Control device, flying object, control method and program

Abstract

The present invention provides an estimation device and so forth that can reduce time for accident investigation, without increasing staff for the accident investigation.　A control device 10 according to an aspect of the present disclosure includes a flying object control unit 130 that controls a first flying object and a second flying object, such that the first flying object hovers steady overhead of a first target device, and the second flying object hovers steady overhead a second target device, a measurement control unit 140 that controls the first flying object so as to measure a first distance from itself to the second flying object, in accordance with the first flying object hovering steady overhead of the first target device and the second flying object hovering steady overhead the second target device, and a distance acquisition unit 150 that acquires the first distance that is measured, from the first flying object.

Description

[Technical Field]

[0001] The present disclosure relates to a technique for controlling a flying object, and more particularly to a technique for controlling a flying object to measure distance. [Background technology]

[0002] When an accident occurs at an intersection in a metropolitan area, traffic is paralyzed while the process of clearing the accident causes major congestion. In order to prevent major congestion, it is necessary to expedite the process of clearing the accident. In clearing the accident, it is necessary to measure the distances between objects left at the accident site. However, in order to expedite the process of clearing the accident, which involves manually measuring the distances between various objects, an increase in the number of personnel responsible for clearing the accident will be necessary.

[0003] Patent Document 1 describes a method for signaling an accident using a signaling drone, in which a drone acquires the location of the accident site, calculates the position of at least one signal, and performs a signal at the calculated position. The signaling in Patent Document 1 notifies vehicles passing on the road of the accident by sound, light, etc. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Special Publication No. 2019-508778 Summary of the Invention [Problem to be solved by the invention]

[0005] The technology of Patent Document 1 is a technology that reduces the labor required for traffic control when a traffic accident occurs. However, the technology of Patent Document 1 cannot shorten the time required for accident response, including measuring the distance between objects left at the accident scene.

[0006] One of the objects of the present disclosure is to provide an estimation device and the like that can shorten the time required to handle an accident without increasing the number of personnel required for handling the accident. [Means for solving the problem]

[0007] A control device according to one embodiment of the present disclosure includes a projectile control means for controlling the first projectile and the second projectile so that the first projectile comes to rest above a first target device and the second projectile comes to rest above a second target device, a measurement control means for controlling the first projectile so that the first projectile measures a first distance to the second projectile as the first projectile comes to rest above the first target device and the second projectile comes to rest above the second target device, and a distance acquisition means for acquiring the measured first distance from the first projectile.

[0008] A control method according to one embodiment of the present disclosure includes controlling a first flying object and a second flying object so that the first flying object comes to rest above a first target device and the second flying object comes to rest above a second target device, controlling the first flying object so that the first flying object measures a first distance to the second flying object as the first flying object comes to rest above the first target device and the second flying object comes to rest above the second target device, and obtaining the measured first distance from the first flying object.

[0009] A storage medium according to one embodiment of the present disclosure stores a program that causes a computer to execute a projectile control process that controls a first projectile and a second projectile so that the first projectile comes to rest above a first target device and the second projectile comes to rest above a second target device; a measurement control process that controls the first projectile so that the first projectile measures a first distance to the second projectile as the first projectile comes to rest above the first target device and the second projectile comes to rest above the second target device; and a distance acquisition process that acquires the measured first distance from the first projectile.

[0010] A flying object according to one embodiment of the present disclosure comprises a target image capturing means for capturing an image of a target area, a target detection means for detecting a first target device from the target area using the image of the target area, an aircraft control means for controlling the position of the aircraft so that it moves to and remains stationary above the detected first target device, a distance measuring means for measuring the distance above the first target device to another flying object that is stationary above a second target device, and a distance transmitting means for transmitting the distance.

[0011] A method for controlling an airborne object according to one embodiment of the present disclosure captures an image of a target area, uses the image of the target area to detect a first target device from the target area, controls the position of the aircraft to move and come to rest above the detected first target device, measures the distance above the first target device to another airborne object that is stationary above a second target device, and transmits the distance.

[0012] A storage medium according to one embodiment of the present disclosure stores a program that causes a computer to execute a target image capturing process that captures an image of a target area, a target detection process that uses the image of the target area to detect a first target device from the target area, an aircraft control process that controls the position of the aircraft so that it moves and stops above the detected first target device, a distance measurement process that measures the distance above the first target device to another flying object that is stationary above a second target device, and a distance transmission process that transmits the distance.

[0013] One aspect of the present disclosure is also realized by the above-mentioned program. [Effects of the Invention]

[0014] The present disclosure has the effect of shortening the time required to handle an accident without increasing the number of personnel required for handling the accident. [Brief explanation of the drawings]

[0015] [Figure 1] FIG. 1 is a block diagram illustrating an example of the configuration of a control device according to a first embodiment of the present disclosure. [Figure 2] FIG. 2 is a flowchart illustrating an example of the operation of the measurement apparatus according to the first embodiment of the present disclosure. [Figure 3] FIG. 3 is a diagram illustrating the configuration of a measurement system according to the second embodiment of the present disclosure. [Figure 4] FIG. 4 is a block diagram illustrating an example of the configuration of a flying object according to the second embodiment of the present disclosure. [Figure 5] FIG. 5 is a block diagram illustrating an example of the configuration of a control device according to the second embodiment of the present disclosure. [Figure 6] FIG. 6 is a flowchart illustrating an example of the overall operation of the control device according to the second embodiment of the present disclosure. [Figure 7] FIG. 7 is a flowchart illustrating an example of the operation of the target position identification process of the control device according to the second embodiment of the present disclosure. [Figure 8] FIG. 8 is a flowchart illustrating an example of the operation of the second machine body position control process of the control device according to the second embodiment of the present disclosure. [Figure 9] FIG. 9 is a flowchart illustrating an example of the operation of the second machine body position control process of the control device according to the second embodiment of the present disclosure. [Figure 10] FIG. 10 is a flowchart illustrating an example of the operation of the first machine body position control process of the control device according to the second embodiment of the present disclosure. [Figure 11] FIG. 11 is a flowchart illustrating an example of the operation of the first machine body position control process of the control device according to the second embodiment of the present disclosure. [Figure 12] FIG. 12 is a flowchart illustrating an example of the operation of the first machine body position control process of the control device according to the second embodiment of the present disclosure. [Figure 13] FIG. 13 is a flowchart illustrating an example of the operation of the distance estimation process of the control device according to the second embodiment of the present disclosure. [Figure 14] FIG. 14 is a flowchart illustrating an example of the overall operation of a flying object according to the second embodiment of the present disclosure. [Figure 15]FIG. 15 is a flowchart illustrating an example of the operation of the target information acquisition process for a flying object according to the second embodiment of the present disclosure. [Figure 16] FIG. 16 is a flowchart illustrating an example of the operation of the aircraft control process for a flying object according to the second embodiment of the present disclosure. [Figure 17] FIG. 17 is a flowchart illustrating an example of the operation of the aircraft control process for a flying object according to the second embodiment of the present disclosure. [Figure 18] FIG. 18 is a flowchart illustrating another example of the operation of the body control processing of the flying object according to the second embodiment of the present disclosure. [Figure 19] FIG. 1 is a flowchart illustrating an example of the operation of a distance estimation process of a control device according to a first modified example of the second embodiment. [Figure 20] FIG. 20 is a flowchart illustrating an example of an operation of a first machine body position control process of a control device according to a third modified example of the second embodiment of the present disclosure. [Figure 21] FIG. 21 is a block diagram illustrating an example of the configuration of a flying object according to the third embodiment of the present disclosure. [Figure 22] FIG. 22 is a flowchart illustrating an example of the operation of a flying object according to the third embodiment of the present disclosure. [Figure 23] FIG. 23 is a block diagram illustrating an example of the configuration of a measurement system according to the fourth embodiment of the present disclosure. [Figure 24] FIG. 24 is a block diagram illustrating an example of the configuration of a control device according to the fourth embodiment of the present disclosure. [Figure 25] FIG. 25 is a block diagram illustrating an example of the configuration of a flying object according to the fourth embodiment of the present disclosure. [Figure 26] FIG. 26 is a flowchart illustrating an example of the overall operation of the control device according to the fourth embodiment of the present disclosure. [Figure 27] FIG. 27 is a flowchart illustrating an example of the operation of the target position measuring process of the control device according to the fourth embodiment of the present disclosure. [Figure 28] FIG. 28 is a flowchart illustrating an example of the operation of the second machine body position control process of the control device according to the fourth embodiment of the present disclosure. [Figure 29] FIG. 29 is a flowchart illustrating an example of the operation of the first machine body position control process of the control device according to the fourth embodiment of the present disclosure. [Figure 30] FIG. 30 is a flowchart illustrating an example of the operation of the distance measurement process of the control device according to the fourth embodiment of the present disclosure. [Figure 31] FIG. 31 is a flowchart illustrating an example of the overall operation of a flying object according to the fourth embodiment of the present disclosure. [Figure 32] FIG. 32 is a flowchart illustrating an example of the operation of the target detection process for a flying object according to the fourth embodiment of the present disclosure. [Figure 33] FIG. 33 is a flowchart illustrating an example of the operation of the aircraft control process for a flying object according to the fourth embodiment of the present disclosure. [Figure 34] FIG. 34 is a flowchart illustrating an example of the operation of the aircraft control process for a flying object according to the fourth embodiment of the present disclosure. [Figure 35] FIG. 35 is a flowchart illustrating an example of the operation of the aircraft control process for a flying object according to the fourth embodiment of the present disclosure. [Figure 36] FIG. 36 is a flowchart illustrating an example of the operation of the body control process for a flying object according to the fourth embodiment of the present disclosure. [Figure 37] FIG. 37 is a flowchart illustrating another example of the operation of the body control processing of the flying object according to the fourth embodiment of the present disclosure. [Figure 38] FIG. 38 is a diagram illustrating an example of a hardware configuration of a computer 1000 capable of realizing a control device and a flying object according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0016] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings.

[0017] First Embodiment First, a first embodiment of the present disclosure will be described in detail with reference to the drawings.

[0018] <Configuration> FIG. 1 is a block diagram illustrating an example of the configuration of a control device according to a first embodiment of the present disclosure. In the example illustrated in FIG. 1, the control device 10 according to this embodiment includes a flying object control unit 130, a measurement control unit 140, and a distance acquisition unit 150. The flying object control unit 130 controls the first flying object and the second flying object so that the first flying object comes to rest above a first target device and the second flying object comes to rest above a second target device. The measurement control unit 140 controls the first flying object so that the first flying object measures a first distance to the second flying object as the first flying object comes to rest above the first target device and the second flying object comes to rest above the second target device. The distance acquisition unit 150 acquires the measured first distance from the first flying object.

[0019] <Target device> The first target device and the second target device are, for example, plate-shaped members on which a predetermined pattern is drawn. The first target device and the second target device are collectively referred to as target devices in the description of this disclosure. The first target device and the second target device may also be referred to as a first position target device and a second target device, respectively. The first target device and the second target device are also collectively referred to as a position target device. The pattern of the first target device is different from the pattern of the second target device.

[0020] The pattern of the target device may be drawn so that a specific point (e.g., a center point or a specific vertex) set on the target device can be identified. Such a pattern may, for example, be a pattern including concentric circles. In this case, the specific point is, for example, the center of the concentric circles. Such a pattern may, for example, be a pattern including multiple line segments that intersect at a single point. In this case, the specific point is, for example, the intersection of the multiple line segments. Such a pattern may, for example, be a pattern including concentric circles and multiple line segments that intersect at the centers of the concentric circles. In this case, the specific point is, for example, the center of the concentric circles, which is the intersection of the multiple line segments. The position of the target device is represented by the position of the specific point (hereinafter also referred to as the reference point).

[0021] The target device is not limited to the above examples, and other examples of target devices will be described in detail later.

[0022] In the embodiment of the present disclosure, the sky above the target device refers to the sky vertically above the above-mentioned point (i.e., the specific point) that represents the position of the target device.

[0023] <Flying object> In the following description, the first flying object and the second flying object are collectively referred to as flying objects. The flying object of this embodiment is a flying object (e.g., a drone) that can fly under the control of the control device 10 (in other words, in accordance with instructions from the control device 100). In other words, the flying object of this embodiment changes its position and height in the air in accordance with instructions from the control device 10. In this description, the position of the flying object represents its position in a plane parallel to the horizontal plane (in other words, the position of the flying object projected onto the horizontal plane). The height of the flying object represents its height in the vertical direction. Note that the position and height of the flying object are represented by the position and height of a specific point (hereinafter also referred to as a reference point) set on the flying object. The flying object of this embodiment can also remain stationary in the air under the control of the control device 10 (in other words, in accordance with instructions from the control device 100).

[0024] In an embodiment of the present disclosure, a flying object coming to rest above a target device means that the flying object comes to rest in the air with its reference point vertically above the reference point of the target device.

[0025] The flying object includes a target measurement device that measures a target device. The target measurement unit is, for example, an imaging device. The target measurement device may be another measurement device that outputs measurement results that provide data that can estimate the position of the target device. The flying object further includes a distance measurement device that measures the distance to another flying object. The distance measurement device may be, for example, a laser rangefinder. The distance measurement device may also be a rangefinder that measures distance by other means. The flying object also includes an attitude detection device that uses a gyroscope or the like that can detect the vertical direction (specifically, the direction of gravity) when stationary in the air. The flying object may be configured to be able to control the attitude (specifically, the inclination of the aircraft) detected by the attitude detection device. Specifically, the flying object is configured to maintain a state in which the attitude detected by the attitude detection device is a predetermined attitude when stationary in the air. The predetermined attitude may be, for example, an attitude in which a reference plane set on the aircraft body of the flying object is parallel to the horizontal plane. The attitude in which the reference plane set on the flying object's body is parallel to the horizontal plane is hereinafter referred to as the "reference attitude." Also, the straight line that passes through the flying object's reference point and is perpendicular to the reference plane is referred to as the "reference line."

[0026] The target measurement device is configured so that when the reference point of the flying object is above the reference point of the target device, the measurement results obtained by the target measurement device are in a predetermined state. For example, the target measurement device is attached to the flying object so that when the flying object's attitude is the reference attitude and the reference point of the flying object is above the reference point of the target device, the position of the image of the reference point of the target device is at a predetermined position in an image obtained by imaging with the target measurement device, which is an imaging device. In the following description, the point indicated by this predetermined position will be referred to as the target point. The target point is a point that represents the position of the image of the reference point of the target device in an image obtained by imaging with the target measurement device, which is an imaging device, when the flying object's attitude is the reference attitude and the reference point of the flying object is above the reference point of the target device.

[0027] The distance measurement device is attached to the flying body so as to measure the distance from the distance measurement device to the object closest to the distance measurement device on a plane (a horizontal plane and a plane parallel to the reference plane) perpendicular to a vertical line passing through the reference point of the flying body when the flying body's attitude is in the reference attitude. In other words, the distance measurement device is attached to the flying body so as to measure the distance from the distance measurement device to the object closest to the distance measurement device on a line parallel to the reference plane of the flying body. Note that, when the flying body's attitude is in the reference attitude, the positional relationship between the vertical line and the reference point of the distance measurement of the distance measurement device (i.e., the point where the distance is zero) on the plane perpendicular to the vertical line passing through the reference point of the flying body, and the direction in which the distance measurement device measures the distance are measured and obtained in advance. The distance measurement device may be attached to the flying body so as to measure the distance from the distance measurement device to the object closest to the distance measurement device on a line perpendicular to the vertical line passing through the reference point of the flying body when the flying body's attitude is in the reference attitude. In other words, the distance measurement device may be attached to the flying object so as to measure the distance from the distance measurement device to the object closest to the distance measurement device on a line that passes through the reference point of the flying object and is perpendicular to a line that is perpendicular to the reference plane of the flying object. In this case, the direction in which the distance measurement device measures the distance is the direction from the intersection of a vertical line (i.e., the above-mentioned reference line) that passes through the reference point of the flying object when the flying object's attitude is the reference attitude and the reference line, to the reference point of the distance measurement by the distance measurement device. In addition, in this case, the distance from the vertical line that passes through the reference point of the flying object when the flying object's attitude is the reference attitude to the reference point of the distance measurement by the distance measurement device is measured and obtained in advance.

