby making it possible to measure the position of the drone with higher accuracy. Here, when performing RTK measurement using a virtual reference point method using a VRS (Virtual Reference Station), the base station 600 can be omitted, or the accuracy of the position coordinate estimation of the base station and the drone can be further improved.

[0012] Here, the control device 200 includes a display unit 210 that displays drone status information acquired from the drone or the server to the pilot, and an input unit 220 that inputs operation commands such as flight direction and takeoff / landing when the pilot controls the drone, and the display unit 210 and the input unit 220 are connected to each other so as to be able to communicate with each other by wire or wirelessly. At least one of the display unit 210 and the input unit 220 has a communication function for wirelessly communicating with the drone by wireless communication using Wi-Fi, 2.4 GH, and 5.6 to 5.8 GH frequency bands. At least one of the display unit 210 and the input unit 220 has a wireless communication function for communicating with a server via an Internet line using a communication standard such as LTE (Long Term Evolution). In the configuration example shown in FIG. 1, the drone communicates with the server via the control device 200, so this system configuration is suitable for a case where the drone and the control device are located at a distance where they can directly communicate with each other by wireless communication (for example, visual flight by the pilot), but is not limited thereto.

[0013] 2 to 4 show modified examples of the overall configuration of this system. In the example of system 2 shown in FIG. 2, a drone, a control device, a server, and a base station are connected to each other so that they can communicate with each other via a network 400 such as an Internet line. Here, unlike the example configuration shown in FIG. 1, the drone wirelessly communicates directly with the Internet line 400 using a communication method such as LTE without going through the control device, so the drone, the control device, and the base station do not need to directly communicate wirelessly, and it is sufficient if they can each be connected to an Internet line in a remote location. Therefore, this system configuration is suitable for a case where the drone and the control device are in a remote location (for example, when a pilot performs remote operation), but is not limited to this.

[0014] Next, in the example of system 3 shown in FIG. 3, a drone, a control device, a base station, and a server are connected to each other so that they can communicate with each other via a network 400 such as an Internet line, and the drone and the base station are connected to the Internet line by satellite communication via a satellite 500. In addition, in the example of system 4 shown in FIG. 4, a system redundancy example is shown in which multiple servers are connected to one drone via multiple Internet lines. In this case, even if an abnormality occurs in the server or the Internet line, the system can continue to operate using other redundant servers and Internet lines, thereby improving the reliability of the system. Note that in FIGS. 3 and 4, the drone and the control device can be operated even in a remote location, so that the configuration is suitable for remote operation, but is not limited to this, and can also be applied to visual flight in which the pilot manually controls the drone while watching it.

[0015] <Drone configuration> In this specification, a drone refers to any flying object having multiple rotors and the ability to autonomously control its attitude, regardless of the power source (electricity, prime mover, etc.), the control method (wireless or wired, and fully autonomous or partially manual control, etc.), and whether manned or unmanned. A drone may also be called an unmanned aerial vehicle (UAV), flying object, multicopter, RPAS (remote piloted aircraft systems), or UAS (Unmanned Aircraft Systems). In this specification, a geofence refers to a virtual boundary line, and in particular refers to a fence on the boundary line between a flight-permitted area where a mobile object such as a drone is permitted to fly or move and a no-fly area. Therefore, when a mobile object such as a drone comes into contact with a geofence, the flight or movement is restricted so that the aircraft does not fly out of the flight-permitted area.

[0016] As shown in Fig. 5, the drone 100 of this example includes a measurement unit 110, a flight function unit 120, and an image acquisition unit 130. Note that the functional blocks in the illustrated example are for reference only and can be modified as appropriate. The drone 100 includes a calculation device such as a CPU (Central Processing Unit) for executing information processing, and a storage device such as a RAM (Random Access Memory) and a ROM (Read Only Memory).

[0017] The measurement unit 110 includes a position measurement unit 111 for measuring the position (absolute position) of the aircraft, and an orientation measurement unit 112 for measuring the direction of the nose (heading direction). The position measurement unit is not particularly limited, but for example, measures the current self-position using a Global Navigation Satellite System (GNSS), a Global Positioning System (GPS), or the like. For example, a Real Time Kinematic - Global Navigation Satellite System (RTK-GNSS) can also be used as a method for measuring the self-position. The position information includes at least two-dimensional coordinate information (e.g., latitude and longitude) in a planar view, and preferably includes three-dimensional coordinate information including altitude information. The position measurement unit receives a signal from a satellite such as a GPS satellite, and performs positioning (identification of the position) based on the signal. The orientation measurement unit is composed of, for example, a geomagnetic sensor that measures the nose direction (heading direction) of the drone's aircraft by measuring geomagnetism, or a compass, a GNSS compass, or the like. The measurement unit may also include various sensors (IMU, 6-axis GYRO) that acquire information such as temperature, air pressure, wind speed, acceleration, angular velocity, and speed (GNSS Doppler, GPS Doppler, etc.).

[0018] The flight function unit 120 includes a thrust generating unit 121 for generating thrust in the aircraft for lifting off and moving in the desired direction, and a flight control unit 122 for controlling the attitude angle control and flight operations of the aircraft from takeoff, through flight, and landing.

[0019] The thrust generating unit includes a rotor, and a motor and battery serving as a power source for rotating the rotor, or an engine. The rotor may be provided with a propeller guard to prevent the propeller from interfering with an obstacle. The number of rotors constituting the thrust generating unit is not particularly limited, but may include, for example, one, two, four, six, or eight rotors. The rotor may be composed of a single propeller, or may be composed of multiple propellers arranged coaxially. The number and shape of the blades of each propeller are not particularly limited.

[0020] The flight control unit has a processing unit, also referred to as a flight controller. The processing unit may have one or more processors, such as a programmable processor (e.g., a central processing unit (CPU), MPU, or DSP). The processing unit has access to a memory (storage unit). The memory stores logic, code, and / or program instructions that the processing unit can execute to perform one or more steps. The memory may include a separable medium, such as an SD card or a random access memory (RAM), or an external storage device. Various data acquired from the cameras and sensors may be directly transmitted to and stored in the memory. For example, still or video data captured by the camera 131 may be recorded in the built-in memory or an external memory.

[0021] The processing unit includes a control module configured to control the state of the drone 100. For example, the control module may be configured to control six degrees of freedom (translational motion x, y, and z, and rotational motion θ x , θ y and θ z The control module controls the thrust generating unit of the drone 100 to adjust the spatial arrangement, attitude angle, angular velocity, angular acceleration, angular jerk velocity, and / or acceleration of the drone 100 having the camera 100. The control module can control one or more of the camera holding unit and sensors. The flight control unit can control the flight of the drone 100 based on a control signal from the piloting device 200 or based on a preset autonomous flight program. The flight control unit can also control the flight of the drone 100 by controlling the thrust generating unit based on various information such as the field area of ​​the subject of shooting, information on the corresponding flight geofence, map information including two-dimensional or three-dimensional map data, the current position information of the drone 100, attitude information (nose direction information), speed information, and acceleration information, and any combination of these.

[0022] The image acquisition unit 130 includes a camera 131 (imaging device) and a camera holding unit 132. The camera 131 can acquire at least one of still images and videos (and further acquire audio by a microphone as necessary) and transmit the data to a storage unit of the drone 100 itself, the control device 200, the server 300, etc. The camera holding unit 132 holds the camera 131 on the airframe. The camera holding unit 132 may or may not be capable of changing at least one of the position and attitude (direction) of the camera 131 relative to the airframe. The camera holding unit 132 may have a mechanism for suppressing the transmission of shaking and vibrations of the airframe to the camera 131.

[0023] <Control device configuration> 6, the control device 200 includes a display unit 210 and an input unit 220. The control device 200 also includes a calculation device such as a CPU (Central Processing Unit) for executing information processing, and a storage device such as a RAM (Random Access Memory) and a ROM (Read Only Memory).

[0024] The display unit 210 may be configured with a touch panel or liquid crystal monitor integrated into the control device, or may be configured with a display device such as a liquid crystal monitor, tablet terminal, smartphone, etc., connected to the control device by wire or wirelessly. The display unit can display images related to various information such as a plurality of fields, a target field, a shooting target field area, a flying geofence corresponding thereto, map information, the current position information, attitude information (direction information), speed information, and acceleration information of the drone 100, the remaining battery level of the drone, and the installation position of the drone when surveying the shooting target field area.

[0025] The input unit 220 accepts various inputs by a user such as a pilot, or inputs based on signals transmitted from the drone 100 or the server 300. The input unit 220 in this example includes a pilot input unit 221, a field shape input unit 228, a measurement point input unit 223, a measurement execution input unit 224, a remeasurement necessity input unit 225, a field area correction input unit 226, and a geofence correction input unit 227.

[0026] The control input unit 221 accepts input operations that instruct the three-dimensional flight operation of the drone 100, including takeoff, landing, ascent, descent, rotation, forward, backward, left and right movement, etc. The control input unit 221 is composed of a control stick that is operated by tilting it forward, backward, left and right, etc., push buttons (including cross key buttons, etc.) located up, down, left and right, or a rotary dial, a touch panel, etc., but is not particularly limited. The control input unit 221 may have a takeoff button and a landing button that instruct automatic takeoff and landing, a flight start button that instructs the drone to automatically fly to a specified position and hover at that position, a home button that performs a return operation to return to the starting position, a mode switching button that switches flight modes, an emergency stop button that stops the propellers in an emergency, an emergency landing button that makes a soft landing on the spot in an emergency, a hovering button that makes the drone hover on the spot in an emergency and stop in the air, etc.

[0027] The field selection receiving unit 222 receives a selection of a target field for shooting, etc., from among a plurality of fields. For example, the field selection receiving unit 222 receives a field selected and input by the user from among options (image, text, etc.) indicating a plurality of fields displayed on the touch panel of the control device 200 as the target field. Note that the case is not limited to when the user manually selects and inputs the target field, and the server 300 may select the target field from among a plurality of fields.

[0028] The measurement point input unit 223 (installation point input unit) is an input unit for a user to specify in advance the position and nose direction of a drone to be installed in a field before installing the drone to measure the field to be photographed using the measurement unit of the drone. For example, the user specifies and inputs the position and nose direction of the drone to be installed on the target field displayed on the display unit 210.

[0029] The measurement execution input unit 224 allows the user to input a measurement instruction when performing measurement of the field to be photographed using the measurement unit of the drone in a state where the drone is installed on the field according to the measurement position (installation position) and nose direction (installation orientation) specified by the user. Here, when the measurement position is one point, both the measurement position and the nose direction need to be specified, but when the measurement position is two or more points, only the position and the nose direction information are not required. When the measurement execution input unit 224 inputs a measurement instruction, the measurement unit of the drone measures the position and nose direction of the drone, and the measurement result is transmitted to the server. Here, in this embodiment, an example is shown in which the measurement unit of the drone is used to obtain the position coordinates of a predetermined position on the field, but instead of a drone, a surveying instrument having a position positioning (and orientation positioning) function similar to the measurement unit may be used, and measurement by the surveying instrument may be performed in a state where the surveying instrument is installed on the field according to the measurement position and nose direction specified by the user.

[0030] The remeasurement necessity input unit 225 accepts an input of whether or not remeasurement is necessary when, for example, it is found that the position or direction of the photographing field once registered is incorrect. The remeasurement necessity input unit 225 may accept an input regarding the necessity of remeasurement by an input from a user such as a pilot, or may accept the input by a signal transmitted from the drone 100 or the server 300.

[0031] The field area correction input unit 226 accepts input regarding the correction content when correcting the shape, position, direction, etc. of the photographing target field that has been registered once. The field area correction input unit 226 may accept input regarding the correction content by input from a user such as a pilot, or may accept the input by a signal transmitted from the drone 100 or the server 300. As an example of a user such as a pilot accepting correction of the photographing target field estimated by the field area correction input unit 226, the position, shape, and direction of the field area estimated as a result of the field measurement by the drone are displayed on the display unit 210 of the control device 200 together with surrounding map information, and the user such as a pilot can check the displayed field area and correct at least one of the position, shape, and direction of the field area by the field area correction input unit 226 as necessary.

[0032] The geofence correction input unit 227 accepts an input regarding the correction content when correcting the shape, position, direction, etc. of a geofence that has been registered once. The geofence correction input unit 227 may accept an input regarding the correction content by an input from a user such as a pilot, or may accept the input by a signal transmitted from the drone 100 or the server 300.

[0033] The field shape input unit 228 receives shape information of the field to be photographed, such as a sports court area. The field shape input unit 228 can receive, for example, the shape information of the field input from a touch panel of the control device 200, or the shape information of the field transmitted from the drone 100 or the server 300. The shape of the field to be photographed is not particularly limited to a rectangle, a square, another polygon, a circle, an ellipse, etc. The shape information of the field may include the shape of the outer frame of the field, various lines (half lines, penalty lines, etc.) provided inside and outside the field, and information on the positions and shapes of points (center points, points that are the positions of penalty kicks, etc.). For example, when the field to be photographed is a soccer court, the shape information of the field may include information on the two-dimensional shape or three-dimensional shape, such as the length, intersection angle, aspect ratio, position of the half lines (center lines), the radius of the center circle, the position of the center point (center spot), the position of the penalty area, the position of the intersection of the side lines and the half lines, the position and size of the soccer goal, etc. Soccer courts are standardized according to official standards, international standards, World Cup and Olympic standards, etc., and their shapes and sizes are specified in advance. The standardized court shapes, as well as court shapes with unique sizes and aspect ratios for practice fields and the like (including shapes with a constant aspect ratio but different sizes, court shapes with unique vertical or horizontal lengths, etc.) can be divided into multiple patterns and stored in advance in a storage unit such as the server 300.

[0034] <Server configuration> The server 300 may be a general-purpose computer such as a workstation or a personal computer, or may be logically realized by cloud computing. The server 300 includes, for example, a computing device such as a CPU (Central Processing Unit) for executing information processing, and a storage device such as a RAM (Random Access Memory) or a ROM (Read Only Memory), and thus includes, as software resources, a field information acquisition unit 310, a coordinate diagnosis unit 312, an installation information acquisition unit 320, a position and orientation recognition unit 330, a comparison and matching unit 340, a matching result notification unit 350, and a storage unit 360 (see FIG. 7). The server 300 includes a transmission / reception unit for communicating with the drone 100 and the control device 200, and an input / output unit for inputting and outputting (image output, sound output) the above various information.

[0035] The field information acquisition unit 310 acquires registration information of the selected target field from the storage unit 360 in which the position information of one or more fields is registered in advance. The field information acquisition unit 310 transmits field options to the control device 200 based on the information of the court shape of multiple patterns recorded in advance in the storage unit 360, and identifies the position of the target field based on the field designation input of the user via the control device 200 (including information accepted by the field selection acceptance unit 222). The target field may be, for example, a field where the user is going to take a picture or perform work using a drone. The field information acquisition unit 310 may automatically determine the target field based on preset conditions. In this application, the field means a predetermined area defined by lines or the like on the ground surface, and is an area inside the lines (inside the court) or an area including a predetermined range (for example, a range of several meters) inside and outside the lines (outside the court).