[0028] A member (e.g., a rod-shaped member) indicating the reference line is attached to the flying object. Alternatively, for example, a cylindrical member may be attached to the flying object as an exterior so that the axis of the member coincides with the reference line. The outer diameter of the cylindrical member is measured in advance and is known. When a flying object (e.g., a first flying object) measures the distance to another flying object (e.g., a second flying object), the flying object control unit 130 controls the flying object's attitude so that the measurement direction of the flying object's distance measurement device is directed toward the straight line indicated by the member indicating the reference line of the other flying object. The distance measurement device of the flying object (in this case, the first flying object) measures the distance (i.e., the first distance) from the reference point of the distance measurement device of the flying object (in this case, the first flying object) to the exterior member of the other flying object (in this case, the second flying object). As described above, when measuring distance, the first flying object is stationary above the first targeting device, and the second flying object is stationary above the second targeting device. Therefore, the distance between the first targeting device and the second targeting device (specifically, the distance between the reference point of the first targeting device and the reference point of the second targeting device) is the sum of this first distance, the radius of the outer periphery of the exterior material of the flying object, and the distance between the reference line of the flying object and the measurement reference point of the distance measuring device.

[0029] The configuration of the flying object is not limited to the above example.

[0030] In the description of this embodiment, a flying object whose distance is measured by a distance measurement device will be referred to as a first flying object, and a flying object whose distance is not measured by a distance measurement device will be referred to as a second flying object. However, the configuration of the second flying object may be the same as the configuration of the first flying object. Specifically, the second flying object may also be equipped with a distance measurement device. The structure of the second flying object may be the same as the structure of the first flying object. The structure of the second flying object may be different from the structure of the first flying object.

[0031] <Operation> Next, the operation of the control device 10 according to the first embodiment of the present disclosure will be described in detail with reference to the drawings.

[0032] 2 is a flowchart illustrating an example of the operation of the control device 10 according to the first embodiment of the present disclosure. In the example illustrated in FIG. 2, the flying object control unit 130 controls the first flying object and the second flying object so that the first flying object stops in the air above the first target device and the second flying object stops in the air above the second target device (step S11). Next, the measurement control unit 140 controls the first flying object so that the first flying object measures the distance to the second flying object (step S12). Then, the distance acquisition unit 150 acquires the measured distance from the first flying object (step S13).

[0033] <Effects> The above-described embodiment has the advantage of shortening the time required for accident response without increasing the number of personnel required for response. This is because the flying object control unit 130 controls the first flying object and the second flying object so that the first flying object comes to rest above the first target device and the second flying object comes to rest above the second target device. The measurement control unit 140 then controls the first flying object to measure the distance to the second flying object. As described above, in the embodiment of the present disclosure, a flying object coming to rest above a target device means that the flying object comes to rest in the air with its reference point vertically above the reference point of the target device. Therefore, when the first flying object comes to rest above the first target device and the second flying object comes to rest above the second target device, the distance between the reference line of the first flying object and the reference line of the second flying object corresponds to the distance between the first target device and the second target device (specifically, the distance between the reference point of the first target device and the reference point of the second target device). The distance between the first target device and the second target device can be derived from the distance to the second target device measured by the distance measurement device of the first target device (specifically, the distance from the distance measurement device to the ranging point on the exterior of the second target device). Therefore, manual measurement of the distance between the first target device and the second target device is not necessary. Manual measurement of the distance between the first target device and the second target device requires time for setting up the measuring equipment and for accurate measurement. In contrast, by measuring the distance using a projectile, the time required to measure the distance between the first target device and the second target device is reduced.

[0034] <First Modification of the First Embodiment> As described above, the distance measurement device may be attached to the flying object so as to measure the distance in the direction of a straight line that is parallel to the reference plane of the flying object and perpendicular to the reference line of the flying object. A cylindrical member may be attached to the flying object as an exterior member so that the axis of the member coincides with the reference line.

[0035] In this case, the distance acquisition unit 150 may calculate the distance between the first target device and the second target device as the sum of this first distance, the radius of the outer periphery of the exterior material of the flying object, and the distance between the reference line of the flying object and the reference point of measurement of the distance measurement device. Specifically, the distance between the first target device and the second target device represents the distance between the reference point of the first target device and the reference point of the second target device. This modification can also be applied to other embodiments described below.

[0036] <Second Modification of the First Embodiment> In this modification, the distance measurement device of the flying object may be attached so as to measure the distance to the ranging point in a plane parallel to the reference plane. Note that the positional relationship between the reference line and the ranging reference point and the ranging direction are measured and obtained in advance, for example. Information on the outer shapes of the first flying object and the second flying object is also obtained in advance.

[0037] The distance measurement device of the flying object (first flying object) may include a laser light emitting device attached to emit laser light to a ranging point. The ranging point is a point that is the target of distance measurement by the distance measurement device. In other words, the distance measurement device measures the distance from a reference point of ranging to the ranging point. The flying object may also include an imaging device that captures an image of the target of ranging when the distance measurement device measures the distance. The distance acquisition unit 150 may acquire an image captured during distance measurement in addition to the measured distance. The distance acquisition unit 150 may then detect the ranging point (i.e., the point irradiated with laser light) of the other flying object that is the target of distance measurement. In this case, the distance acquisition unit 150 may use existing image recognition technology to identify the position of the ranging point on the surface of the exterior of the other flying object (e.g., the second flying object). The distance acquisition unit 150 may then use information about the shape of the exterior of the other flying object (e.g., the second flying object) to identify the positional relationship between the reference line of the other flying object and the ranging point. Furthermore, distance acquisition unit 150 may calculate the distance between the reference line of the first flying object and the reference line of the second flying object from information about the structure of the flying object (i.e., the first flying object), the obtained first distance, and the positional relationship between the reference line of the other flying object and the ranging point. Distance acquisition unit 150 may use the calculated distance as the distance between the reference point of the first target device and the reference point of the second target device. This modification can also be applied to other embodiments described later.

[0038] <Third Modification of the First Embodiment> The flying object may be equipped with a device using LiDAR (Light Detection and Ranging) as a distance measurement device. The flying object may then measure other flying objects using the LiDAR device. In this case, the flying object may transmit data obtained by measurement using the LiDAR device to the distance acquisition unit 150. The distance acquisition unit 150 may estimate the position and attitude of the other flying object using existing technology, using the data obtained by measurement using the LiDAR device. The distance acquisition unit 150 may then estimate the position of the reference line of the other flying object from the estimated position and attitude of the other flying object. The distance acquisition unit 150 may then calculate the distance between the reference line of the flying object and the position of the reference line of the other flying object based on the positional relationship between the reference line of the flying object and the distance measurement device and the position of the reference line of the other flying object. This modification can also be applied to other embodiments described later.

[0039] <Other examples of target devices> The target device (i.e., the position target device) may be a plate-like member with adhesive applied to the back side. In this case, a pattern may be drawn on the surface of the target device. The material of the member may be any of resin, metal, ceramic, wood, etc. The target device may also be a sticker made of resin. In this case, a pattern may be drawn on the surface of the target device and adhesive may be applied to the back side of the target device.

[0040] The pattern on the target device may be drawn with luminous paint. The pattern on the target device may be realized by a structure that reflects light in the direction of the light irradiation. The pattern on the target device may be drawn with paint that emits fluorescence when irradiated with light of a predetermined wavelength (such as ultraviolet light). The pattern on the target device may be realized by a light-emitting device using an LED (Light-Emitting Diode).

[0041] The pattern on the first target device may be different in shape from the pattern on the second target device. The pattern on the first target device may be different in color from the pattern on the second target device. The pattern on the first target device may be different in color combination from the pattern on the second target device.

[0042] The target devices may include LEDs that blink in a predetermined pattern, where the blink pattern of a first target device may be different from the blink pattern of a second target device.

[0043] <Second embodiment> The second embodiment of the present disclosure will be described in detail below with reference to the drawings.

[0044] <Configuration> Fig. 3 is a diagram illustrating the configuration of a measurement system according to a second embodiment of the present disclosure. In the example illustrated in Fig. 3, the measurement system 1 of this embodiment includes a control device 100, a first flying object 200A, a second flying object 200B, a first target device 400A, a second target device 400B, and a height target device 500. The control device 100 is communicatively connected to the first flying object 200A and the second flying object 200B via a communication network 300. The configuration of the control device 100 will be described in detail later.

[0045] <Flying object> The first flying object 200A and the second flying object 200B of this embodiment are the same as the first flying object and the second flying object of the first embodiment, respectively. When the first flying object 200A and the second flying object 200B are individually indicated, the first flying object 200A and the second flying object 200B are simply referred to as the first flying object 200A and the second flying object 200B, respectively. When the first flying object 200A and the second flying object 200B are collectively referred to, the target device including the first flying object 200A and the second flying object 200B is referred to as the flying object 200. The configuration of the flying object 200 will be described in detail later. The communication network 300 is a wireless communication network. The first flying object 200A and the second flying object 200B are connected to the communication network 300 wirelessly. The first flying object 200A and the second flying object 200B communicate with devices connected to the communication network 300 via wireless communication. The control device 100 may be connected to the communication network 300 via a wired connection. The control device 100 may also be connected to the communication network 300 wirelessly.

[0046] <Target device> The first target device 400A and the second target device 400B of this embodiment are the same as the first target device and the second target device of the first embodiment. When the first target device 400A and the second target device 400B are distinguished, the first target device 400A and the second target device 400B are simply referred to as the first target device 400A and the second target device 400B, respectively. When the first target device 400A and the second target device 400B are not distinguished, the first target device 400A and the second target device 400B are collectively referred to as the target device 400.

[0047] <Height target device 500> The height target device 500 is, for example, a plate-like member on which a predetermined pattern is drawn. The pattern of the height target device 500 may be drawn so as to identify a specific point (for example, a center point or a specific vertex) set on the height target device 500, similar to the pattern of the first target device 400A and the pattern of the second target device 400B. However, the pattern of the height target device 500 is different from the pattern of the first target device 400A and the pattern of the second target device 400B.

[0048] The height target device 500 is attached to a self-supporting member (hereinafter referred to as a self-supporting device). The height of the attachment position of the height target device 500 may be variable. The height of the attachment position of the height target device 500 may also be fixed.

[0049] The height target device 400 is installed so as to be visible from the air above the accident site, for example.

[0050] <200 flying objects> Fig. 4 is a block diagram illustrating an example of the configuration of a flying object according to a second embodiment of the present disclosure. In the example illustrated in Fig. 4, flying object 200 includes a transmitting / receiving unit 210, a measurement control unit 220, a movement control unit 240, a target image capturing unit 231, a position information acquiring unit 232, a target measuring unit 233, a height target measuring unit 234, a flying object measuring unit 235, and a distance measuring unit 236. Note that first flying object 200A has the configuration illustrated in Fig. 4. Second flying object 200B may not include flying object measuring unit 235 and distance measuring unit 236 from the configuration illustrated in Fig. 4.

[0051] <Transmitter / receiver 210> The transceiver 210 receives measurement instructions and aircraft control instructions from the control device 100. The transceiver 210 sends the measurement instructions received from the control device 100 to the measurement control unit 220. The transceiver 210 sends the aircraft control instructions received from the control device 100 to the movement control unit 240. The aircraft control instructions are instructions to move the aircraft. In other words, the aircraft control instructions are instructions to change at least one of the position and height of the aircraft. The aircraft control instructions may be instructions to keep the aircraft stationary in the air. The aircraft control instructions may also be instructions to change the aircraft's direction.

[0052] The flying object 200 may be configured to remain stationary in the air with the reference plane parallel to the horizontal plane when stationary in the air.

[0053] The transmitting / receiving unit 210 receives measurement data obtained by measurement from the measurement control unit 220 and transmits the received measurement data to the control device 100 .

[0054] <Movement control unit 240> The movement control unit 240 receives an instruction to control the aircraft from the transceiver unit 210. The movement control unit 240 controls the aircraft in accordance with the received instruction to control the aircraft. If the instruction to control the aircraft is an instruction to change the position of the aircraft, the movement control unit 240 moves the flying object 200 in accordance with the instruction.

[0055] If the instruction to control the airframe is an instruction to change the position of the airframe without changing its height, the movement control unit 240 moves the airframe 200 horizontally in accordance with the instruction. The instruction to change the position of the airframe without changing its height may be, for example, an instruction to move to a point identified by information identifying a position. In this case, the movement control unit 240 moves the airframe 200 horizontally to the point identified by the information identifying a position in accordance with the instruction, for example, using information on the position of the airframe 200 acquired by the position information acquisition unit 232, which will be described in detail later. The information identifying the position is, for example, latitude and longitude. The information identifying the position may also be coordinates in a coordinate system set in the target area. In this case, the movement control unit 240 may be provided with a relationship between the latitude and longitude and the coordinates in the coordinate system set in the target area.

[0056] The instruction to change the position of the flying object 200 without changing its height may be, for example, an instruction to move in a specified direction. In this case, the movement control unit 240 moves the flying object 200 in the specified direction in accordance with the instruction, for example, using information about the position of the flying object 200 acquired by the position information acquisition unit 232, which will be described in detail later. The instruction to move in the specified direction may also include an instruction about the duration of the movement. In this case, the movement control unit 240 moves the flying object 200 in the specified direction for the specified duration in accordance with the instruction, for example, using information about the position of the flying object 200 acquired by the position information acquisition unit 232, which will be described in detail later. Note that the speed of the movement of the flying object 200 may be determined in advance as appropriate.

[0057] When the instruction to control the aircraft is an instruction to make the aircraft stand still in the air, the movement control unit 240 makes the aircraft stand still in the air.

[0058] If the instruction to control the airframe is an instruction to change the direction of the airframe, the movement control unit 240 changes the direction of the airframe (in other words, the direction the airframe is facing) in accordance with the instruction without changing the height or position of the place where the airframe 200 is hovering in the air. Note that the forward, backward, left, and right directions of the airframe may be defined as appropriate. The instruction to change the direction of the airframe may be, for example, an instruction to face in a specified direction. In this case, the movement control unit 240 changes the direction of the airframe 200 so that the airframe 200 faces in the specified direction, using, for example, information on the position of the airframe 200 acquired by the position information acquisition unit 232, which will be described in detail later. The instruction to change the direction of the airframe may be, for example, an instruction to rotate in a specified direction (e.g., rightward or leftward). In this case, the movement control unit 240 rotates the airframe 200 in the specified direction. The instruction to rotate in a specified direction may include an instruction for the rotation time. In this case, the motion control unit 240 rotates the flying object 200 in the designated direction for the designated time.

[0059] The flying object 200 may be configured to remain stationary in the air unless an instruction to control the flying object is received. The flying object 200 may also be designed to avoid obstacles around and below. Specifically, the flying object 200 may be equipped with multiple distance measurement devices that measure the distance to surfaces around and below, such as road surfaces or surface surveys. The movement control unit 240 may be configured to change the direction of movement when at least one of the distances measured by the multiple distance measurement devices falls below a predetermined distance so as to avoid an obstacle in the direction measured when the distance falls below the predetermined distance. For example, when the distance below falls below a predetermined distance, the movement control unit 240 may move the flying object upward. For example, when the distance to the right falls below a predetermined distance, the movement control unit 240 may move the flying object to the left. For example, when the distance to the left falls below a predetermined distance, the movement control unit 240 may move the flying object to the right. For example, when the distance ahead falls below a predetermined distance, the movement control unit 240 may move the flying object upward. If the distance ahead falls below a predetermined distance, the movement control unit 240 may move the aircraft in a predetermined direction (for example, to the right or left). In this case, at least one of the multiple distance measurement devices may operate as the distance measurement unit 236, which will be described in detail later.

[0060] If the instruction to control the air vehicle is an instruction to change the height of the air vehicle without changing the position of the air vehicle in a horizontal plane, the movement control unit 240 moves the air vehicle in the vertical direction in accordance with the instruction. The instruction to change the height may be, for example, an instruction to change the height of the air vehicle (e.g., the height from an object below the air vehicle or the ground surface) to a specified height. When receiving such an instruction, the movement control unit 240 changes the height of the air vehicle 200 so that the distance measured by the distance measurement device that measures the distance below, among the distance measurement devices described above, becomes the specified height. After the height of the air vehicle reaches the specified height, the movement control unit 240 stops the air vehicle 200 in the air.

[0061] The instruction to change the height may be, for example, an instruction to raise the aircraft or an instruction to lower the aircraft. When receiving an instruction to raise the aircraft, the motion control unit 240 raises the position of the aircraft, for example, until receiving a next instruction. When receiving an instruction to lower the aircraft, the motion control unit 240 lowers the position of the aircraft, for example, until the height of the aircraft measured by a distance measuring device that measures the distance below reaches a predetermined height or until receiving a next instruction. The instruction to raise the aircraft may include a time instruction. When receiving an instruction to raise the aircraft that includes a time instruction, the motion control unit 240 raises the position of the aircraft for the specified time. In this case, after raising the aircraft for the specified time, the motion control unit 240 keeps the aircraft stationary in the air. The instruction to lower the aircraft may include a time instruction. When receiving an instruction to lower the aircraft that includes a time instruction, the motion control unit 240 lowers the position of the aircraft for the specified time. In this case, after the aircraft descends for the specified time, the motion control unit 240 causes the aircraft to remain stationary in the air.

[0062] <Measurement control unit 220> The measurement control unit 220 receives a measurement instruction from the transmission / reception unit 210. In accordance with the received measurement instruction, the measurement control unit 220 performs measurement using at least one of the target image capturing unit 231, the position information acquiring unit 232, the target measurement unit 233, the height target measurement unit 234, the flying object measurement unit 235, and the distance measurement unit 236.

[0063] If the measurement instruction is an instruction to capture an image of the target, the measurement control unit 220 uses the target image capturing unit 231 to capture an image of the target area. The measurement control unit 220 further uses the position information acquisition unit 232 to acquire information on the position of the flying object when capturing the target image. The measurement control unit 220 associates image identification information that identifies the image captured with information on the position of the flying object at the time the image was captured. The measurement control unit 220 sends the image captured by capturing the target area and the position information associated with the image identification information to the transceiver unit 210 as measurement data obtained by measurement. The transceiver unit 210 receives the image captured by capturing the target area and the position information associated with the image identification information as measurement data. The transceiver unit 210 transmits the received image captured by capturing the target area and the position information associated with the image identification information to the control device 100 as measurement data.

[0064] The target image is an image of a target area. The target area is an area where the target device 400 is installed (for example, an area including the scene of a traffic accident). Information representing the range of the target area may be provided to the flying object 200 in advance. The information representing the range of the target area may be included in an instruction to capture the target image. The range of the target area may be represented by latitude and longitude.

[0065] In addition, before sending an instruction to capture the target image, the control device 100 sends an instruction to move the flying object's body, thereby moving the flying object 200 to a position and height where the target image will be captured.

[0066] If the measurement instruction is an instruction to measure the target device, the measurement control unit 220 uses the target measurement unit 233 to measure the target device 400. The measurement control unit 220 sends the measurement data obtained by measuring the target device 400 to the transmission / reception unit 210. The transmission / reception unit 210 receives the measurement data and transmits the received measurement data to the control device 100.

[0067] In addition, before measuring the measurement instructions of the target device, the control device 100 keeps the state of the flying object 200 stationary in the air by, for example, sending an instruction to the flying object 200 to stop moving in the air.

[0068] If the measurement instruction is an instruction to measure a height target, the measurement control unit 220 uses the height target measurement unit 234 to measure the height target device 500. The measurement control unit 220 sends the measurement data obtained by the measurement of the height target device 500 to the transmission / reception unit 210. The transmission / reception unit 210 receives the measurement data and transmits the received measurement data to the control device 100.

[0069] Before transmitting an instruction to measure the height target, the control device 100 transmits an instruction to change the direction of the flying object 200, thereby setting the direction of the flying object 200 in a direction that allows the height target measurement unit 234 to measure the height target device 500. Then, the control device 100 transmits an instruction to the flying object 200 to stop moving in the air, for example, to set the state of the flying object 200 to a state in which the flying object 200 stops moving in the air.

[0070] If the measurement instruction is an instruction to measure another flying object 200, the measurement control unit 220 measures the other flying object 200 using the flying object measurement unit 235. The measurement control unit 220 sends the measurement data of the other flying object 200 obtained by the measurement to the transceiver unit 210. The transceiver unit 210 receives the measurement data and transmits the received measurement data to the control device 100.

[0071] Before transmitting an instruction to measure the other flying object 200, the control device 100 transmits an instruction to change the direction of the flying object 200, thereby setting the direction of the flying object 200 in a direction that allows the flying object measurement unit 235 to measure the other flying object 200 that is the measurement target. Then, the control device 100 transmits an instruction to the flying object 200 to stop moving in the air, for example, to set the state of the flying object 200 to a state in which the flying object 200 stops moving in the air.

[0072] If the measurement instruction is an instruction to measure distance, the measurement control unit 220 measures the distance using the distance measurement unit 236. The measurement control unit 220 sends distance information obtained by the measurement as measurement data to the transmission / reception unit 210. The transmission / reception unit 210 receives the distance information as measurement data and transmits the received distance information to the control device 100 as measurement data.

[0073] Before transmitting the instruction to measure the distance, the control device 100 transmits an instruction to change the direction of the flying object 200, thereby orienting the flying object 200 in a direction that allows the distance measurement unit 236 to measure the distance to another flying object 200. Then, the control device 100 transmits an instruction to the flying object 200 to stop moving in the air, for example, to keep the flying object 200 in a state where it is stationary in the air.

[0074] <Target image capturing unit 231> The target image capturing unit 231 captures an image of the target area under the control of the measurement control unit 220. The target image capturing unit 231 sends the image of the target area obtained by capturing the image to the measurement control unit 220. The image obtained by capturing the target area is also referred to as a target image.

[0075] <Location information acquisition unit 232> The position information acquisition unit 232 acquires position information of the flying object 200 under control of the measurement control unit 220. In the description of the embodiment of the present disclosure, the position information of the flying object 200 includes information on the latitude and longitude of the position of the flying object 200 and information on the direction in which the flying object 200 is facing. The position information acquisition unit 232 may measure the position (i.e., latitude and longitude) of the flying object using a position measurement technology such as a Global Positioning System (GPS). In addition, the flying object 200 may be equipped with an orientation sensor using a gyroscope or the like. This orientation sensor may be configured to measure the orientation in which the flying object 200 is facing and output orientation information obtained by the measurement. The position information acquisition unit 232 may measure the orientation in which the flying object 200 is facing using the orientation sensor equipped in the flying object 200. The position information acquisition unit 232 sends the acquired position information (that is, information including information on the latitude and longitude of the flying object 200 and information on the direction in which the flying object 200 is facing) to the measurement control unit 220.

[0076] <Target Measurement Unit 233> The target measurement unit 233 measures the target device 400 under the control of the measurement control unit 220. The target measurement unit 233 sends the measurement data obtained by measuring the target device 400 to the measurement control unit 220.

[0077] The target measurement unit 233 may be, for example, an imaging device. In this case, the measurement data is an image of the target device 400. The target measurement unit 233, which is an imaging device, may be attached so that, for example, when the reference surface of the flying object 200 is parallel to the horizontal plane, the intersection of a vertical line passing through the reference point (i.e., a reference line) and the surface of the imaged object is a predetermined point in the captured image. Specifically, for example, the target measurement unit 233 may be attached so that the optical axis of the target measurement unit 233, which is an imaging device, coincides with the reference line.

[0078] The target measurement unit 233 is the same as the target measurement device of the first embodiment. The target measurement unit 233 may operate as the target image capturing unit 231.

[0079] <Height target measurement unit 234> The height target measurement unit 234 performs measurement of the height target device 500 under the control of the measurement control unit 220. The height target measurement unit 234 sends the measurement data of the height target device 500 obtained by the measurement to the measurement control unit 220.

[0080] The height target measurement unit 234 may be, for example, an imaging device. In this case, the measurement data is an image captured by the height target device 500. The height target measurement unit 234 may be attached to the flying object 200 so that, when the flying object 200 to which the height target measurement unit 234 is attached is in the reference attitude, a predetermined line in the image obtained by imaging indicates the same height as the height of the reference plane of the flying object 200. For example, the height target measurement unit 234 may be attached so that the optical axis of the height target measurement unit 234, which is an imaging device, passes through the reference plane of the flying object 200. The above-mentioned predetermined line will be referred to as a target line hereinafter. The target line is a line that includes an image of a point at the same height as the reference plane of the flying object 200 in an image captured by the height target measurement unit 234 mounted on the flying object 200 when the flying object 200 is in the reference attitude.

[0081] <Flying object measurement section 235> The flying object measurement unit 235 measures the other flying object 200 in accordance with the control of the measurement control unit 220. The flying object measurement unit 235 sends the measurement data of the other flying object 200 obtained by the measurement to the measurement control unit 220.

[0082] The flying object measurement unit 235 may be, for example, an imaging device. In this case, the measurement data is an image of another flying object 200. The flying object measurement unit 235 may be attached to the flying object 200 so that a predetermined line in the image obtained by imaging indicates the height of the reference plane of the flying object 200 to which the flying object measurement unit 235 is attached. For example, the flying object measurement unit 235 may be attached so that the optical axis of the flying object measurement unit 235, which is an imaging device, passes through the reference plane of the flying object 200.

[0083] Furthermore, a graphic such as a line or an arrow may be drawn on the exterior of the flying object 200 to indicate the reference plane of the flying object 200. For example, the graphic indicating the reference plane of the flying object 200 may be an intersection line between the reference plane of the flying object 200 and the exterior of the flying object 200. As described above, the flying object measurement unit 235 is attached to the flying object 200 so that a predetermined line in an image obtained by imaging by the flying object measurement unit 235 indicates the height of the reference plane of the flying object 200 to which the flying object measurement unit 235 is attached. In this case, when the reference plane of the flying object 200 and the reference plane of another flying object 200 are parallel and the height of the reference plane of the flying object 200 and the height of the reference plane of the other flying object 200 are the same, the graphic indicating the reference plane of the other flying object 200 in the image of the other flying object 200 indicates the predetermined line.

[0084] The height target measurement unit 234 may operate as the flying object measurement unit 235.

[0085] <Distance measurement unit 236> The distance measurement unit 236 measures the distance to the measurement target (specifically, for example, another flying object 200). The distance measurement unit 236 is the same as the distance measurement device of the first embodiment.

[0086] Furthermore, the distance measurement unit 236 may be configured to measure the distance downward in the reference direction. In this case, the distance measurement unit 236 may include, in addition to a first distance measurement device that measures the distance to another flying object 200, a second distance measurement device that is parallel to the direction of the reference line and measures the distance in the downward direction of the flying object. In this case, the first distance measurement device is the same as the distance measurement device of the first embodiment. The second distance measurement device is attached parallel to the direction of the reference line of the flying object 200 and in the downward direction of the flying object. The first distance measurement device and the second distance measurement device may be two distance imaging devices of the same type that are attached in different directions.

[0087] <Control device 100> 5 is a diagram illustrating an example of the configuration of a control device 100 according to a second embodiment of the present disclosure. In the example illustrated in FIG. 4, the control device 100 includes a target detection unit 110, a target position identification unit 120, a flying object control unit 130, a position target detection unit 131, a height target detection unit 132, a measurement control unit 140, a distance acquisition unit 150, an estimation unit 160, and an output unit 170. The control device 100 further includes a target image acquisition unit 181, a position information acquisition unit 182, a target measurement result acquisition unit 183, a height measurement result acquisition unit 184, and a flying object measurement result acquisition unit 185. The flying object control unit 130, the measurement control unit 140, and the distance acquisition unit 150 of this embodiment are the same as the flying object control unit 130, the measurement control unit 140, and the distance acquisition unit 150 of the first embodiment, respectively, except for differences described below. The flying object control unit 130, measurement control unit 140, and distance acquisition unit 150 of this embodiment perform the same operations as the flying object control unit 130, measurement control unit 140, and distance acquisition unit 150 of the first embodiment, except for the differences described below.

[0088] <Target image acquisition unit 181> The target image acquisition unit 181 transmits an instruction to capture an image of the target area to the flying object 200. The target image acquisition unit 181 acquires an image of the target area (i.e., a target image) from the flying object 200. The target image acquisition unit 181 sends the acquired target image to the target detection unit 110.

[0089] In this case, the imaging method may be determined in advance. Information on the range of the target area may be provided in advance. The resolution of the image captured by the target image capturing unit 231 mounted on the flying object 200 is a resolution at which the pattern of the target device 400 can be recognized, and the height of the flying object 200 (hereinafter referred to as the imaging height) may be calculated in advance. Camera parameters such as the angle of view and resolution of the target image capturing unit 231 are provided to the control device 100 in advance.

[0090] The target image acquisition unit 181 first calculates one or more imaging positions using information on the range of the target area, the imaging height, and the angle of view of the target image imaging unit 231. The target image acquisition unit 181 calculates one or more imaging positions so that, at each of the calculated one or more imaging positions, the entire target area is imaged at least once when imaged by the target image imaging unit 231 at the imaging height. The target image acquisition unit 181 may also calculate a movement route for moving to all of the calculated one or more imaging positions via the shortest route.

[0091] Then, the target image acquisition unit 181 transmits, for example, an instruction to the flying object 200 to change the height of the flying object 200 to the imaging height. Furthermore, the target image acquisition unit 181 transmits, for example, an instruction to the flying object 200 to move to a position where the target image is to be captured, in the order of the calculated movement path. After transmitting such a movement instruction, the target image acquisition unit 181 transmits, to the flying object 200, an instruction to capture an image of the target area. The target image acquisition unit 181 repeats transmitting an instruction to move to the next imaging position on the calculated movement path and an instruction to capture the target image, until imaging of the target image is completed at all of the one or more calculated imaging positions.

[0092] <Location information acquisition unit 182> The position information acquisition unit 182 acquires, from the flying object 200 (for example, the first flying object 200A), information on the position of the flying object 200 at the time the target image was captured (i.e., information on the position of the flying object 200 at the imaging location). When the target image was captured at a plurality of imaging locations, the position information acquisition unit 182 acquires information on the position of the flying object 200 at the plurality of imaging locations. As described above, the information on the position of the flying object 200 at the imaging location is associated with identification information of the target image captured at that imaging location. The position information acquisition unit 182 sends the acquired information on the position of the flying object 200 at the imaging location to the target position identification unit 120.