[0036] The field information acquisition unit 310 includes, for example, a coordinate acquisition unit 311. The coordinate acquisition unit 311 acquires coordinate information (three-dimensional coordinates or two-dimensional coordinates on a horizontal plane) of the selected target field from the storage unit 360, thereby identifying the position coordinates of each point constituting the target field. The field information acquisition unit 310 can also identify the orientation of the lines constituting the selected target field, the shape of the target field, and the like, by acquiring registered information of the selected target field from the storage unit 360 in which shape information of a plurality of fields is registered in advance. That is, the field information acquisition unit 310 can also acquire information related to the field other than the coordinate information from the storage unit.

[0037] The coordinate diagnosis unit 312 diagnoses (determines) whether or not there is an error in the coordinate information of the registered field, for example, based on the shape of each field registered in the storage unit and the registered coordinate information of the four corners of each field. That is, if the shape connecting the registered coordinates of the four corners of the field does not match the shape information of the field, the coordinate diagnosis unit 312 determines that there is an error in the coordinate information of the registered field. Then, if it is determined that there is an error in the coordinate information of the registered field, it can, for example, prohibit the takeoff of the aircraft, notify the user or the like of the erroneous registration, instruct resurvey (position measurement), estimate the correct coordinates and automatically correct the coordinate information, or correct the coordinate information based on the user's input via the control device. The coordinate diagnosis unit 312 can detect an error in the registered information of the target field by comparing at least one of the shape information and measurement information of the target field with the registered information.

[0038] FIG. 27 is a diagram for explaining variations of a method for determining that there is an error in the coordinate information of a registered field. When performing coordinate positioning using satellite signals such as GPS, it is rare that an incorrect position coordinate (a coordinate more than several tens of meters away from the correct position) different from the positioning point is calculated as the positioning result. When an incorrect position coordinate is calculated as the positioning result in this way, as in the example shown in FIG. 27, of the four registered coordinates A, B, C, and D, registered coordinate D is registered as a coordinate that is incorrect from the actual positioning position. In such a case, an incorrect registration can be determined by the following method.

[0039] (1) When the distance between the registered coordinates of the four corners of the field is outside the specified range: The size of a soccer court is approximately 90-120m vertically and 45-90m wide, so the longest distance between coordinates is less than 150m diagonally. Therefore, for example, a specified threshold value is set for the distance between coordinates to be longer than 150m, and when there is a distance between coordinates longer than the threshold value, it can be determined that there is an erroneous registration. In the example shown in FIG. 27, the distances AD and CD are no longer than the above threshold values. (2) If the ratio of the long side to the short side of the field deviates from a specified range: For soccer and other courts, the ratio of the long side to the short side is set within a specified range (for example, [long side / short side] is approximately 1.5 to 1.2 times), so if the above ratio deviates from the specified range (for example, if [long side / short side] is greater than a specified threshold value that is greater than 1.5 times), it can be determined that an erroneous registration has occurred. (3) When the angle of the field corner deviates from a predetermined range including 90 degrees: Many sporting courts such as soccer courts are rectangular with each corner angle of 90 degrees, so if the angle of each corner is outside a predetermined angle range that takes error into consideration (for example, 85 degrees to 95 degrees), it can be determined that there has been an erroneous registration. In the example shown in Figure 27, the angle between vertex C and vertex A is greater than 95 degrees, and the angle of vertex D is less than 85 degrees. (4) When the difference in length between opposing sides (both sidelines and both goal lines) falls outside a specified range: In an actual court, sides AD and BC form the sidelines and are the same length, and sides AB and CD form the goal lines and are the same length, but the above relationship does not hold for the registered coordinates shown in Figure 27. Therefore, when the difference in length between opposing sides exceeds the margin of error (for example, ±2m), it can be determined that an erroneous registration has occurred. (5) When the distance between the centroid of the area surrounded by the registered coordinates AD and each registered coordinate is outside the specified range: Many sports courts, such as soccer courts, are rectangular, so the distance from the centroid to each vertex (registered coordinate) is almost the same. However, in the example shown in Figure 27, the distance from the centroid to the registered coordinate D is significantly long, longer than the specified distance, so it can be determined that an erroneous registration has occurred. (6) When the difference in the height coordinates of each point falls outside the specified range: Generally, athletic courts are not set up on slopes but on flat ground. Therefore, when the height coordinates of a particular registered coordinate are different from those of other registered coordinates, it can be determined that an erroneous registration has occurred.

[0040] The installation information acquisition unit 320 acquires setting information including the installation position and installation direction (nose direction) of the flying object in the target field. The installation position (for example, three-dimensional coordinates or two-dimensional coordinates on a horizontal plane) and installation direction can be the position of the flying object and the direction of the nose of the flying object when the flying object takes off in the target field (or when the position and direction of the flying object are measured). The installation position and installation direction may be a specific position and a specific direction that are uniquely set in advance for each field and stored in the storage unit, or may be a position and direction specified by the user via the control device 200 or the like. When selected by the user, for example, based on information on multiple patterns of installation positions and installation directions previously recorded in the storage unit 360, a selection of candidates for the installation position and installation direction of multiple patterns may be transmitted to the control device 200, and the installation position and installation direction may be determined according to the position and direction specified by the user via the control device 200. Alternatively, any position and direction specified and input by the user by tapping, sliding, or the like on the target field image displayed on the touch panel of the control device 200 may be accepted as the installation position and installation direction. Here, the above-mentioned installation position is a position set in correspondence with the target field, and for example, as shown in FIG. 10, a position inside the court defined by a line (pattern 1), a position on the line (pattern 2), a position outside the court near the line (pattern 3), or a corner position (pattern 4) can be set. The above-mentioned installation direction may be the nose direction of the aircraft (global direction of north, south, east, west) or may be set as the direction of the aircraft relative to the selected target court (for example, the direction of the nose). When defined as the direction of the aircraft relative to the target court, the installation direction can be set, for example, as in patterns 2 and 3 of FIG. 10, such as "the nose direction in which the nose faces the center spot of the target court."

[0041] The position and orientation recognition unit 330 includes a position recognition unit 331, an orientation recognition unit 332, and an image acquisition unit 333. The position recognition unit 331 recognizes the current position of the drone, for example, by acquiring information on a measured position measured by the drone's position measurement unit 111. The orientation recognition unit 332 recognizes the current orientation of the drone, for example, by acquiring information on a measured orientation measured by the drone's orientation measurement unit 112. The image acquisition unit 333 acquires an image captured by the drone's camera 131.

[0042] The position and orientation recognition unit 330 acquires information on the position and orientation of the drone measured when the drone is installed at the installation point and installation direction specified by the installation information acquisition unit 320. Specifically, based on a user's input via the measurement execution input unit 224 of the control device 200, the position and heading information measured by the measurement unit of the drone when the drone is installed at the specified measurement position and heading direction is acquired (alternatively, the position and heading of the drone may be estimated based on a line, goal, corner flag, etc. shown in an image acquired by the drone's camera, or the position and heading may be estimated using both the measurement information by the measurement unit and the estimation result based on the camera image). Furthermore, even if the user inputs an instruction to perform a measurement from the measurement execution input unit 224, if the information on acceleration, speed, etc. acquired by the measurement unit mounted on the drone is not stable at almost zero, or if the ground distance sensor (TOF sensor, IR sensor, etc.) does not constantly detect the distance to the ground, it can be determined that the drone is not placed on the ground, and the display unit 210 can be equipped with an installation position confirmation notification function that prompts the user to confirm the installation position of the drone without acquiring measurement information on the drone's position and orientation.