[0093] <Target detection unit 110> The target detection unit 110 receives a target image from the target image acquisition unit 181. The target detection unit 110 detects the target devices 400 (specifically, the first target device 400A and the second target device 400B) from the received target image. Then, the target detection unit 110 identifies the position of the detected target device 400 in the target image. Information about the target device 400 (specifically, identification information of the target device 400 and information about the pattern of the target device 400) is provided to the target detection unit 110 in advance. Specifically, information about the first target device 400A and information about the second target device 400B are provided to the target detection unit 110. The target detection unit 110 detects the first target device 400A and the second target device 400B from the received target image. When the first target device 400A is detected from the received target image, the target detection unit 110 identifies the position in the target image where the first target device 400A was detected. The position where the first target device 400A is detected is, for example, the coordinates of the position of the reference point of the first target device 400A expressed in a coordinate system set in the target image (for example, a number indicating the position of a pixel, etc.) Similarly, when the second target device 400B is detected from the received target image, the target detection unit 110 specifies the position in the target image where the second target device 400B is detected.

[0094] The target detection unit 110 sends information about the position of the detected target device 400 in the target image to the target position identification unit 120. Specifically, the target detection unit 110 sends identification information of the first target device 400A, identification information of the target image in which the first target device 400A is detected, and information about the position at which the first target device 400A is detected from the target image to the target position identification unit 120. In other words, the information about the position of the detected first target device 400A in the target image represents the identification information of the first target device 400A, identification information of the target image in which the first target device 400A is detected, and information about the position at which the first target device 400A is detected from the target image. When the first target device 400A is detected from multiple target images, the target detection unit 110 sends information on the position of the detected first target device 400A in the target image to the target position identification unit 120 for each of the multiple target images in which the first target device 400A is detected.

[0095] Furthermore, target detection unit 110 sends identification information of second target device 400B, identification information of the target image in which second target device 400B was detected, and information on the position where second target device 400B was detected from that target image to target position identification unit 120. When second target device 400B is detected from multiple target images, target detection unit 110 sends information on the position of detected second target device 400B in the target image for each of the multiple target images in which second target device 400B was detected to target position identification unit 120. The information on the position of detected second target device 400B in the target image represents identification information of second target device 400B, identification information of the target image in which second target device 400B was detected, and information on the position where second target device 400B was detected from that target image.

[0096] The target detection unit 110 further detects the height target device 500 from the received target image. Then, the target detection unit 110 identifies the position of the detected height target device 500 in the target image. Information about the height target device 500 (specifically, identification information of the height target device 500 and information about the pattern of the height target device 500) is given to the target detection unit 110 in advance.

[0097] The target detection unit 110 sends information about the position of the detected height target device 500 in the target image to the target position identification unit 120. Specifically, the target detection unit 110 sends identification information of the height target device 500, identification information of the target image in which the height target device 500 was detected, and information about the position where the height target device 500 was detected from that target image to the target position identification unit 120. The information about the position of the detected height target device 500 in the target image represents the identification information of the height target device 500, identification information of the target image in which the height target device 500 was detected, and information about the position where the height target device 500 was detected from that target image. When the height target device 500 is detected from multiple target images, the target detection unit 110 sends information about the position of the detected height target device 500 in the target image for each of the multiple target images in which the height target device 500 was detected to the target position identification unit 120.

[0098] <Target position identification unit 120> The target position identification unit 120 receives information on the position of the detected first target device 400A and information on the position of the detected second target device 400B in the target image from the target detection unit 110. The target position identification unit 120 receives information on the position of the flying object 200 at the imaging location from the position information acquisition unit 182. As described above, the information on the position of the flying object 200 at the imaging location is associated with identification information of the target image captured at that imaging location. The information on the position of the flying object 200 at the imaging location includes information on latitude and longitude, and information on the azimuth direction in which the flying object 200 is facing.

[0099] Furthermore, the target position specifying unit 120 receives from the target detecting unit 110 information on the position of the detected height target device 500 in the target image.

[0100] The target position identification unit 120 identifies the position of the first target device 400A from camera parameters such as the angle of view and resolution of the target image capturing unit 231, information on the position of the detected first target device 400A in the target image, and information on the position of the flying object 200 at the capturing location. The position of the first target device 400A identified by the target position identification unit 120 is, for example, an estimated value of the latitude and longitude of a reference point of the first target device 400A installed in the target area. The position of the first target device 400A identified by the target position identification unit 120 may also be, for example, an estimated value of the coordinates of the reference point of the first target device 400A in a coordinate system defined in the target area.

[0101] The target position identification unit 120 identifies the position of the second target device 400B from camera parameters such as the angle of view and resolution of the target image capturing unit 231, information on the position of the detected second target device 400B in the target image, and information on the position of the flying object 200 at the capturing location. The position of the second target device 400B identified by the target position identification unit 120 is, for example, an estimated value of the latitude and longitude of a reference point of the second target device 400B installed in the target area. The position of the second target device 400B identified by the target position identification unit 120 may be, for example, an estimated value of the coordinates of the reference point of the second target device 400B in a coordinate system defined in the target area.

[0102] The target position specifying unit 120 specifies the position of the height target device 500 based on camera parameters such as the angle of view and resolution of the target image capturing unit 231, information on the position of the detected height target device 500 in the target image, and information on the position of the flying object 200 at the capturing location. The position of the height target device 500 specified by the target position specifying unit 120 is, for example, an estimated value of the latitude and longitude of a reference point of the height target device 500 installed in the target area. The position of the height target device 500 specified by the target position specifying unit 120 may also be, for example, an estimated value of the coordinates of the reference point of the height target device 500 in a coordinate system defined in the target area.

[0103] The target position specifying unit 120 sends the position information of the first target device 400A, the position information of the second target device 400B, and the position information of the height target device 500 to the flying object control unit .

[0104] <Target measurement result acquisition unit 183> The target measurement result acquisition unit 183 acquires, from the first flying object 200A, measurement data obtained by measurement of the first target device 400A by the target measurement unit 233 of the first flying object 200A. If the target measurement unit 233 of the first flying object 200A is an imaging device, the measurement data obtained by measurement of the first target device 400A by the target measurement unit 233 is, for example, an image captured by the target measurement unit 233 of the first flying object 200A. The image captured by the target measurement unit 233 of the first flying object 200A while the first flying object 200A is hovering above the first target device 400A includes an image of the first target device 400A.

[0105] The target measurement result acquisition unit 183 sends measurement data (e.g., an image) obtained by measurement of the first target device 400A by the target measurement unit 233 of the first flying object 200A to the position target detection unit 131. The image obtained by the target measurement unit 233 will be referred to as a position target image hereinafter. The image obtained by measurement of the first target device 400A by the target measurement unit 233 of the first flying object 200A will be referred to as a position target image of the first target device 400A. In the following, the measurement data obtained by measurement of the first target device 400A by the target measurement unit 233 of the first flying object 200A will be described as a position target image of the first target device 400A.

[0106] The target measurement result acquisition unit 183 acquires, from the second flying object 200B, measurement data obtained by measurement of the second target device 400B by the target measurement unit 233 of the second flying object 200B. If the target measurement unit 233 of the second flying object 200B is an imaging device, the measurement data obtained by measurement of the second target device 400B by the target measurement unit 233 of the second flying object 200B is, for example, an image captured by the target measurement unit 233. The image captured by the target measurement unit 233 of the second flying object 200B while the second flying object 200B is hovering above the second target device 400B includes an image of the second target device 400B.

[0107] The target measurement result acquisition unit 183 sends measurement data (e.g., an image) obtained by measurement of the second target device 400B by the target measurement unit 233 of the second flying body 200B to the position target detection unit 131. The image obtained by measurement of the second target device 400B by the target measurement unit 233 of the second flying body 200B is referred to as a position target image of the second target device 400B. In the following description, the measurement data obtained by measurement of the second target device 400B by the target measurement unit 233 of the second flying body 200B is described as a position target image of the second target device 400B.

[0108] <Position target detection unit 131> The position target detection unit 131 receives measurement data of the first target device 400A (for example, a position target image of the first target device 400A) from the target measurement result acquisition unit 183. In addition, the position target detection unit 131 receives measurement data of the second target device 400B (for example, a position target image of the second target device 400B) from the target measurement result acquisition unit 183.

[0109] The position target detection unit 131 detects the first target device 400A from the measurement data of the first target device 400A (for example, a position target image of the first target device 400A). Note that information about the first target device 400A is provided to the position target detection unit 131 in advance. As described above, the information about the first target device 400A includes a pattern that can identify a reference point of the first target device 400A. The position target detection unit 131 identifies the position of the reference point of the first target device 400A in the position target image of the first target device 400A using the information about the first target device 400A (for example, information about the pattern of the first target device 400A). The position of the reference point of the first target device 400A is, for example, the coordinates of the image of the reference point in a coordinate system set in the position target image of the first target device 400A. The coordinates of the image of the reference point may be information that represents the position in the position target image of the first target device 400A of the pixel where the image of the reference point is located.

[0110] The position target detection unit 131 sends information on the position of the detected reference point of the first target device 400A to the flying object control unit .

[0111] The position target detection unit 131 detects the first target device 400A from the measurement data of the second target device 400B (for example, a position target image of the second target device 400B). Note that information about the second target device 400B is provided to the position target detection unit 131 in advance. As described above, the information about the second target device 400B includes a pattern that can identify a reference point of the second target device 400B. The position target detection unit 131 identifies the position of the reference point of the second target device 400B in the position target image of the second target device 400B using the information about the second target device 400B (for example, information about the pattern of the second target device 400B). The position of the reference point of the second target device 400B is, for example, the coordinates of the image of the reference point in a coordinate system set in the position target image of the second target device 400B. The coordinates of the image of the reference point may be information that represents the position in the position target image of the second target device 400B of the pixel where the image of the reference point is located.

[0112] The position target detection unit 131 sends information on the position of the detected reference point of the second target device 400B to the flying object control unit .

[0113] <Height measurement result acquisition unit 184> The target measurement result acquisition unit 183 acquires, from the first flying object 200A, measurement data obtained by measurement of the height target device 500 by the height target measurement unit 234 of the first flying object 200A. If the height target measurement unit 234 of the first flying object 200A is an imaging device, the obtained measurement data is an image. In the following description, the measurement data obtained by measurement of the height target device 500 by the height target measurement unit 234 of the first flying object 200A will be described as an image. In the following description, an image obtained by measurement (i.e., imaging) of the height target device 500 by the height target measurement unit 234 of the first flying object 200A will be referred to as a height target image of the first flying object 200A. If the first flying object 200A is facing in a direction that allows the height target measurement unit 234 of the first flying object 200A to image the height target device 500, the height target image of the first flying object 200A will include an image of the height target device 500.

[0114] The target measurement result acquisition unit 183 sends the height target image of the first flying object 200A to the height target detection unit 132.

[0115] The target measurement result acquisition unit 183 acquires, from the second flying object 200B, measurement data obtained by measurement of the height target device 500 by the height target measurement unit 234 of the second flying object 200B. If the height target measurement unit 234 of the second flying object 200B is an imaging device, the obtained measurement data is an image. In the following description, the measurement data obtained by measurement of the height target device 500 by the height target measurement unit 234 of the second flying object 200B will be described as an image. In the following description, an image obtained by measurement (i.e., imaging) of the height target device 500 by the height target measurement unit 234 of the second flying object 200B will be referred to as a height target image of the second flying object 200B. If the second flying object 200B is facing in a direction that allows the height target measurement unit 234 of the second flying object 200B to image the height target device 500, the height target image of the second flying object 200B will include an image of the height target device 500.

[0116] The target measurement result acquisition unit 183 sends the height target image of the second flying object 200B to the height target detection unit 132.

[0117] <Planetary object measurement result acquisition unit 185> The flying object measurement result acquisition unit 185 receives measurement data from a flying object 200 (e.g., a first flying object 200A) obtained by the flying object measurement unit 235 of the flying object 200 (e.g., the first flying object 200A) measuring another flying object (e.g., a second flying object 200B). In the following description, the flying object measurement unit 235 is an imaging device, and the flying object measurement result acquisition unit 185 receives measurement data obtained by measuring the second flying object 200B from the first flying object 200A. In this case, the obtained measurement data is an image. An image obtained by the flying object measurement unit 235 of the flying object 200 capturing an image of another flying object 200 is referred to as a flying object image. A flying object image obtained by the flying object measurement unit 235 of the first flying object 200A capturing an image of the second flying object 200B is referred to as a flying object image of the second flying object 200B. When the flying object measurement unit 235 measures an image while the first flying object 200A is facing in a direction that allows the flying object measurement unit 235 of the first flying object 200A to capture an image of the second flying object 200B, the captured flying object image of the second flying object includes an image of the second flying object 200B.

[0118] The flying object measurement result acquisition unit 185 sends the flying object image of the second flying object 200B, acquired from the first flying object 200A, to the height target detection unit 132.

[0119] <Height target detection unit 132> The height target detection unit 132 receives a height target image of the first flying object 200A from the target measurement result acquisition unit 183. The height target detection unit 132 also receives a height target image of the second flying object 200B from the target measurement result acquisition unit 183. The height target detection unit 132 receives a flying object image of the second flying object B from the flying object measurement result acquisition unit 185.

[0120] The height target detection unit 132 detects the height target device 500 from the height target image of the first flying object 200A. Note that information about the height target device 500 is provided to the height target detection unit 132 in advance. As described above, the information about the height target device 500 includes a pattern that can identify the reference point of the height target device 500. The height target detection unit 132 identifies the position of the reference point of the height target device 500 in the position target image of the height target device 500 using the information about the height target device 500 (e.g., information about the pattern of the height target device 500). The position of the reference point of the height target device 500 is, for example, the coordinates of the image of the reference point in a coordinate system set in the position target image of the height target device 500. The coordinates of the image of the reference point may be information that represents the position in the position target image of the height target device 500 of the pixel where the image of the reference point is located.

[0121] The height target detection unit 132 sends to the flying object control unit 130 information on the position of the reference point of the height target device 500 detected from the height target image of the first flying object 200A.

[0122] The height target detection unit 132 detects the height target device 500 from the height target image of the second flying body 200B. The height target detection unit 132 uses information about the height target device 500 (for example, information about the pattern of the height target device 500) to identify the position of the reference point of the height target device 500 in the position target image of the height target device 500. The position of the reference point of the height target device 500 is, for example, the coordinates of the image of the reference point in a coordinate system set in the position target image of the height target device 500. The coordinates of the image of the reference point may be information representing the position in the position target image of the height target device 500 of the pixel at which the image of the reference point is located.

[0123] The height target detection unit 132 sends to the flying object control unit 130 information on the position of the reference point of the height target device 500 detected from the height target image of the second flying object 200B.

[0124] The height target detection unit 132 receives a flying object image of the second flying object 200B acquired from the first flying object 200A from the flying object measurement result acquisition unit 185. The height target detection unit 132 detects a figure indicating the reference plane of the second flying object 200B from the flying object image of the second flying object 200B. In this case, the height target detection unit 132 may extract a region of the second flying object 200B from the flying object image of the second flying object 200B, and detect a figure indicating the reference plane in the extracted region of the second flying object 200B.

[0125] The height target detection unit 132 sends information on the position of the graphic indicating the reference plane of the second flying object 200B to the flying object control unit 130. The information on the position of the graphic indicating the reference plane of the second flying object 200B may be, for example, information representing the distribution of coordinates indicating height within the image among the coordinates of pixels included in the detected image of the graphic indicating the reference plane. The information representing the distribution of coordinates may be a combination of the maximum coordinate value and the minimum coordinate value. The information representing the distribution of coordinates may also be a statistical value of the coordinates (for example, the median, intermediate value, or average value, etc.).