[0043] The comparison and collation unit 340 includes a position coordinate estimation unit 341, an orientation estimation unit 342, a collation unit 343, and a flight restriction unit 344. The position coordinate estimation unit 341 estimates the installation position coordinates of the drone (for example, the coordinates of a specific point among the four corners of the soccer field) based on the registered coordinate information of the target field acquired by the coordinate acquisition unit 311 (for example, the registered coordinates of the four corners of the soccer field) and the information of the installation position of the drone relative to the selected field (for example, the coordinates of a specific point among the four corners of the soccer field). The orientation estimation unit 342 estimates the installation orientation of the drone based on the registered coordinate information of the target field acquired by the coordinate acquisition unit 311 and the information of the installation orientation of the drone relative to the selected field (and the installation position information, if necessary).

[0044] The collation unit 343 can determine whether or not the drone is actually installed at the planned installation position by comparing (collating) the installation position coordinates estimated by the position coordinate estimation unit 341 with the measured position coordinates measured by the drone's position measurement unit 111. If the estimated installation position coordinates and the measured measured position coordinates match, or if the difference (positional deviation) between them is equal to or less than a preset threshold (for example, if the linear distance between each position coordinate is 30 cm or less), the collation unit 343 determines that the drone is actually installed at the planned installation position, and if the difference exceeds the threshold, determines that the drone is erroneously installed at a position different from the planned installation position. The collation unit 343 can determine whether or not the drone is actually installed in the planned installation direction by comparing (collating) the installation direction estimated by the direction estimation unit 342 with the measured direction measured by the drone's direction measurement unit 112. If the estimated installation direction and the measured measurement direction match, or if the difference between the angles (direction deviation) is equal to or less than a preset threshold (for example, if the difference in accuracy is 10 degrees or less), the collation unit 343 determines that the drone is actually installed in the direction in which the drone is planned to be installed, and if the difference exceeds the threshold, the collation unit 343 determines that the drone is erroneously installed in a direction different from the direction in which the drone is planned to be installed. If the collation unit 343 determines that the drone is installed in an appropriate installation position and installation direction, the collation unit 343 permits the drone to take off, and if the collation unit 343 determines that the drone is not installed in an appropriate installation position and installation direction, the collation unit 343 prohibits the drone from taking off. If the collation unit 343 determines that the drone is not installed in an appropriate installation position and installation direction, the flight restriction unit 344 transmits a signal to at least one of the control device 200 and the drone 100 to instruct the drone to restrict flight.

[0045] The matching result notification unit 350 notifies the user by transmitting information on the judgment result of the matching unit 343 to an information processing terminal used by the user, such as the pilot device 200. Specifically, the matching result notification unit 350 can transmit information on, for example, the fact that the installation position (measured position coordinates) of the drone is deviated from the planned installation position coordinates, the distance of the deviation, and the direction of the deviation, and control the display unit of the pilot device 200, etc. to display the information. The matching result notification unit 350 can notify that the installation position (measured position coordinates) of the drone matches the planned installation position coordinates, or that the deviation between these positions is equal to or less than a threshold. In the above example, an example of comparing the installation orientation estimated by the matching unit with the measured installation orientation has been described, but instead of the comparison process of the installation orientation, an estimated value of the nose direction relative to the target field may be compared with the measured value.

[0046] The storage unit 360 stores various information. The storage unit 360 can store information transmitted from the drone 100 and the control device 200, information obtained as a result of information processing in the server 300, information input via the input / output unit of the server 300, and the like. The storage unit 360 can store information related to a plurality of fields and geofences in advance. The storage unit 360 stores position information of a plurality of fields registered in advance. The position information of the field includes at least coordinate information of one or more points related to the field. For example, when the field is a soccer court, it may include two-dimensional coordinate positions such as the four corner points of the rectangular field, the center point (center spot), the position of the intersection of two lines such as the intersection of the sideline and the half line, the positions of the four corners of the penalty area, and the positions near each of the above positions, or three-dimensional coordinate information including height. The position coordinates of the field may be survey information obtained by surveying the position coordinates of each point on the field in advance using a surveying instrument or the like, or may be survey information obtained by surveying using a camera or laser sensor mounted on an aircraft or satellite. The storage unit 360 may include information on the orientation of the lines that make up each field, and information on the shape of the field.

[0047] Here, the multiple fields registered in the storage unit 360 may include multiple fields whose field areas overlap each other, as shown in FIG. 9. In practice courts, a full court or a half court, which is about half the size of a full court, may be used depending on the practice content and the game format, so it is desirable to be able to select a target field depending on the court shape to be used. In the example shown in FIG. 9, a field 3 which is a full court and fields 1 and 2 which are half courts set inside the field 3 are registered. In this way, when selecting a target field from multiple fields whose areas overlap (such as a full court and a half court), it is not possible to determine an erroneous selection in which a user has selected an unintended field by only determining a threshold value of the straight-line distance between the position of the target field selected by the user and the positioning position of the drone. Therefore, as shown in FIG. 10, a function for specifying the installation position of the drone relative to the target field is important in order to detect a field erroneous determination.

[0048] The server 300 may further include a field shape designation unit 370, a measurement point designation unit 380, an area measurement unit 390, and an area determination unit 1400 to survey the area (position coordinates) of the target field and to register a flight geofence corresponding to the target field.

[0049] The field shape designation unit 370 transmits a selection of court shapes to the control device 200 based on information on multiple court shape patterns pre-recorded in the memory unit, and also identifies the shape of the field to be photographed based on the user's input of the court shape designation via the field shape input unit 228.

[0050] The measurement point designation unit 380 transmits options of candidate measurement points to the control device 200 according to the shape of the field to be photographed. For example, when the shape of the field to be photographed is a rectangular court, the options of candidate measurement points are the four corner points of the court, the point where the half line and the side line intersect, the center point, etc. In addition to the measurement points, options of the heading direction may be transmitted to the control device 200. The measurement point designation unit designates the measurement point and the heading direction based on input information selected by the user from the options of the measurement point and the heading direction presented via the measurement point input unit 223 of the control device 200. Alternatively, the measurement point designation unit may uniquely designate the measurement point and the heading direction in advance according to the shape of the field designated by the field shape designation unit.

[0051] The area measurement unit 390 has the following functional units: a measurement result confirmation unit 391 that confirms the measurement results, an area estimation unit 392 that estimates the position and orientation of the field area of ​​the subject to be photographed, and a measurement suitability determination unit 393 that determines whether the measurement results of the field area are appropriate.

[0052] The measurement result confirmation unit 391 acquires information on the position and heading of the drone measured when the drone is installed at the measurement point and in the measurement direction designated by the measurement point designation unit. The measurement point may be one location designated by the user, or may be the four vertices of the field area. Specifically, based on the user's input via the measurement execution input unit 224 of the control device 200, information on the position and heading measured by the measurement unit of the drone when the drone is installed at the designated measurement position and in the nose direction is acquired (alternatively, the position and heading of the drone may be estimated based on the line, goal, corner flag, etc. shown in the image acquired by the drone's camera, or the position and heading may be estimated using both the measurement information by the measurement unit and the estimation result based on the camera image). Furthermore, even if the user inputs an instruction to perform a measurement from the measurement execution input unit 224, if the information on acceleration, speed, etc. acquired by the measurement unit mounted on the drone is not stable at almost zero, or if the ground distance sensor (TOF sensor, IR sensor, etc.) does not constantly detect the distance to the ground, it can be determined that the drone is not placed on the ground, and the display unit 210 can be equipped with an installation position confirmation notification function that prompts the user to confirm the installation position of the drone without acquiring measurement information on the drone's position and orientation.