[0126] <Flying object control unit 130> The flying object control unit 130 receives information on the position of the first target device 400A, information on the position of the second target device 400B, and information on the position of the height target device 500 from the target position identification unit 120.

[0127] The flying object control unit 130 transmits to the first flying object 200A an instruction to fly to the position indicated by the received information on the position of the first target device 400A (i.e., the position of the first target device 400A). At this time, the flying object control unit 130 may first transmit to the first flying object 200A an instruction to rise to a predetermined height. Thereafter, the flying object control unit 130 transmits to the first flying object 200A an instruction to fly to the position of the first target device 400A while maintaining the height. Upon receiving such an instruction, the first flying object 200A reaches the air above the first target device 400A and then comes to a halt in the air.

[0128] Then, the flying object control unit 130 transmits an instruction to the first flying object 200A to capture a position target image. The flying object control unit 130 may request the first flying object 200A to transmit status information and receive the status information from the first flying object 200A. After transmitting the instruction to fly to the position of the first target device 400A, if the received status information indicates that the first flying object 200A is stationary in the air, the flying object control unit 130 may transmit an instruction to the first flying object 200A to capture a position target image. The status information may include information about the position of the first flying object. In this case, if the received status information indicates that the first flying object 200A is stationary in the air within a predetermined distance from the position of the first target device 400A, the flying object control unit 130 may transmit an instruction to the first flying object 200A to capture a position target image. In these cases, for example, when the transmitter / receiver unit 210 of the flying object 200 receives a request to transmit status information, it acquires the status information from, for example, at least one of the measurement control unit 220 and the movement control unit 240, and transmits the acquired status information to the control device 100.

[0129] When the measurement control unit 220 of the flying object 200 receives an instruction to capture a position target image, it may use the target measurement unit 233 to continuously measure (e.g., capture images of) the target device 400. The transmitting / receiving unit 210 may transmit the obtained measurement data (e.g., target image) to the control device 100 every time measurement data (e.g., target image) is obtained. Every time the target measurement result acquisition unit 183 receives measurement data (e.g., target image), the position target detection unit 131 may detect the position of the reference point of the target device 400 and send information on the detected position of the reference point to the flying object control unit 130.

[0130] The flying object control unit 130 receives information on the position of the reference point of the first target device 400A detected from the position target image of the first target device 400A from the position target detection unit 131. The flying object control unit 130 uses the received information on the position of the reference point of the first target device 400A to determine whether or not the first flying object 200A is present in the air above the first target device 400A.

[0131] Specifically, for example, the flying object control unit 130 determines whether the position of the reference point of the received first target device 400A matches the position of the above-mentioned target point. If it is determined that the position of the reference point of the received first target device 400A matches the position of the above-mentioned target point, the flying object control unit 130 determines that the first flying object 200A is present in the sky above the first target device 400A. If it is determined that the position of the reference point of the received first target device 400A does not match the position of the above-mentioned target point, the flying object control unit 130 determines that the first flying object 200A is not present in the sky above the first target device 400A.

[0132] As described above, when the position of the reference point of the first target device 400A in the position target image of the first target device 400A matches the position of the target point described above, the first flying object 200A is stationary in the sky above the first target device 400A. For example, if the distance between the position of the reference point of the received first target device 400A and the position of the target point described above is less than a predetermined threshold, the flying object control unit 130 may determine that the position of the reference point of the received first target device 400A matches the position of the target point described above. For example, if the distance between the position of the reference point of the received first target device 400A and the position of the target point described above is equal to or greater than a predetermined threshold, the flying object control unit 130 may determine that the position of the reference point of the received first target device 400A does not match the position of the target point described above.

[0133] If it is determined that the position of the reference point of the received first target device 400A does not match the position of the target point described above, the flying object control unit 130 identifies the positional relationship between the position of the reference point of the received first target device 400A and the position of the target point described above. Specifically, if it is determined that the position of the reference point of the received first target device 400A does not match the position of the target point described above, the flying object control unit 130 calculates the direction in which the first flying object 200A should move in order to move the position of the reference point of the first target device 400A so that it matches the position of the target point. The flying object control unit 130 transmits an instruction to the first flying object 200A to move in the calculated direction.

[0134] The flying object control unit 130 repeats the determination of whether the position of the reference point of the first target device 400A matches the position of the target point and the above-mentioned movement instruction to the first flying object 200A until it is determined that the position of the reference point of the first target device 400A matches the position of the target point. Hereinafter, the operation of repeating the determination of whether the position of the reference point of the target device 400 (e.g., the first target device 400A) matches the position of the target point and the above-mentioned movement instruction to the flying object 200 (e.g., the first flying object 200A) until it is determined that the position of the reference point of the first target device 400A matches the position of the target point is referred to as position adjustment.

[0135] The flying object control unit 130 may calculate the distance to move the first flying object 200A from the camera parameters of the target measurement unit 233, which is an imaging device, the measured height of the first flying object 200A, and the distance between the position of the reference point of the first target device 400A and the position of the target point in the obtained image. Specifically, the flying object control unit 130 calculates an estimated distance in three-dimensional space between the reference point of the first target device 400A and the intersection point between the reference line of the first flying object 200A and the surface on which the first target device 400A is placed. For example, the flying object control unit 130 may calculate the distance between the intersection point and the reference point of the first target device 400A assuming that the first target device 400A is placed on a horizontal plane and the height of the first flying object 200A from the horizontal plane is the measured height of the first flying object 200A. The flying object control unit 130 acquires a measured value of the height of the first flying object 200A from the first flying object 200A. The flying object control unit 130 may calculate the distance to move the first flying object 200A by multiplying this estimated distance by a coefficient of 1 or less. The flying object control unit 130 may then transmit, as the movement instruction, an instruction to move the first flying object 200A in the calculated direction by the calculated distance.

[0136] The flying object control unit 130 may transmit, as the movement instruction, an instruction to move in the calculated direction for a predetermined time to the first flying object 200A. This predetermined time may be a time experimentally determined in advance so as to prevent the movement of the flying object 200 from becoming unstable.

[0137] Furthermore, the flying object control unit 130 receives information on the position of the reference point of the height target device 500 detected from the target image from the target position identification unit 120. The timing at which the flying object control unit 130 receives information on the position of the reference point of the height target device 500 detected from the target image from the target position identification unit 120 may be before the above-mentioned position adjustment. The timing at which the flying object control unit 130 receives information on the position of the reference point of the height target device 500 detected from the target image from the target position identification unit 120 may be after the above-mentioned position adjustment.

[0138] After the position adjustment, the flying object control unit 130 calculates the positional relationship between the first flying object 200A and the height target device 500 using information on the position of the first flying object 200A, information on the direction in which the first flying object 200A is facing, and information on the position of the reference point of the height target device 500. The flying object control unit 130 calculates, for example, the relationship between the direction in which the first flying object 200A is facing and the direction from the first flying object 200A to the height target device 500 as the above-mentioned positional relationship. The flying object control unit 130 uses the direction in which the first flying object 200A is facing and the measurement range of the height target measurement unit 234 to calculate the direction and magnitude of rotation of the first flying object 200A so as to orient the first flying object 200A in a direction in which the height target measurement unit 234 can measure the height target device 500. When the height target measurement unit 234 is an imaging device, the measurement range of the height target measurement unit 234 is the angle of view of the height target measurement unit 234 .

[0139] Then, the flying object control unit 130 transmits an instruction to the first flying object 200A to rotate in the calculated direction and magnitude. As a result, the direction of the first flying object 200A becomes a direction in which the height target measurement unit 234 mounted on the first flying object 200A can measure the height target device 500. The operation described above of adjusting the direction of the flying object 200 to a direction in which the height target measurement unit 234 mounted on the flying object 200 can measure the height target device 500 will be referred to as direction adjustment below.

[0140] Furthermore, the flying object control unit 130 transmits an instruction to the first flying object 200A to measure the height target device 500 (for example, to have the height target measurement unit 234 capture an image of the height target device). As described above, the height target measurement unit 234 will be described as an imaging device. An image obtained by capturing an image of the height target device by the height target measurement unit 234 will be referred to as a height target image. Upon receiving the instruction to measure the height target device 500, the measurement control unit 220 measures the height target device 500 using the height target measurement unit 234. Upon receiving the instruction to measure the height target device 500, the measurement control unit 220 may continuously measure the height target device 500 using the height target measurement unit 234. Each time a height target image captured by the height target measurement unit 234 is obtained under the control of the movement control unit 240, the transceiver unit 210 of the first flying object 200A transmits the obtained height target image to the height measurement result acquisition unit 184. The height measurement result acquisition unit 184 acquires a height target image and transmits the acquired height target image to the height target detection unit 132. The height target detection unit 132 receives the height target image, detects the height target device 500 from the received height target image, and detects the position of the reference point of the height target device 500. The height target detection unit 132 sends the position of the reference point of the height target device 500 to the flying object control unit 130.

[0141] The flying object control unit 130 receives information about the height of the reference point of the height target device 500, detected from the height target image of the first flying object 200A, from the height target detection unit 132. Using the received information about the position of the reference point of the height target device 500, the flying object control unit 130 determines whether the height of the first flying object 200A (specifically, the height of the reference point of the first flying object 200A) and the height of the height target device 500 (the height of the reference point of the height target device 500) match.

[0142] Specifically, the flying object control unit 130 determines whether the target line of the height target image of the first flying object 200A includes an image of the reference point of the height target device 500. The flying object control unit 130 calculates the distance between the target line of the height target image of the first flying object 200A and the image of the reference point of the height target device 500. For example, if the calculated distance is less than a predetermined distance threshold, the flying object control unit 130 determines that the target line of the height target image of the first flying object 200A includes an image of the reference point of the height target device 500. For example, if the calculated distance is equal to or greater than a predetermined distance threshold, the flying object control unit 130 determines that the target line of the height target image of the first flying object 200A does not include an image of the reference point of the height target device 500. If the flying object control unit 130 determines that the target line of the height target image of the first flying object 200A includes an image of the reference point of the height target device 500, it determines that the height of the first flying object 200A matches the height of the height target device 500. If the flying object control unit 130 determines that the target line of the height target image of the first flying object 200A does not include an image of the reference point of the height target device 500, it determines that the height of the first flying object 200A does not match the height of the height target device 500.

[0143] If it is determined that the height of the first flying object 200A does not match the height of the height target device 500, the flying object control unit 130 identifies the relationship between the height of the first flying object 200A and the height of the height target device 500. Using the identified positional relationship, the flying object control unit 130 sends an instruction to the first flying object 200A to change the height of the first flying object 200A so that the height of the first flying object 200A matches the height of the height target device 500.

[0144] For example, if the image of the reference point of the height target device 500 is located lower than the target line of the height target image of the first flying body 200A, the height of the first flying body 200A is higher than the height of the height target device 500. If the height of the first flying body 200A is higher than the height of the height target device 500, the flying body control unit 130 sends an instruction to the first flying body 200A to descend the body. If the image of the reference point of the height target device 500 is located higher than the target line of the height target image of the first flying body 200A, the height of the first flying body 200A is lower than the height of the height target device 500. If the height of the first flying body 200A is lower than the height of the height target device 500, the flying body control unit 130 sends an instruction to the first flying body 200A to ascend the body.

[0145] The flying object control unit 130 may use camera parameters such as the angle of view of the height target measurement unit 234 and the distance between the first flying object 200A and the height target device 500 to calculate the difference between the height of the reference plane of the first flying object 200A and the height of the height target device 500 in three-dimensional space. If the height of the first flying object 200A is lower than the height of the height target device 500, the flying object control unit 130 may multiply the calculated difference by a coefficient of 1 or less as the ascent distance in the instruction to raise the flying object. If the height of the first flying object 200A is higher than the height of the height target device 500, the flying object control unit 130 may multiply the calculated difference by a coefficient of 1 or less as the descent distance in the instruction to raise the descending flying object. When receiving a height change instruction including a distance, the movement control unit 240 of the flying object 200 changes the height of the flying object so that the change in measurement value measured by a distance measurement device attached facing downward toward the flying object matches the distance specified in the instruction.

[0146] The flying object control unit 130 may send an instruction to the first flying object to change the height of the flying object for a predetermined time period, which may be a value experimentally determined in advance so as to prevent the height of the flying object from becoming unstable.

[0147] The flying object control unit 130 repeats the determination of whether the height of the first flying object 200A matches the height of the height target device 500 and the instruction to change the height described above to the first flying object 200A until it is determined that the height of the first flying object 200A matches the height of the height target device 500. The above-described operation of repeating the determination of whether the height of the flying object 200 matches the height of the height target device 500 and the instruction to change the height until it is determined that the height of the flying object 200 matches the height of the height target device 500 will be referred to as height adjustment below.

[0148] Note that, upon completion of the height adjustment, the flying object control unit 130 may transmit an instruction to the flying object 200 to measure the height of the flying object 200. In accordance with the instruction, the measurement control unit 220 of the flying object 200 measures the height of the flying object 200 using the distance measurement device that measures the distance from the road surface. For example, if the target area is flat, the manager of the flying object 200 may set the flying object 200 to a flight mode in which the flying object 200 maintains a constant distance measured by the distance measurement device that measures the distance from the road surface when moving without changing its height. When the manager of the flying object 200 instructs the flying object 200 to operate in such a mode using an input device such as a keyboard or mouse of the control device 100, the flying object control unit 130 transmits an instruction to operate in such a mode to the flying object 200. The flying object 200 then operates in the above-described mode in accordance with the instruction. In this case, the flying object 200 is configured to operate in a flying mode such that the distance measured by the distance measurement device that measures the distance from the road surface maintains a set distance. As in a second modified example of this embodiment described below, when there are multiple combinations of first target device 400A and second target device 400B, the flying object 200 moves from the sky above the target device 400 to the sky above another target device 400. The movement control unit 240 may be configured to, during such movement, fly the flying object 200 while maintaining a state in which the distance measured by the distance measurement device that measures the distance from the road surface under the control of the measurement control unit 220 is the height measured at the end of the height adjustment.

[0149] The height target device 500 may be installed at a location with a known altitude. The altitude of a location with a known altitude refers to the altitude of the ground surface on which the freestanding device to which the height target device 500 is attached is installed. Furthermore, the height from the ground surface of the location with a known altitude to the height target device 500 may be known. In other words, the altitude of the height target device 500 may be known. The altitude of the location where the height target device 500 is installed and the height from the ground surface of that location to the height target device 500 may be provided to the control device 100. The flying object control unit 130 may acquire information about the attitude of the flying object 200 from the measurement control unit 220 of the flying object 200. In this case, the measurement control unit 220 may be configured to acquire information about the attitude of the flying object 200 using a gyro or the like. The flying object control unit 130 may calculate the altitude of the flying object 200 using the altitude of the location where the height target device 500 is installed, the height from the ground surface to the height target device 500, information on the attitude of the flying object 200, the structure of the flying object 200, camera parameters of the height target measurement unit 250, etc. In this case, the flying object control unit 130 extracts, from an image captured of the height target device 500, a point indicating the location where the free-standing device to which the height target device 500 is attached is installed and a reference point of the height target device 500. The flying object control unit 130 calculates the positional relationship between the height target measurement unit 250 and the free-standing device using, for example, the coordinates on the image of the two extracted points, the height from the ground surface to the height target device 500, the camera parameters of the height target measurement unit 250, etc. The flying object control unit 130 calculates the positional relationship between the flying object 200, the height target measurement unit 250, and the self-standing device from, for example, the calculated positional relationship, information on the attitude of the flying object 200, and the structure of the flying object 200. Then, the flying object control unit 130 calculates the altitude of the flying object 200 from the positional relationship between the flying object 200, the height target measurement unit 250, and the self-standing device, and the altitude of the place where the height target device 500 is installed.

[0150] When there are multiple combinations of first target devices 400A and second target devices 400B, as in a second modified example of this embodiment described below, the flying object control unit 130 may control the flying object 200 so that the flying object 200 flies while maintaining a constant altitude, for example, as follows. When causing the flying object 200 to fly, the flying object control unit 130 transmits to the flying object 200 an instruction to change the direction of the flying object 200 to a direction that allows an image of the height target device 500 to be captured. Furthermore, while the flying object 200 is flying, the flying object control unit 130 may cause the height target measurement unit 234 to capture an image of the height target device 500, and may transmit, for example, periodically, an instruction to transmit the obtained image and an instruction to transmit information about the attitude of the flying object 200. Then, the flying object control unit 130 calculates the altitude of the flying object 200 as described above using the information about the attitude of the flying object 200 and the image of the height target device 500. If the calculated altitude is higher than the altitude of the height target device 500, the flying object control unit 130 transmits to the flying object 200 an instruction to lower the flying height of the flying object 200. If the calculated altitude is lower than the altitude of the height target device 500, the flying object control unit 130 transmits to the flying object 200 an instruction to increase the flying height of the flying object 200.

[0151] Furthermore, the flying object control unit 130 transmits to the second flying object 200B an instruction to fly to the position indicated by the received information on the position of the second target device 400B (i.e., the position of the second target device 400B). At this time, the flying object control unit 130 may first transmit to the second flying object 200B an instruction to rise to a predetermined height. Thereafter, the flying object control unit 130 transmits to the second flying object 200B an instruction to fly to the position of the second target device 400B while maintaining the height. Upon receiving such an instruction, the second flying object 200B reaches the air above the second target device 400B and then comes to a halt in the air.

[0152] The flying object control unit 130 then performs the above-described position adjustment, direction adjustment, and height adjustment for the second flying object 200B. The position adjustment for the second flying object 200B is the same as the position adjustment for the first flying object 200A, except that the flying object 200 is the second flying object 200B instead of the first flying object 200A, and the target device 400 is the second target device 400B instead of the first target device 400A. The flying object control unit 130 performs the position adjustment for the second flying object 200B in accordance with the above-described description of the position adjustment for the first flying object 200A, with the first flying object 200A replaced by the second flying object 200B and the first target device 400A replaced by the second target device 400B.

[0153] The direction adjustment for the second flying object 200B is the same as the direction adjustment for the first flying object 200A, except that the flying object 200 is the second flying object 200B instead of the first flying object 200A. The flying object control unit 130 adjusts the direction for the second flying object 200B in accordance with the description of the direction adjustment for the first flying object 200A described above, with the first flying object 200A replaced by the second flying object 200B.

[0154] The height adjustment for the second flying object 200B is the same as the height adjustment for the first flying object 200A, except that the flying object 200 is the second flying object 200B instead of the first flying object 200A. The flying object control unit 130 performs height adjustment for the second flying object 200B in accordance with the above-described height adjustment for the first flying object 200A, with the first flying object 200A replaced by the second flying object 200B.

[0155] The flying object control unit 130 adjusts the position, direction, and height of the first flying object 200A, After the position adjustment, direction adjustment, and height adjustment for the second flying body 200B, the second direction adjustment and second height adjustment for the first flying body 200A are performed.

[0156] The second direction adjustment for the flying object 200 (e.g., the first flying object 200A) is, for example, as described below, changing the direction of the flying object 200 to a direction in which the flying object measurement unit 235 of that flying object 200 can measure another flying object 200 (e.g., the second flying object 200B).

[0157] The following describes a case where the flying object measurement unit 235 is an imaging device. In this case, the flying object control unit 130 calculates the direction and magnitude of rotation when rotating the first flying object 200A so that a point at the same height as the first flying object 200A vertically above the reference point of the second target device 400B is included in the angle of view of the flying object measurement unit 235. When calculating the direction and magnitude of rotation, the flying object control unit 130 uses the position of the reference point of the second target device 400B identified by the target position identification unit 120 as the position of the reference point of the second target device 400B. The flying object control unit 130 may calculate the direction and magnitude of rotation when rotating the first flying object 200A so that the optical axis of the flying object measurement unit 235 intersects with a line perpendicular to a horizontal plane passing through the reference point of the second target device 400B. The flying object control unit 130 transmits an instruction to the first flying object 200A to rotate in the calculated direction and magnitude.

[0158] The second height adjustment for the flying object 200 (e.g., the first flying object 200A) is, for example, as described below, changing the height of the flying object 200 so that it becomes the same as the height of another flying object 200 (e.g., the second flying object 200B).

[0159] The flying object control unit 130 receives information on the position of the graphic representing the reference plane of the second flying object 200B from the height target detection unit 132. The flying object control unit 130 determines whether the target line passes through the position of the graphic representing the reference plane of the second flying object 200B. If the flying object control unit 130 determines that the target line passes through the position of the graphic representing the reference plane of the second flying object 200B, the flying object control unit 130 may determine that the height of the first flying object 200A is the same as the height of the second flying object 200B. If the flying object control unit 130 determines that the target line does not pass through the position of the graphic representing the reference plane of the second flying object 200B, the flying object control unit 130 may determine that the height of the first flying object 200A is not the same as the height of the second flying object 200B.

[0160] Specifically, the flying object control unit 130 calculates the distance between the target line and the position of the graphic representing the reference plane of the second flying object 200B. For example, if the calculated distance is less than a predetermined distance threshold, the flying object control unit 130 determines that the target line passes through the position of the graphic representing the reference plane of the second flying object 200B. For example, if the calculated distance is equal to or greater than a predetermined distance threshold, the flying object control unit 130 determines that the target line does not pass through the position of the graphic representing the reference plane of the second flying object 200B.

[0161] If it is determined that the height of the first flying object 200A is not the same as the height of the second flying object 200B, the flying object control unit 130 changes the height of the first flying object 200A so that the height of the first flying object 200A becomes the same as the height of the second flying object 200B, for example, as follows.

[0162] The flying object control unit 130 calculates the difference in height between the first flying object 200A and the second flying object 200B in three-dimensional space from the distance between the target line and the position of the figure indicating the reference plane of the second flying object 200B. Specifically, the difference in height between the first flying object 200A and the second flying object 200B is the difference between the height of the reference plane of the first flying object 200A and the height of the reference plane of the second flying object 200B. The flying object control unit 130 calculates the difference in height between the first flying object 200A and the second flying object 200B using camera parameters such as the angle of view and resolution of the flying object measurement unit 235 of the first flying object 200A and the distance between the first target device 400A and the second target device 400B.

[0163] The flying object control unit 130 sends an instruction to the first flying object 200A to change the height by a value obtained by multiplying the calculated difference by a constant less than or equal to 1 in a direction that reduces the difference between the heights of the first flying object 200A and the second flying object 200B.

[0164] The flying object control unit 130 repeats determining the difference between the height of the first flying object 200A and the height of the second flying object 200B and sending an instruction to change the height of the first flying object 200A until it determines that the height of the first flying object 200A is the same as the height of the second flying object 200B.

[0165] When the flying object 200 is configured so that the optical axis of the flying object measurement unit 235 and the measurement direction of the distance measurement unit 236 are the same, the flying object control unit 130 may perform a fine direction adjustment, which will be described below, after the second direction adjustment and second position adjustment of the first flying object 200A. The fine direction adjustment is to change the direction of the first flying object 200A so that the direction of distance measurement by the distance measurement unit 236 of the first flying object 200A coincides with the direction from the distance measurement unit 236 of the first flying object 200A toward the reference line of the second flying object 200B.

[0166] When the flying object measurement unit 235 of the first flying object 200A continues to measure the second flying object 200B, the flying object measurement result acquisition unit 185 continues to receive measurement data (i.e., images) of the second flying object 200B from the first flying object 200A. When the flying object measurement unit 235 of the first flying object 200A does not continue to measure the second flying object 200B, the flying object control unit 130 sends an instruction to the first flying object 200A to measure the second flying object 200B. In this case, the first flying object 200A sends the measurement data (i.e., images) of the second flying object 200B to the control device 100. Then, the flying object measurement result acquisition unit 185 receives the measurement data (i.e., images) of the second flying object 200B from the first flying object 200A.

[0167] The flying object control unit 130 acquires an image of the second flying object 200B (hereinafter referred to as an image of the second flying object 200B) from the flying object measurement result acquisition unit 185, for example, via the height target detection unit 132. The flying object control unit 130 detects a reference line of the second flying object 200B from the image of the second flying object 200B. The flying object control unit 130 may detect a member of the second flying object 200B that indicates the above-mentioned reference line from the image of the second flying object 200B, and detect a straight line indicated by an image of the member that indicates the detected reference line as the reference line of the second flying object 200B.

[0168] The flying object control unit 130 determines whether the direction of distance measurement by the distance measurement unit 236 (hereinafter referred to as the distance measurement direction) coincides with the direction from the flying object measurement unit 235 toward the reference line of the second flying object 200B (hereinafter referred to as the flying object direction). Specifically, the flying object control unit 130 determines, for example, whether a line indicating the reference line of the second flying object 200B passes through a point indicating the optical axis of the flying object measurement unit 235. If the flying object control unit 130 determines that the line indicating the reference line of the second flying object 200B passes through a point indicating the optical axis of the flying object measurement unit 235, it determines that the distance measurement direction coincides with the flying object direction. If the flying object control unit 130 determines that the line indicating the reference line of the second flying object 200B does not pass through a point indicating the optical axis of the flying object measurement unit 235, it determines that the distance measurement direction does not coincide with the flying object direction.

[0169] If it is determined that the distance measurement direction does not match the flying object direction, the flying object control unit 130 calculates the direction and magnitude of rotation of the first flying object 200A so that the distance measurement direction matches the flying object direction, for example, as follows. The angle between the direction indicated by an arbitrary point in the image and the direction of the optical axis can be calculated using camera parameters such as the angle of view and resolution of the imaging device and a point representing the optical axis of the imaging device in an image captured by the imaging device. For example, in the image of the second flying object 200B, the flying object control unit 130 calculates the intersection point between a line passing through the point representing the optical axis of the flying object measurement unit 235 and parallel to the line representing the reference plane of the first flying object 200A, and a line indicated by an image of a component representing the reference line of the second flying object 200B. The flying object control unit 130 then calculates the angle between the direction indicated by the optical axis of the flying object measurement unit 235 and the direction indicated by the calculated intersection point. The flying object control unit 130 determines the direction in which the first flying object 200A is rotated so that the distance measurement direction coincides with the flying object direction, so that the direction indicated by the optical axis of the flying object measurement unit 235 coincides with the direction indicated by the calculated intersection. The flying object control unit 130 determines the angle obtained by multiplying the angle between the direction indicated by the optical axis of the flying object measurement unit 235 and the direction indicated by the calculated intersection by a constant less than or equal to 1 as the magnitude of rotation of the first flying object so that the distance measurement direction coincides with the flying object direction.

[0170] The flying object control unit 130 transmits an instruction to the first flying object 200A to rotate in the calculated direction and magnitude.

[0171] The flying object control unit 130 may repeat the process of determining whether the distance measurement direction and the flying object direction match and sending an instruction to rotate in the calculated direction and magnitude until it is determined that the distance measurement direction and the flying object direction match.

[0172] When the position adjustment, direction adjustment, and height adjustment of the first flying object and the position adjustment, direction adjustment, and height adjustment of the second flying object are completed, the flying object control unit 130 notifies the measurement control unit 140 of the end of the arrangement adjustment. If the flying object control unit 130 is configured to perform fine direction adjustment, when the position adjustment, direction adjustment, and height adjustment of the first flying object and the position adjustment, direction adjustment, height adjustment, and fine direction adjustment of the second flying object are completed, the flying object control unit 130 notifies the measurement control unit 140 of the end of the arrangement adjustment.

[0173] <Measurement control unit 140> When the measurement control unit 140 is notified by the flying object control unit 130 that the adjustment of the positioning has been completed, it sends an instruction to the flying object 200 (e.g., the first flying object 200A) to measure the distance to another flying object 200 (e.g., the second flying object 200B).

[0174] <Distance acquisition section 150> The distance acquisition unit 150 acquires the measured distance from the flying object 200 (for example, the first flying object 200A). The distance acquisition unit 150 sends information indicating the measured distance to the estimation unit 160.

[0175] If other information necessary for estimating the distance between the first flying object 200A and the second flying object 200B (for example, an image of the second flying object 200B captured while irradiating a laser beam on a ranging point when measuring the distance) exists, the distance acquisition unit 150 acquires the information from the first flying object 200A. In this example, for example, the measurement control unit 220 may be configured to control a laser light source attached to the distance measurement unit 236 to irradiate a laser beam on a ranging point when the distance measurement unit 236 measures the distance. The measurement control unit 220 may further be configured to control the flying object measurement unit 235 so that the flying object measurement unit 235 captures an image of the second flying object 200B while the laser beam is being irradiated when the distance measurement unit 236 measures the distance. The measurement control unit 220 may be configured to transmit an image of the second flying object 200B captured while laser light is irradiating the ranging point to the distance acquisition unit 150 of the control device 100 via the transmission / reception unit 210.

[0176] <Estimation part 160> The estimation unit 160 receives information representing the measured distance from the distance acquisition unit 150. The estimation unit 160 estimates the distance between the first flying object 200A and the second flying object 200B based on the structures of the first flying object 200A and the second flying object 200B and the measured distance. As described above, the distance between the first flying object 200A and the second flying object 200B is the distance between the reference point of the first flying object 200A and the reference point of the second flying object 200B. The structure of the first flying object 200A and the structure of the second flying object 200B may include, for example, information on the shape of the exterior, information on the position of the reference point of the first flying object 200A, information on the position of the reference point of the second flying object 200B, and information on the position and direction in which the distance measurement unit 236 is attached. The estimation unit 160 may estimate the distance between the first flying object 200A and the second flying object 200B by further using an image of the second flying object 200B in which the laser light is irradiated at the distance measurement point, the camera parameters of the flying object measurement unit 235, and the installation position and direction of the flying object measurement unit 235. The estimation unit 160 may estimate the arrangement of the first flying object 200A and the second flying object 200B from this information, and calculate the distance between the reference point of the first flying object 200A and the reference point of the second flying object 200B in that arrangement.

[0177] The estimation unit 160 determines the estimated distance between the first flying object 200A and the second flying object 200B as the distance between the first target device 400A and the second target device 400B. The estimation unit 160 of this embodiment estimates the distance between the first flying object 200A and the second flying object 200B from the measured distance using a method similar to the method used to estimate the distance between the first flying object and the second flying object in the first embodiment described above. The estimation unit 160 may use other information necessary for estimating the distance between the first flying object 200A and the second flying object 200B, as described above, to estimate the distance between the first flying object 200A and the second flying object 200B.

[0178] The estimation unit 160 sends the estimated distance between the first flying object 200A and the second flying object 200B to the output unit 170.

[0179] <Output unit 170> The output unit 170 receives the distance between the first flying object 200A and the second flying object 200B, which has been detected by the estimation unit 160, from the estimation unit 160. The output unit 170 outputs information indicating the received distance to an output destination device. The output destination device may be, for example, an information processing device such as a server that is communicatively connected to the control device 100 directly or via the communication network 300. The output destination device may also be a storage device such as a storage that is communicatively connected to the control device 100.