[0053] The area estimation unit 392 estimates the position and orientation of the field area, or the position and orientation of the corresponding flight geofence, based on the field shape specified in the field shape designation unit, the measurement point and orientation information specified in the measurement point designation unit, and the drone position and heading information acquired by the area measurement unit.

[0054] The measurement suitability determination unit 393 has a function of determining whether or not the measurement point and heading specified by the measurement point designation unit match the actual location and heading of the drone based on the field shape specified by the field shape designation unit, the measurement point and heading information specified by the measurement point designation unit, and the drone position and heading information acquired by the measurement result confirmation unit. If the above determination is inconsistent, it is highly likely that the measurement result is inappropriate, so a notification is sent to the user along with the determination result, urging them to measure again.

[0055] The area determination unit 1400 has a display control unit 1401 that displays at least one of the estimated areas of the shooting target field and the geofence on the display unit 210 of the control device, and an area correction unit 1402 that corrects the estimated area according to the correction input when a correction input for the displayed estimated area is received from the user, and stores the corrected estimated area in the storage unit 360. FIG. 26 shows an example of a target field (solid line) and a flight geofence (dotted line) displayed on the display unit 210. For example, the flight geofence may be set to the outer edge of an area wider than the area in the horizontal plane of the target field, or may be set to the outer edge of a long and narrow area along the sideline (or goal line). In addition, if there is an obstacle inside or near the flight area set by the flight geofence, the user can correct the geofence via the area correction unit 1402.

[0056] FIG. 8 shows an example of an operation flow when the system is used to determine whether or not an aircraft can take off. The user selects a target field from multiple field information registered in advance by inputting an input operation via the field selection receiving unit 222 of the control device 200 (S101). For example, as shown in FIG. 9, the user can select one target field from multiple options of fields (soccer courts in this example) displayed on the display unit of the control device 200 and specify the target field by selecting the target field and inputting a selection (such as a tap operation) via the field selection receiving unit 222. The information of the multiple fields displayed on the display unit of the control device 200 may include information such as the name, address, spectator capacity, identification information set in advance for each field, field shape, position coordinates (for example, three-dimensional position coordinates of the four corners of a soccer court), area, volume, images of the appearance, interior, and past usage history data. When the target field is selected, the coordinate diagnosis unit 312 diagnoses whether there is an error in the position coordinates of the selected target field.

[0057] Next, the user specifies the position (installation position) and the heading (installation direction) of the drone on the target field (S102). For example, by tapping on a point at the intersection of the center line and the side line of the soccer court displayed on the screen of the display unit of the control device 200, the corner can be specified as the installation position (measurement point). In addition, the installation direction can be specified by, for example, displaying options of directions along any line of the soccer court and allowing the user to select one of the options by tapping, or by specifying the installation direction based on an operation that can recognize a direction, such as a slide operation or a flick operation. Alternatively, the direction can be inputted numerically, in which case the angle from the reference line can be inputted, for example, by specifying the direction in a range of 0° or more and less than 360°, with the straight line extending from the specified installation position to the right of the side line as the reference (0°). Alternatively, as shown in FIG. 10, multiple options (patterns 1, 2, 3) for the installation position and the heading direction may be presented in advance along with the soccer field, and the user may specify the installation position and the installation direction by tapping on one of them. The installation position and the installation direction of the drone may be automatically and uniquely set for each selected field (target field). In this case, the set position and the set direction are registered in advance in the storage unit for each field. Also, only one of the installation position and the installation direction of the drone may be automatically and uniquely set for each selected field (target field), and the user may specify the other in the above-mentioned manner.

[0058] Then, the user measures and recognizes the position and orientation of the drone in the actual target field so that the drone is set at the installation position and orientation specified in S102 (S103). For example, the drone 100 is set on the ground at a corner (measurement point) of an actual soccer field, and a command to execute measurement is input via the measurement execution input unit 224, so that measurement can be performed by the drone. In the process of S103, as shown in FIG. 11, for example, the position is measured by the position measurement unit 111 of the drone (S201), the orientation is measured by the orientation measurement unit 112 (S202), and image information is obtained by photographing using the camera 131 as necessary (S203). Note that the process of measuring the orientation by the orientation measurement unit 112 (S202) may be performed multiple times at the same position by changing the installation orientation of the drone. This can improve the accuracy of the orientation.

[0059] Next, as shown in FIG. 8, the registration information is compared and collated with the measurement information (S104). By comparing and collating the information of the installation position and installation direction specified in S102 with the information of the position and direction measured and recognized in S103, it is determined whether the drone is installed in an appropriate position and direction. The process of S104 is performed, for example, according to the flow shown in FIG. 12. Based on the registration coordinate information of the selected field and the information of the installation position and direction of the drone relative to the selected field, the installation position coordinates and direction of the drone are estimated (S301). The installation position estimated in S301 is compared with the measured position of the drone (S302). In S302, if the comparison result of the position information matches (Yes in S303), the process of S304 is performed, and if they do not match (No in S303), it is determined that the drone is not installed in an appropriate position, and the takeoff of the drone is prohibited (S307). In S304, the installation direction estimated in S301 is compared with the measured direction of the drone. In S304, if the comparison result of the position information is a match (Yes in S305), it is determined that the drone is installed in the appropriate position and orientation, and the drone is permitted to take off (S306). In S304, if the comparison result of the position information is not a match (No in S305), it is determined that the drone is not installed in the appropriate position and orientation, and the drone is prohibited from taking off (or the pilot is notified of the mismatch) (S307).

[0060] Here, in S104, the registration information may be compared and collated with the image information acquired in S203 to improve the accuracy of the takeoff permission / prohibition determination. In other words, when using the camera image captured in S203 shown in Fig. 11, the image is collated with an image template (registered information registered in advance in the storage unit) of the lines or goals of a field that would be captured from the set position and direction of the drone. If the image information and the registration information match as a result of the collation, the takeoff is permitted, and if they do not match, the takeoff is prohibited (or the pilot is notified of the lack of match).

[0061] 8, the comparison result in S104 is transmitted from server 300 to control device 200 and notified to the user (S105). By checking the notification of the comparison result displayed on the display unit of control device 200, the user can recognize whether the drone is set in an appropriate position and orientation, etc.

[0062] In the above example, the coordinate diagnosis unit 312 performs a diagnosis of erroneous registration of the position coordinates included in the registration information of the field in S101. However, the diagnosis of erroneous registration may be performed at any time after the target field is selected, and does not necessarily have to be performed in S101. In other words, the coordinate diagnosis unit 312 can perform the diagnosis of erroneous registration before S101 (before the target field is selected), at any of S101, S102, S103, and S104, and the diagnosis result, information regarding coordinate correction, and an instruction for re-surveying can be notified to the user in S105. As an example of performing a diagnosis of erroneous registration before S101, that is, before the target field is selected, when information of one or more fields is imported from another system into the determination system of the present invention, the information of the imported fields can be diagnosed of erroneous registration.