[0180] <Operation> FIG. 6 is a flowchart illustrating an example of the overall operation of the control device 100 according to the second embodiment of the present disclosure. In the example shown in FIG. 6, the control device 100 executes a target position identification process (step S101). Next, the control device 100 executes a second body position control process (step S102). The control device 100 executes a first body position control process (step S103). The control device 100 executes a distance estimation process (step S104). Then, the output unit 170 outputs the distance (step S105). The target position identification process, the second body position control process, the first body position control process, and the distance estimation process will be described in detail below.

[0181] FIG. 7 is a flowchart illustrating an example of the operation of the target position identification process of the control device 100 according to the second embodiment of the present disclosure. In the example illustrated in FIG. 7, first, the target image acquisition unit 181 instructs, for example, the first flying object 200A to capture an image of the target area, and acquires the image of the target area from the first flying object 200A (step S111). The image of the target area is the target image described above. The position information acquisition unit 182 acquires position information of the location where the image was captured (step S112). The target detection unit 110 detects the height target device 500, the first target device 400A, and the second target device 400B from the image (step S113). Then, the target position identification unit 120 identifies the respective positions of the height target device 500, the first target device 400A, and the second target device 400B in the target area (step S114). Then, the control device 100 ends the operation illustrated in FIG. 7.

[0182] 8 and 9 are flowcharts illustrating an example of the operation of the second machine body position control process of the control device 100 according to the second embodiment of the present disclosure.

[0183] In the operation shown in FIG. 8, first, the flying object control unit 130 controls the second flying object 200B to fly toward the sky above the second target device 400B (step S121). The flying object control unit 130, for example, transmits an instruction to the second flying object 200B to move parallel to the position of the second target device 400B. Next, the flying object control unit 130 transmits an instruction to the second flying object 200B to measure the second target device 400B. Then, the target measurement result acquisition unit 183 acquires the measurement result of the second target device 400B from the second flying object 200B (step S122). The measurement result is the above-mentioned measurement data, for example, an image of the second target device 400B captured by the target measurement unit 233. The flying object control unit 130 determines whether the second flying object 200B is located above the second target device 400B based on the measurement result of the second target device 400B (step S123). If the second flying object 200B is located above the second target device 400B (YES in step S125), the control device 100 then performs the operation of step S126 in FIG. 9. If the second flying object 200B is not located above the second target device 400B (NO in step S125), the flying object control unit 130 moves the second flying object 200B so that the second flying object 200B comes to rest above the second target device (step S125). The control device 100 then performs the operation of step S126 in FIG. 9.

[0184] In the operation shown in FIG. 9, the flying object control unit 130 transmits an instruction to the second flying object 200B to measure the height target device 500, and the height measurement result acquisition unit 184 acquires the measurement result of the height target device 500 from the second flying object 200B (step S126). The measurement result of the height target device 500 is, for example, an image captured of the height target device 500. The flying object control unit 130 uses the measurement result of the height target device 500 to determine whether the height of the resting position of the second flying object 200B is the same as the height of the height target device 500 (step S127). If the height of the resting position of the second flying object 200B is not the same as the height of the height target device 500 (NO in step S128), the flying object control unit 130 moves the second flying object 200B so that the height of the resting position of the second flying object 200B becomes the same as the height of the height target device 500 (step S129). In this case, the position of the second flying object 200B may be displaced from the sky above the second target device 400B. After the operation of step S129, the control device 100 repeats the operations from step S122 onwards in FIG.

[0185] If the height of the rest position of the second flying object 200B is the same as the height of the height target device 500 (YES in step S128), the control device 100 ends the operations shown in FIGS.

[0186] 10, 11, and 12 are flowcharts illustrating an example of the operation of the first machine body position control process of the control device 100 according to the second embodiment of the present disclosure.

[0187] In the operation shown in FIG. 10, first, the flying object control unit 130 controls the first flying object 200A to fly toward the sky above the first target device 400A (step S131). The flying object control unit 130, for example, transmits an instruction to the first flying object 200A to move parallel to the position of the first target device 400A. Next, the flying object control unit 130 transmits an instruction to the first flying object 200A to measure the first target device 400A. Then, the target measurement result acquisition unit 183 acquires the measurement result of the first target device 400A from the first flying object 200A (step S132). The measurement result is the above-mentioned measurement data, for example, an image of the first target device 400A captured by the target measurement unit 233. The flying object control unit 130 determines whether the first flying object 200A is located above the first target device 400A based on the measurement result of the first target device 400A (step S133). If the first flying object 200A is located above the first target device 400A (YES in step S135), the control device 100 then performs the operation of step S136 in FIG. 9. If the first flying object 200A is not located above the first target device 400A (NO in step S135), the flying object control unit 130 moves the first flying object 200A so that the first flying object 200A comes to rest above the second target device (step S135). The control device 100 then performs the operation of step S136 in FIG. 11.

[0188] In the operation shown in FIG. 11, the flying object control unit 130 transmits an instruction to the first flying object 200A to measure the height target device 500, and the height measurement result acquisition unit 184 acquires the measurement result of the height target device 500 from the first flying object 200A (step S136). The measurement result of the height target device 500 is, for example, an image captured of the height target device 500. The flying object control unit 130 uses the measurement result of the height target device 500 to determine whether the height of the resting position of the first flying object 200A is the same as the height of the height target device 500 (step S137). If the height of the resting position of the first flying object 200A is not the same as the height of the height target device 500 (NO in step S138), the flying object control unit 130 moves the first flying object 200A so that the height of the resting position of the first flying object 200A becomes the same as the height of the height target device 500 (step S139). Next, the control device 100 performs the operation of step S140 shown in Fig. 12. If the height of the rest position of the first flying body 200A is the same as the height of the height target device 500 (YES in step S138), the control device 100 performs the operation of step S140 shown in Fig. 12.

[0189] In the example shown in FIG. 13, the flying object control unit 130 transmits an instruction to the first flying object 200A to measure the second flying object 200B, and the flying object measurement result acquisition unit 185 acquires the measurement result of the second flying object 200B from the first flying object 200A (step S140). The flying object control unit 130 determines whether the height of the resting position of the first flying object 200A is the same as the height of the resting position of the second flying object 200B (step S141). If the heights of the resting positions of the first flying object 200A and the second flying object 200B are not the same (NO in step S142), the flying object control unit 130 moves the first flying object 200A so that the height of the resting position of the first flying object 200A becomes the same as the height of the resting position of the second flying object 200B (step S143). In this case, the position of the first flying object 200A may be shifted from the sky above the first target device 400A. After the operation of step S143, the control device 100 repeats the operations from step S132 onwards in FIG.

[0190] If the heights of both rest positions are the same (YES in step S142), the control device 100 ends the operations shown in FIGS.

[0191] The control device 100 may perform the operations shown in Figures 8 and 9 in parallel with the operations shown in Figures 10 and 11. After the operations shown in Figures 8 and 9 are completed, the control device 100 performs the operation shown in Figure 12.

[0192] 13 is a flowchart illustrating an example of the operation of the distance estimation process of the control device 100 according to the second embodiment of the present disclosure. In the example illustrated in FIG. 13, the measurement control unit 140 instructs the first flying object 200A to measure the distance to the second flying object 200B (step S151). Next, the distance acquisition unit 150 acquires the measurement result of the distance from the first flying object 200A to the second flying object 200B (referred to as the first distance) (step S152). The estimation unit 160 estimates the distance between the first target device 400A and the second target device 400B using the first distance (step S153). Then, the control device 100 ends the operation illustrated in FIG. 13.

[0193] Next, the operation of the flying object according to the second embodiment of the present disclosure will be described in detail with reference to the drawings.

[0194] FIG. 14 is a flowchart illustrating an example of the overall operation of a flying object (e.g., the first flying object 200A) according to the second embodiment of the present disclosure. In the example illustrated in FIG. 14, the first flying object 200A executes a target information acquisition process (step S161). Next, the first flying object 200A executes a body control process (step S162). The target information acquisition process and the body control process will be described in detail later. The distance measurement unit 236 of the first flying object 200A measures the distance to another flying object 200 (e.g., the second flying object 200B) stationary in the air above the second target device 400B (step S163). The distance measurement unit 236 transmits the distance obtained by the measurement via, for example, the measurement control unit 220 and the transceiver unit 210 (step S164).

[0195] In this embodiment, the second flying body 200B does not perform the operations of steps S161, S163, and S164. As will be described below, the details of the aircraft control process for the second flying body 200B differ from the details of the aircraft control process for the first flying body 200A. The second flying body 200B may perform the same aircraft control process as the first flying body 200A described below. In this case, the first flying body 200A performs the same aircraft control process as the second flying body 200B described below. The second flying body 200B may also perform the operations of steps S163 and S164. In this case, the first flying body 200A does not need to perform the operations of steps S163 and S164. In these cases, in the operation of the second flying object 200B, the target device 400 is the second target device 400B, not the first target device 400A.

[0196] FIG. 15 is a flowchart illustrating an example of the operation of a target information acquisition process of a flying object (e.g., first flying object 200A) according to the second embodiment of the present disclosure. In the example illustrated in FIG. 15, the transmitting / receiving unit 210 of the first flying object 200A receives an instruction to capture an image of the target area (step S171). The target image capturing unit 231 captures an image of the target area under the control of the measurement control unit 220 (step S172). The position information acquiring unit 232 acquires position information of the location where the image was captured (step S173). Then, the transmitting / receiving unit 210 transmits the image obtained by capturing the image of the target area and the acquired position information (step S174).

[0197] 16 and 17 are flowcharts illustrating an example of the operation of the flying object control process for the flying object (for example, the first flying object 200A) according to the second embodiment of the present disclosure.

[0198] In the operation shown in FIG. 16, the transmitter / receiver 210 receives an instruction to fly above a target device (for example, the first target device 400A) (step S181). The instruction to fly above the target device is an instruction to move to a specified position, where the position of the target device is specified. The movement control unit 240 controls the body of the first flying object 200A to fly above the first target device 400A. The first flying object 200A flies toward the sky above the first target device 400A (step S182). Then, the first flying object 200A begins to hover above the first target device 400A (step S183). That is, the first flying object 200A comes to a halt in the air above the first target device 400A.

[0199] Next, the target measurement unit 233 starts measuring the first target device 400A and transmitting measurement data of the first target device 400A (step S184). When receiving an instruction to measure the first target device 400A, the target measurement unit 233 starts measuring the first target device 400A. The target measurement unit 233 transmits the measurement data of the first target device 400A via the measurement control unit 220 and the transmission / reception unit 210.

[0200] Furthermore, the height target measurement unit 234 starts measuring the height target device 500 and transmitting measurement data of the height target device 500 (step S185). When an instruction to measure the height target device 500 is received, the height target measurement unit 234 starts measuring the height target device 500. The height target measurement unit 234 transmits the measurement data of the height target device 500 via the measurement control unit 220 and the transmission / reception unit 210.

[0201] Furthermore, the flying object measurement unit 235 starts measuring the other flying object and transmitting the measurement data of the other flying object (step S186). If the flying object 200 is the first flying object 200A, the other flying object is the second flying object 200B. When receiving an instruction to measure the other flying object, the flying object measurement unit 235 starts measuring the other flying object. The flying object measurement unit 235 transmits the measurement data of the other flying object via the measurement control unit 220 and the transceiver unit 210.

[0202] 16 and 17, the operation of step S187 is depicted before the operations of steps S184 to S186, but first flying body 200A may perform the operations of steps S184, S185, and S186 after step S187. In that case, if the instruction received in step S187 described below is an instruction to perform measurement, the first flying body will perform any of the operations of steps S184 to S186 in accordance with the instruction.

[0203] In the operation shown in FIG. 17, the transmitting / receiving unit 210 receives an instruction (step S187). If an instruction to change the position has been received (YES in step S188), the movement control unit 240 changes the position of the body in accordance with the instruction (step S189). Then, the operation of the first flying body 200A returns to step S187. If an instruction to change the position has not been received (NO in step S188), but an instruction to change the height has been received (YES in step S190), the movement control unit 240 changes the height of the body in accordance with the instruction (step S191). Then, the operation of the first flying body 200A returns to step S187.

[0204] If an instruction to change the height has not been received (NO in step S190), for example, if an instruction to measure the distance has been received, the first flying body 200A ends the measurement of the first target device 400A, the height target device 500, and the other flying bodies 200 (step S192). Then, the first flying body 200A ends the operation shown in FIGS. 16 and 17.

[0205] 18 and 17 are flowcharts illustrating an example of the operation of the aircraft control process of a flying object (e.g., the second flying object 200B) according to the second embodiment of the present disclosure. The operation illustrated in FIG. 18 is the same as the operation illustrated in FIG. 16 except that the operation of step S186 is not performed. Furthermore, the operations performed by the second flying object 200B from step S181 to step S185 in FIG. 18 are the same as the operations performed by the second flying object 200B from step S181 to step S185 in FIG. 16 except that the subject of the operations is the second flying object 200B and the target device is the second target device 400B. The operation illustrated in FIG. 17 performed by the second flying object 200B is the same as the operation illustrated in FIG. 17 performed by the first flying object except that in step S192, measurement of the second target device 400B, not the first target device 400A, is completed, and measurement of the other flying objects 200 is not completed. Since the second flying object 200B is not measuring the other flying objects 200, it is not necessary to end the measurement of the other flying objects 200.

[0206] <Effects> This embodiment has the same effects as the first embodiment, for the same reasons as those for the effects of the first embodiment.

[0207] <First Modification of the Second Embodiment> The configuration of the control device 100 of this modified example is the same as the configuration of the control device 100 of the second embodiment. Below, differences between the control device 100 of this modified example and the control device 100 of the second embodiment will be described.

[0208] The flying object control unit 130 performs a precise orientation adjustment for the second flying object 200B. The precise orientation adjustment for the second flying object 200B is the same as the precise orientation adjustment for the first flying object 200A described above, except that the first flying object 200A and the second flying object 200B are replaced with each other. The flying object control unit 130 may perform the precise orientation adjustment for the second flying object 200B by following the operations described above for the precise orientation adjustment for the first flying object 200A, with the first flying object 200A and the second flying object 200B replaced with each other.

[0209] The distance acquisition unit 150 transmits an instruction to measure the distance to the second flying body 200B to the first flying body 200A, and transmits an instruction to measure the distance to the first flying body 200A to the second flying body 200B. The distance acquisition unit 150 acquires the measured distances from both the first flying body 200A and the second flying body 200B.

[0210] The estimation unit 160 estimates the distance between the first flying object 200A and the second flying object 200B from the distance acquired from the first flying object 200A (hereinafter referred to as the first distance) and the distance acquired from the second flying object 200B (hereinafter referred to as the second distance). For example, the estimation unit 160 may determine the average of the distance acquired from the first flying object 200A and the distance acquired from the second flying object 200B as the distance between the first flying object 200A and the second flying object 200B.

[0211] The operation of the control device 100 of this modified example is the same as that of the control device 100 of the second embodiment, except that the operation of the distance estimation process in step S104 of FIG. 6 is the operation shown in FIG.

[0212] 19 is a flowchart illustrating an example of the operation of the distance estimation process of the control device 100 according to the first modified example of the second embodiment of the present disclosure. In the example illustrated in FIG. 19, the measurement control unit 140 instructs the first flying object 200A to measure the distance to the second flying object 200B (step S151). Next, the distance acquisition unit 150 acquires the measurement result of the distance from the first flying object 200A to the second flying object 200B (referred to as the first distance) (step S152). The measurement control unit 140 instructs the second flying object 200B to measure the distance to the first flying object 200A (step S154). Next, the distance acquisition unit 150 acquires the measurement result of the distance from the second flying object 200B to the first flying object 200A (referred to as the second distance) (step S155). The estimation unit 160 estimates the distance between the first target device 400A and the second target device 400B using the first distance and the second distance (step S156). Then, the control device 100 ends the operation shown in FIG.