[0063] FIG. 13 is an example of a notification of the matching result displayed on the display unit of the control device 200. In the example of FIG. 13, information on the specified installation position and installation direction and information on the measured position and direction are displayed together on the image of the target field. In addition, the direction from the measured position to the set position is displayed as a vector (arrow), and the movement distance is displayed as a numerical value. In addition, as information on the matching result, text information indicating that the registered information and the measured information do not match ("! Error! The drone's position or direction does not match. Please install the drone at the specified position and direction") is displayed. A user who has confirmed the display of FIG. 13 can correct the installation position of the drone and execute the process of S103 of FIG. 8 again. The display content of FIG. 13 may be notified to the user by voice. In addition, the method is not limited to the above, and an error may be notified to the user by light such as blinking, lighting, or changing color of the display unit or light-emitting unit of the control device 200, or an error may be notified by voice from a speaker provided on the flying object, such as blinking, lighting, or changing color of the light-emitting unit provided on the flying object.

[0064] As shown in FIG. 13, when the registration information and the measurement information do not match, several situation patterns are assumed.

[0065] For example, the first pattern is when the registration information for the field area (field position coordinates) is correct, but the installation position of the drone on the field is incorrect, as shown in Figure 14. In this case, the drone's positioning position (corner point) is shifted (mismatched) from the registered installation position (intersection of the center line and sideline) displayed on the display, and the drone is actually installed incorrectly at a corner point of the field.

[0066] The second pattern is that, as shown in Figure 15, the registered coordinates of the field area (or the selected target field) are incorrect, but the installation position of the drone relative to the target field is correct. In this case, it is necessary to set the registered coordinates of the field again (or select the target field again). In this case, the drone's positioning position (corner point) is shifted (mismatched) from the registered installation position (intersection of the center line and sideline) displayed on the display, and in reality the drone is properly installed in the correct position on the field (intersection of the center line and sideline).

[0067] The third pattern is that, as shown in Figure 16, the registered coordinates (orientation) of the field area are incorrect, but the installation position of the drone relative to the field is correct. In this case, it is necessary to reset the registered coordinates of the field. In this case, the drone's positioning orientation is misaligned with the registered installation orientation displayed on the display, and in reality the drone is properly installed in the correct position on the field (the intersection of the center line and the sideline) with the correct orientation. Note that in the example of Figure 16, the installation position and measurement position match.

[0068] The determination system 1 of this embodiment includes a field information acquisition unit that acquires registration information of a selected target field from a storage unit in which position information of multiple fields is registered in advance, an installation information acquisition unit that acquires setting information including an installation position and installation direction for installing an aircraft in the target field, and a comparison and collation unit that determines whether the aircraft is installed in an appropriate position by comparing the setting information with measurement information including a measurement position and measurement direction acquired by positioning and direction measurement of the aircraft by placing the aircraft in a predetermined position and orientation in the target field. With this configuration, the drone can be installed in an appropriate position and taken off, thereby improving safety during flight.

[0069] Fig. 17 shows a processing flow of another example (second embodiment) of this system. In this example, as the processing of S103 shown in Fig. 8, as shown in Fig. 17, the position measurement unit 111 of the drone measures the position (S401), the orientation measurement unit 112 measures the orientation (S402), and the field shape information registered in the storage unit is acquired from the storage unit (S403). Note that the processing of measuring the orientation by the orientation measurement unit 112 (S402) may be performed multiple times by changing the installation orientation of the drone. This can improve the accuracy of the orientation.

[0070] In this example, as the process of S104 shown in FIG. 8, as shown in FIG. 18, the position coordinates of the field where the drone is installed are estimated based on the drone's position coordinates, orientation information, and field shape information measured by the measurement unit (S501). The position coordinates of the field estimated in S501 are compared with the position coordinates of the target field registered in advance (S502). In S502, if the comparison result of the position information matches (Yes in S503), the drone is permitted to take off (S504). The process of S502 is performed, and if there is no match (No in S503), the drone is prohibited from taking off (S505).

[0071] 19 shows an example in which the registered coordinates of the field area are correct, but the installation position of the drone relative to the field is incorrect. When the position coordinates of the field estimated in S501 are compared with the position coordinates of the target field registered in advance, and they do not match, it can be determined that the installation position of the drone is incorrect (and as a result, the estimated field area is also incorrect).

[0072] 20 shows an example in which the registered coordinates of the field area (or the selected target field) are incorrect, and the installation position of the drone relative to the target field is correct. When the comparison of the position coordinates of the field estimated in S501 with the position coordinates of the target field registered in advance shows a mismatch, but the actual drone is installed in an appropriate position in the field area (and as a result, the estimated field area is also correct), it can be determined that there is an error in the registered coordinates of the field area (or the selection of the target field).

[0073] 21 shows an example in which the registered coordinates (orientation) of the field area are incorrect, and the installation position and installation orientation of the drone relative to the field are correct. When the comparison of the position coordinates of the field estimated in S501 with the position coordinates of the target field registered in advance shows a mismatch, but the actual drone is installed in an appropriate position in the field area (and as a result, the estimated field area is also correct), it can be determined that the registered coordinates of the field area are incorrect.

[0074] FIG. 22 shows a processing flow of another example (third embodiment) of the present system. In this example, as the processing of S103 shown in FIG. 8 (recognition and measurement of the court), as shown in FIG. 22, the drone takes off from the installation position, rises vertically, and hovers above the installation position (S601), and the position measurement unit 111 of the drone measures the position (S602). Also, image information is acquired by photographing the field from the sky using the camera 131 of the drone (S603). Note that the direction may be measured by the direction measurement unit 112 in S602. Here, the geomagnetic sensor, which is an example of the direction measurement unit 112 of the drone, is affected by metal members on the ground and metals (pipes and power lines) underground, and therefore cannot correctly measure the direction of the aircraft at a position close to metals on the ground or underground. Therefore, by performing the orientation measurement using the geomagnetic sensor at a position several meters above the ground surface, the reliability of the orientation measurement can be improved, so it is effective to perform the orientation measurement while hovering in the sky after takeoff. This can improve the accuracy of the comparison and collation in S104. When photographing the field in S602, as shown in FIG. 24, the aircraft may be stopped in a hovering state at hovering position 1 vertically above the takeoff position, or may be moved to a position where the entire field fits into the camera's angle of view, such as hovering position 2, which is higher than hovering position 1 and horizontally away from the court, and photographed. Also, at hovering position 1 or hovering position 2, the aircraft may be rotated in a yaw state to photograph the entire field.

[0075] In this example, as the process of S104 shown in FIG. 8, as shown in FIG. 23, the position coordinates of the field are estimated based on the position coordinates and orientation information of the drone measured by the measurement unit, and the field image captured by the camera (S701). The position coordinates of the field estimated in S701 are compared with the position coordinates of the target field registered in advance (S702). In S702, if the comparison result of the position information matches (Yes in S703), the flight of the drone is permitted (S704). The process of S502 is performed, and if there is no match (No in S703), the flight of the drone is prohibited (S705). Here, if the flight is prohibited in S705, the drone is automatically landed at the point where it took off (installation position), or is made to hover on the spot, or the control mode is switched from the automatic flight mode to the manual flight mode, and other operations are performed to prohibit the drone from starting to fly over the target field. In addition, if the drone's flight is prohibited and it lands, the user will be notified via the control device with instructions to re-survey the position coordinates of the target field or to change the drone's installation location.

[0076] Here, the method of the third embodiment, in which the coordinates of the field are estimated from the field image captured during hovering and compared with the registered court coordinates, can be combined with each of the methods of the first and second embodiments to enhance safety. Specifically, the method of the first or second embodiment determines whether or not takeoff is permitted before takeoff, and after takeoff is permitted, the drone takes off from the takeoff position into the sky, and the method of the third embodiment determines whether or not flight is permitted.

[0077] 24 shows an example in which the selected field is incorrect and the installation position of the drone relative to the field is correct. When the position coordinates of the field estimated in S701 are compared with the position coordinates of the preregistered target field, and they do not match, but it is determined from the captured field image that the drone is hovering at an appropriate position, it can be determined that the selected field is incorrect.

[0078] 25 shows an example in which the selected field is correct, but the installation orientation of the drone relative to the field is incorrect. When the position coordinates of the field estimated in S701 are compared with the position coordinates of the preregistered target field, they do not match, and it is determined from the captured field image that the drone is hovering in an inappropriate orientation, it can be determined that the installation orientation of the drone is incorrect.

[0079] Here, the present system 1 may have a function of registering information on the position coordinates of the field to be flown in advance in the storage unit. The method of registering the position coordinates of the field in the storage unit is not particularly limited, but the position coordinates of each position such as the four corners of the field may be obtained using a measurement unit of a drone and stored in the storage unit, or the position coordinates may be obtained similarly using a surveying instrument and stored in the storage unit.

[0080] The system 1 may also have a function for registering information on the field shape in advance in the storage unit. There is no particular limitation on the method for registering the field shape in the storage unit, but the shape of the field to be photographed may be specified based on a court shape designated by the user via the field shape input unit 228.

[0081] In addition, the system 1 has a means for determining the target field for takeoff, and when erroneous registration of the coordinates of the target field or forgetting to measure (insufficient measurement) is detected, it is possible to control so as to prohibit takeoff or to notify the user of the same. In this case, erroneous registration of the coordinates of the opposite field may be determined to be erroneous when the distance from another point of the same field is equal to or greater than a predetermined value (predefined threshold value), or based on a comparison with a court shape previously registered. Also, when erroneous registration of the coordinates of the target field is detected, a notification (correction announcement) may be output to prompt correction of the registered coordinates.

[0082] Furthermore, in this system 1, by comparing the measured coordinates of the field area with a preset field shape, if the coordinates deviate from the constraints of the field shape (if they exceed a preset threshold), it is possible to detect the possibility of a coordinate measurement error or forgetting to measure, and control to prohibit takeoff or to notify the user of this. Furthermore, if a measurement error or a forgotten measurement point (measurement position) is detected, control may be performed to suggest re-surveying by notifying the user, etc.

[0083] Although the preferred embodiment of the present disclosure has been described in detail above with reference to the attached drawings, the technical scope of the present disclosure is not limited to such an example. In the above-mentioned embodiment, an example of an aerial photograph of a sports court by a drone as an example of a moving body has been described, but the application of the present invention is not limited to a drone, and can be applied to, for example, a camera system that can move above a court fixed by a wire. Furthermore, the target field for area setting may be a target field for work performed by a moving body such as mowing the lawn, in addition to a field for aerial photographing. It is clear that a person having ordinary knowledge in the technical field of the present disclosure can conceive of various modified or amended examples within the scope of the technical idea described in the claims, and it is understood that these naturally belong to the technical scope of the present disclosure.

[0084] The device described in this specification may be realized as a single device, or may be realized by a plurality of devices (e.g., a cloud server, a drone, a control device) partially or entirely connected via a network. For example, each functional unit (field shape command unit, measurement point designation unit, measurement result confirmation unit, area estimation unit, measurement suitability determination unit, estimated area display unit) and memory unit of server 300 may be realized by being implemented in different servers, drones, and control devices connected to each other via a network.

[0085] The series of processes performed by the device described in this specification may be realized using any of software, hardware, and a combination of software and hardware. A computer program for realizing each function of the server 300 according to this embodiment may be created and installed in a PC or the like. A computer-readable recording medium in which such a computer program is stored may also be provided. The recording medium may be, for example, a magnetic disk, an optical disk, a magneto-optical disk, a flash memory, or the like. The above computer program may also be distributed, for example, via a network, without using a recording medium.

[0086] In addition, the processes described herein using flowchart diagrams do not necessarily have to be performed in the order shown. Some process steps may be performed in parallel. Additional process steps may be employed, and some process steps may be omitted.

[0087] In addition, the effects described in this specification are merely descriptive or exemplary and are not limiting. In other words, the technology according to the present disclosure may achieve other effects that are apparent to a person skilled in the art from the description of this specification, in addition to or in place of the above effects.

[0088] Note that the following configurations also fall within the technical scope of the present disclosure. (Item 1) a field information acquisition unit that acquires registration information of a selected target field from a storage unit in which position information of one or more fields is registered in advance; an installation information acquisition unit that acquires setting information including an installation position of the flying object with respect to the target field; A determination system comprising a comparison and collation unit that determines whether the aircraft is installed at the installation position set as the setting information by placing the aircraft in the target field and comparing measurement information including a measurement position obtained by positioning the aircraft with the setting information. (Item 2) The installation information acquisition unit acquires the setting information including, in addition to the installation position, an installation nose direction of the aircraft with respect to the target field, A determination system comprising: a comparison and collation unit that determines whether the aircraft is installed in the installation position set as the setting information with its nose facing in the installation position by placing the aircraft in the target field and comparing measurement information including a measured aircraft position and a measured nose direction obtained by measuring the position and orientation of the aircraft, respectively, with the setting information. (Item 3) The determination system described in item 1 or 2 is characterized in that it is equipped with at least one of a flight restriction unit that restricts the takeoff of the squadron when the measurement information and the setting information do not match, and a comparison result notification unit that notifies a user of information regarding the comparison result. (Item 4) The determination system described in Item 3, wherein when the measurement information and the setting information do not match, the matching result notification unit displays both the measured aircraft position and the installation position on a display unit of a control device for controlling the aircraft, or notifies the direction of movement and distance of movement from the measured aircraft position to the installation position using a vector or a numerical value. (Item 5) 2. The determination system of claim 1, wherein the comparison and matching unit determines that the aircraft is not installed at the installation location set as the setting information if the measurement information and the setting information do not match. (Item 6) The installation information acquisition unit determines at least one of the installation position and the installation head direction in the target field based on a user request. (Item 7) 2. The determination system according to item 1, wherein the field information acquisition unit determines the target field from among the fields registered in the storage unit based on a user request. (Item 8) The determination system described in item 1, in which, by comparing the measurement information with the setting information, if the comparison and collation unit determines that the aircraft is installed at the installation location set as the setting information, the aircraft is taken off, and the position coordinates of the target field estimated from an image of the target field taken in the sky by the aircraft are compared with the registration information. (Item 9) 9. The determination system according to item 8, wherein after the aircraft takes off, the target field is photographed while hovering at a position vertically elevated from the installation position, or the target field is photographed while rotating in a yaw motion at a position vertically elevated from the installation position. (Item 10) If the position coordinates of the target field estimated from the captured image do not match the registration information, the aircraft is landed at the installation position, or is hovered there, or a control mode is switched from automatic control to manual control, or an instruction is given to survey the position coordinates of the target field or an instruction is given to change the installation position of the aircraft. Item 10. The determination system according to item 8 or 9. (Item 11) a coordinate diagnosis unit that detects an error in the registration information of the target field by comparing shape information of the target field with information of position coordinates included in the registration information; A determination system as described in item 1, which, if an error is detected in the registration information of the target field, controls to prohibit the aircraft from taking off or notifies the user. (Item 12) A coordinate diagnosis unit detects an error in the registration information of the target field based on information of position coordinates included in the registration information, The coordinate diagnosis unit detects errors in the registration information of the target field based on at least one of the distance between the end points of the target field included in the registration information, the ratio of the lengths of the long and short sides of the target field, the angle of the corners of the target field, the lengths of the opposing sides of the target field, and the difference in the height coordinates of multiple points of the target field. (Item 13) 13. The judgment system according to item 11 or 12, wherein when the coordinate diagnosis unit detects an error in the registered information of the target field, the judgment system notifies the user of a suggestion to re-survey. (Item 14) a field information acquisition step of acquiring registration information of a selected target field from a storage unit in which position information of one or more fields is registered in advance; A setting information acquisition step of acquiring setting information including a setting position of the flying object with respect to the target field; A determination method comprising a comparison and matching step of determining whether the aircraft is installed at the installation position set as the setting information by placing the aircraft in the target field and comparing measurement information including a measurement position obtained by positioning the aircraft with the setting information. (Item 15) a field information acquisition unit that acquires registration information of a selected target field from a storage unit in which position information of one or more fields is registered in advance; an installation information acquisition unit that acquires setting information including an installation position of the flying object with respect to the target field; a field shape acquisition unit that acquires field shape information relating to a shape of the target field; placing the aircraft in the target field and estimating position coordinates of the target field from measurement information including a measurement position acquired by positioning the aircraft and the field shape information; A determination system comprising a comparison and collation unit that determines whether the flying object is installed at the installation location set as the setting information by comparing estimated information of the estimated position coordinates of the target field with registered information of the position coordinates of the target field acquired by the field information acquisition unit. (Item 16) a field information acquisition unit that acquires registration information of a selected target field from a storage unit in which position information of one or more fields is registered in advance; An installation information acquisition unit that acquires setting information including an installation position and an installation nose direction of the aircraft with respect to the target field; an image acquisition unit that acquires a photographed image of the target field from above using the flying object; a comparison and collation unit that determines whether the flying object is installed at the installation position set as the setting information by comparing estimated information of the position coordinates of the target field estimated from the captured image with registered information of the position coordinates of the target field acquired by the field information acquisition unit. (Item 17) a field information acquisition unit that acquires registration information of a selected target field from a storage unit in which position information of one or more fields is registered in advance; a coordinate diagnosis unit that detects an error in the registered information of the target field by comparing shape information of the target field with information of position coordinates included in the registered information; A determination system that, when an error is detected in the registration information of the target field, performs control to prohibit the aircraft from taking off or notifies the user. (Item 18) a field information acquisition unit that acquires registration information of a selected target field from a storage unit in which position information of one or more fields is registered in advance; a coordinate diagnosis unit that detects an error in the registration information of the target field based on information of position coordinates included in the registration information; The coordinate diagnosis unit is a judgment system that detects errors in the registration information of the target field based on at least one of the distance between the end points of the target field included in the registration information, the ratio of the lengths of the long and short sides of the target field, the angle of the corners of the target field, the lengths of the opposing sides of the target field, the distance between the centroid and end points of the target field, and the difference in the height coordinates of multiple points of the target field. [Explanation of symbols]

[0089] 1 System 100 Drones (mobile) 200 Flight Controls 300 Servers 400 Network 500 satellites 600 Base Bureau

Claims

1. a field information acquiring unit that acquires registration information of a selected target field from a storage unit in which position information of one or more fields is registered in advance; an installation information acquisition unit that acquires setting information including an installation position of the flying object with respect to the target field; A determination system comprising a comparison and collation unit that determines whether the aircraft is installed at the installation position set as the setting information by placing the aircraft in the target field and comparing measurement information including a measurement position obtained by positioning the aircraft with the setting information.

2. The installation information acquisition unit acquires the setting information including, in addition to the installation position, an installation nose direction of the aircraft with respect to the target field, The determination system of claim 1, further comprising a comparison and collation unit that determines whether the aircraft is installed in the installation position set as the setting information with the installation nose direction by placing the aircraft in the target field and comparing measurement information including a measured aircraft position and a measured nose direction obtained by positioning and measuring the orientation of the aircraft, respectively, with the setting information.

3. The determination system described in claim 2, characterized in that it is equipped with at least one of a flight restriction unit that restricts the takeoff of the aircraft when the measurement information and the setting information do not match, and a comparison result notification unit that notifies a user of information regarding the comparison result.

4. The determination system of claim 3, wherein when the measurement information and the setting information do not match, the matching result notification unit displays both the measured aircraft position and the installation position on a display unit of a control device for controlling the aircraft, or notifies the direction of movement and distance of movement from the measured aircraft position to the installation position using a vector or a numerical value.

5. The determination system according to claim 1 , wherein the comparison and collation unit determines that the flying object is not installed at the installation location set as the setting information when the measurement information and the setting information do not match.

6. The determination system according to claim 1 , wherein the installation information acquisition unit determines at least one of the installation position and the installation head direction in the target field based on a user request.

7. The determination system according to claim 1 , wherein the field information acquisition unit determines the target field from among the fields registered in the storage unit based on a user request.

8. The determination system of claim 1, wherein, by comparing the measurement information with the setting information, if the comparison and collation unit determines that the aircraft is installed at the installation location set as the setting information, the aircraft is taken off, and the position coordinates of the target field estimated from an image of the target field taken in the sky by the aircraft are compared with the registration information.

9. The determination system of claim 8, wherein after the aircraft takes off, the target field is photographed while hovering at a position vertically elevated from the installation position, or the target field is photographed while yaw rotating at a position vertically elevated from the installation position.

10. If the position coordinates of the target field estimated from the captured image do not match the registration information, the aircraft is landed at the installation position, or is hovered there, or a control mode is switched from automatic control to manual control, or an instruction is given to survey the position coordinates of the target field or an instruction is given to change the installation position of the aircraft. The determination system according to claim 8 or 9.

11. a coordinate diagnosis unit that detects an error in the registration information of the target field by comparing shape information of the target field with information of position coordinates included in the registration information; The determination system according to claim 1 , wherein when an error in the registration information of the target field is detected, control is performed to prohibit the aircraft from taking off or a user is notified.

12. A coordinate diagnosis unit detects an error in the registration information of the target field based on information of position coordinates included in the registration information, The determination system of claim 1, wherein the coordinate diagnosis unit detects errors in the registration information of the target field based on at least one of the distance between the end points of the target field included in the registration information, the ratio of the lengths of the long and short sides of the target field, the angle of the corners of the target field, the lengths of the opposing sides of the target field, and the difference in the height coordinates of multiple points of the target field.

13. 13. The determination system according to claim 11, wherein when the coordinate diagnosis unit detects an error in the registered information of the target field, the system notifies a user of a suggestion to remeasure the target field.

14. A field information acquisition step in which a field information acquisition unit of the determination system acquires registration information of a selected target field from a storage unit in which position information of one or more fields is registered in advance; an installation information acquisition step in which an installation information acquisition unit of the determination system acquires setting information including an installation position of the flying object relative to the target field; A determination method comprising a comparison and matching step in which a comparison and matching unit of the determination system determines whether the aircraft is installed at the installation position set as the setting information by placing the aircraft in the target field and comparing measurement information including a measurement position obtained by positioning the aircraft with the setting information.

15. a field information acquiring unit that acquires registration information of a selected target field from a storage unit in which position information of one or more fields is registered in advance; an installation information acquisition unit that acquires setting information including an installation position of the flying object with respect to the target field; a field shape acquisition unit for acquiring field shape information relating to a shape of the target field; placing the aircraft in the target field and estimating position coordinates of the target field from measurement information including a measurement position acquired by positioning the aircraft and the field shape information; A determination system comprising a comparison and collation unit that determines whether the flying object is installed at the installation location set as the setting information by comparing estimated information of the estimated position coordinates of the target field with registered information of the position coordinates of the target field acquired by the field information acquisition unit.

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