[0213] <Second Modification of the Second Embodiment> In this modification, information on a plurality of ordered first target devices 400A and information on a plurality of ordered second target devices 400B are provided to the control device 100. A different order is assigned to each of the plurality of first target devices 400A. A different order is also assigned to each of the plurality of second target devices 400B. However, the same order is assigned to one first target device 400A and one second target device 400B.

[0214] In this modification, the target detection unit 110 detects all of the first target devices 400A and all of the second target devices 400B. The target detection unit 110 identifies the positions of all of the first target devices 400A and all of the second target devices 400B. The flying object control unit 130 controls the first flying object 200A and the second flying object 200B in accordance with the orders assigned to the first target devices 400A and the second target devices 400B so that the first flying object 200A comes to rest in the air above the first target device 400A and the second flying object 200B comes to rest in the air above the second target device 400B. The flying object control unit 130 controls the first flying object 200A and the second flying object 200B so that the second flying object 200B comes to rest in the air above the second target device 400B, which has the same order assigned to the first target device 400A, during a time period that at least partially overlaps with the time period in which the first flying object 200A comes to rest in the air above the first target device 400A. The distance acquisition unit 150 acquires the distance between the first flying object 200A that comes to rest in the air above the first target device 400A and the second flying object 200B that comes to rest in the air above the second target device 400B, for each combination of the first target device 400A and the second target device 400B that has the same order assigned. The estimation unit 160 estimates the distance between the first target device 400A and the second target device 400B for each combination of the first target device 400A and the second target device 400B that have the same order. The output unit 170 outputs the distance between the first target device 400A and the second target device 400B for each combination of the first target device 400A and the second target device 400B that have the same order.

[0215] <Third Modification of the Second Embodiment> In this modification, the flying object control unit 130 does not perform the second direction adjustment and the second height adjustment.

[0216] The operation of the control device 100 of this modified example is the same as that of the control device 100 of the second embodiment, except that in the first aircraft position control processing of step S103 of Figure 6, the operation shown in Figure 20 is performed instead of the operation shown in Figures 11 and 12.

[0217] 20 is a flowchart illustrating an example of the operation of the first machine body position control process of the control device 100 according to a third modified example of the second embodiment of the present disclosure. The control device 100 of this modified example performs the operations from step S136 onwards in FIG. 20 instead of the operations from step S136 onwards in FIG. 11. The operations of steps S136, S137, and S139 in FIG. 20 are the same as the operations of steps S136, S137, and S139 in FIG. 11. In steps S136, S137, and S139, the control device 100 of this modified example performs the same operations as the operations of steps S136, S137, and S139 of the control device of the second embodiment.

[0218] In step S138, if the height of the rest position of the first flying object 200A is the same as the height of the height target device 500 (YES in step S138), the control device 100 performs the operations from step S132 onwards in Fig. 10. After the operation of step S139, the control device 100 performs the operations from step S132 onwards in Fig. 10.

[0219] The operation of the first flying body 200A in this embodiment is the same as that of the first flying body 200A in the second embodiment, except that the operation of step S186 in Figure 16 is not performed among the operations of the aircraft position control processing in step S162 in Figure 14.

[0220] <Fourth Modification of the Second Embodiment> The flying object control unit 130 may transmit an instruction to measure the first flying object 200A to the second flying object 200B instead of the first flying object 200A. Then, the flying object control unit 130 may transmit an instruction to the second flying object 200B to change the height of the second flying object 200B so that the height of the resting position of the second flying object 200B becomes the height of the resting position of the first flying object 200A. The operation of the flying object control unit 130 in this case is similar to the operation when the control device 100 of the first embodiment changes the height of the first flying object 200A.

[0221] Furthermore, the target image acquisition unit 181 may instruct the second flying body 200B, rather than the first flying body 200A, to capture the target image and acquire the image of the target image from the second flying body 200B. Then, the second flying body 200B may capture the target image.

[0222] <Third embodiment> Next, a third embodiment of the present disclosure will be described in detail with reference to the drawings.

[0223] <Configuration> FIG. 21 is a block diagram illustrating an example of the configuration of a flying object according to a third embodiment of the present disclosure. In the example illustrated in FIG. 21, the flying object 70 according to this embodiment includes a target image capturing unit 731, a target detection unit 752, a motion control unit 740, a distance measurement unit 736, and a distance transmission unit 780. The target image capturing unit 731 captures an image of a target area. The target detection unit 752 uses the image of the target area to detect a first target device from the target area. The motion control unit 740 controls the position of the aircraft so that it moves and stops above the detected first target device. The distance measurement unit 736 measures the distance to another flying object that is stationary above a second target device above the first target device. The distance transmission unit 780 transmits the distance.

[0224] The flying object 70 of this embodiment performs part of the operation of the control device 100 of the second embodiment. The first target device of this embodiment is the same as the first target device of the first embodiment and the first target device 400A of the second embodiment. The second target device of this embodiment is the same as the second target device of the first embodiment and the second target device 400B of the second embodiment.

[0225] A target image capturing section 731 of this embodiment is the same as the target image capturing section 231 of the first embodiment. A distance measuring section 736 is the same as the distance measuring section 236 of the first embodiment.

[0226] The target detection unit 752 of this embodiment detects a first target device in the target area using an image in a manner similar to that of the target detection unit 110 of the control device 100 of the first embodiment. The aircraft control unit 730 of this embodiment may determine how to control the position of the aircraft in a manner similar to that of the flying object control unit 130 of the control device 100 of the first embodiment. The aircraft control unit 730 of this embodiment may determine how to control the height of the aircraft in a manner similar to that of the flying object control unit 130 of the control device 100 of the first embodiment.

[0227] <Operation> FIG. 22 is a flowchart illustrating an example of the operation of a flying object according to the third embodiment of the present disclosure. In the example illustrated in FIG. 22, first, the target image capturing unit 731 captures an image of the target area (step S21). Next, the target detection unit 752 uses the acquired image to detect the first target device from the target area (step S22). The motion control unit 740 controls the position of the aircraft so that it comes to rest above the first target device (step S23). The distance measurement unit 736 measures the distance to another flying object that comes to rest above the second target device (step S24). The distance transmission unit 780 transmits the distance obtained by the measurement (step S25).

[0228] <Effects> This embodiment has the same effect as the first embodiment because the movement control unit 740 controls the airframe of the flying object 70 so that the flying object 70 stays stationary above the first target device, and the distance measurement unit 736 measures the distance to other flying objects.

[0229] <Fourth embodiment> Next, a fourth embodiment of the present disclosure will be described in detail with reference to the drawings.

[0230] <Configuration> FIG. 23 is a diagram illustrating an example of the configuration of a measurement system according to a fourth embodiment of the present disclosure. In the example illustrated in FIG. 23, the measurement system 2 includes a control device 600, a first flying object 700A, a second flying object 700B, a first target device 400A, a second target device 400B, and a height target device 500. The first target device 400A, the second target device 400B, and the height target device 500 are the same as the first target device 400A, the second target device 400B, and the height target device 500 of the second embodiment. The control device 600 is communicatively connected to each of the first flying object 700A and the second flying object 700B via a communication network 300. The communication network 300 is the same as the communication network 300 of the second embodiment.

[0231] In this embodiment, when the first target device 400A and the second target device 400B are not distinguished from each other, the first target device 400A and the second target device 400B are collectively referred to as the target device 400.

[0232] In this embodiment, when the first flying object 700A and the second flying object 700B are not distinguished from each other, the first flying object 700A and the second flying object 700B are collectively referred to as the flying object 700.

[0233] <Control device 600> Fig. 24 is a block diagram illustrating an example of the configuration of a control device according to a fourth embodiment of the present disclosure. In the example illustrated in Fig. 24, control device 100 includes a target information transmission unit 610, a target information storage unit 620, a flying object control unit 630, a measurement control unit 640, a distance acquisition unit 650, an estimation unit 660, and an output unit 670. The distance acquisition unit 650, the estimation unit 660, and the output unit 670 of this embodiment are the same as the distance acquisition unit 150, the estimation unit 160, and the output unit 170 of the second embodiment, respectively.

[0234] <Target information storage section 620> The target information storage unit 620 stores information about the target devices 400 (information about the first target device 400A and information about the second target device 400B). The information about the target devices 400 stored in the target information storage unit 620 includes identification information about the target devices 400 and information about the pattern of the target devices 400. The pattern of the target devices 400 is the same as the pattern of the target devices 400 in the second embodiment. The identification information about the target devices 400 is information that can identify each individual target device 400.

[0235] <Target Information Transmitting Unit 610> The target information transmitting unit 610 reads out the information of the first target device 400A, the information of the second target device 400B, and the information of the height target device 500 from the target information storage unit 620.

[0236] The target information transmitting unit 610 transmits the read information of the first target device 400A, the information of the second target device 400B, and the information of the height target device 500 to the first flying body 700A. The target information transmitting unit 610 also transmits the read information of the first target device 400A, the information of the second target device 400B, and the information of the height target device 500 to the second flying body 700B.

[0237] The target information transmitting unit 610 further transmits an instruction to detect the target.

[0238] Upon receiving an instruction to detect a target, the first flying object 700A captures an image of the target area (i.e., a target image) and detects the first target device 400A, the second target device B, and the height target device 500 from the captured target image. The first flying object 700A acquires the position of the first flying object 700A when the target image was captured. The first flying object 700A then estimates the positions of the first target device 400A, the second target device B, and the height target device 500 in the target area. To estimate these positions, the first flying object 700A uses the acquired position, camera parameters of the target image capturing unit 731 (described later) that captured the image of the target area, and the positions at which the first target device 400A, the second target device B, and the height target device 500 were detected.

[0239] The first flying object transmits the positions of the first target device 400A, the second target device B, and the height target device 500 in the target area to the target information transmitting unit 610. In this case, the target information transmitting unit 610 receives the positions of the first target device 400A, the second target device B, and the height target device 500 in the target area, and transmits the received positions of the first target device 400A, the second target device B, and the height target device 500 in the target area to the second flying object 700B.

[0240] The first flying object may transmit the positions of the first target device 400A, the second target device B, and the height target device 500 in the target area to the second flying object 700B instead of the target information transmitting unit 610.

[0241] <Flying object control unit 630> The flying object control unit 630 of this embodiment transmits an instruction to the first flying object 700A to fly toward the sky above the first target device 400A. The instruction to fly toward the sky above the first target device 400A may specify identification information of the first target device 400A.

[0242] When the first flying body 700A receives an instruction to fly toward the sky above the first target device 400A, it flies toward the sky above the first target device 400A. When the first flying body 700A finishes flying, it adjusts its position by changing its position so that it comes to rest above the first target device 400A while measuring the first target device 400A. When the position adjustment is complete, the first flying body 700A adjusts its direction by changing its orientation so that it can measure the height target device 500. Furthermore, while measuring the height target device 500, the first flying body 700A adjusts its height by changing the height of the position where the first flying body 700A is resting so that the height of the position where the first flying body 700A is resting becomes the same as the height of the height target device 500. When the height adjustment is complete, the first flying body 700A sends a notification of the end of its movement to the flying body control unit 630.

[0243] The flying object control unit 630 of this embodiment transmits an instruction to the second flying object 700B to fly toward the sky above the second target device 400B. The instruction to fly toward the sky above the second target device 400B may specify identification information of the second target device 400B.

[0244] When the second flying body 700B receives an instruction to fly toward the sky above the second target device 400B, it flies toward the sky above the second target device 400B. When the second flying body 700B finishes flying, it adjusts its position by changing its position so that it comes to rest above the second target device 400B while measuring the second target device 400B. When the position adjustment is complete, the second flying body 700B adjusts its direction by changing its orientation so that it can measure the height target device 500. Furthermore, while measuring the height target device 500, the second flying body 700B adjusts its height by changing the height of the position where the second flying body 700B is resting so that the height of the position where the body of the second flying body 700B is resting becomes the same as the height of the height target device 500. When the height adjustment is complete, the second flying body 700B sends a notification of the end of its movement to the flying body control unit 630.

[0245] When the flying object control unit 630 receives a notification from the second flying object 700B that the movement has ended, it transmits an instruction to the first flying object 700A to adjust the second height.

[0246] When the first flying object 700A receives a second height adjustment instruction from the flying object control unit 630, it performs a second direction adjustment, changing the direction of the first flying object 700A's body to a direction that allows it to measure the second flying object 700B. When it receives a notification from the flying object control unit 630 that the second flying object 700B's movement has ended, the second flying object 700B is stationary at a position above the second target device 400B at the same height as the height target device 500. Therefore, in the second direction adjustment, the first flying object 700A changes its body direction so that it can measure a position above the second target device 400B at the same height as the first flying object 700A is stationary. However, due to errors, there may be a difference in height between the first flying object 700A and the second flying object 700B. Therefore, while measuring the second flying object 700B, the first flying object 700A performs a second height adjustment, which changes the height of the resting position of the body of the first flying object 700A so that the height of the resting position of the body of the first flying object 700A becomes the same as the height of the resting position of the second flying object 700B. When the second height adjustment is completed, the first flying object 700A transmits a notification to the flying object control unit 630 that measurement preparation is complete.

[0247] After the second height adjustment, first flying object 700A may perform a fine direction adjustment, which will be described in detail later, to adjust the measurement direction of distance measurement unit 736, which measures distance, so that it faces the reference line of second flying object 700B. When configured to perform fine direction adjustment, first flying object 700A transmits a notification to flying object control unit 630 that it is ready to measure when the fine direction adjustment is completed.

[0248] The notification of the end of movement and the notification of the completion of measurement preparation may be data that is determined appropriately.

[0249] When flying object control unit 630 receives a notification from first flying object 700A that measurement preparation is complete, it sends a notification to measurement control unit 640 that measurement preparation is complete.

[0250] <Measurement control unit 640> The measurement control unit 640 receives a notification that measurement preparation is complete from the flying object control unit 630. When the measurement control unit 640 receives a notification that measurement preparation is complete from the flying object control unit 630, the measurement control unit 640 transmits an instruction to measure the distance to the first flying object 700A.

[0251] When first flying body 700A receives the instruction to measure the distance, it measures the distance to second flying body 200B. First flying body 700A transmits information about the distance obtained by the measurement.

[0252] When the estimation unit 660 (described later) is configured to use other information necessary for estimating the distance between the first flying object 200A and the second flying object 200B, as in the second embodiment, the first flying object 700A is configured to acquire the information necessary for estimating the distance between the first flying object 200A and the second flying object 200B. In this case, the first flying object 700A further transmits the acquired information.

[0253] <Distance acquisition section 650> The distance acquisition unit 650 acquires distance information obtained by measurement from the first flying object 700 A. The distance acquisition unit 650 sends the acquired distance information to the estimation unit 660.

[0254] If the estimation unit 660 (described later) is configured to use other information necessary for estimating the distance between the first flying body 200A and the second flying body 200B, as in the second embodiment, the distance acquisition unit 650 is configured to further acquire that information. Then, the distance acquisition unit 650 is configured to send the acquired information to the estimation unit 660.

[0255] <Estimation part 660> The estimation unit 660 receives information about the distance measured by the first flying object 700A from the distance acquisition unit 650. The estimation unit 660 may estimate the distance between the first target device 400A and the second target device 400B using an estimation method similar to the estimation method used by the estimation unit 160 in the second embodiment.

[0256] For example, the estimation unit 660 may estimate the distance between the first flying object 700A and the second flying object 700B using an estimation method similar to the estimation method used by the estimation unit 160 in the second embodiment. As in the second embodiment, the distance between the first flying object 700A and the second flying object 700B is the distance between the reference point of the first flying object 700A and the reference point of the second flying object 700B. As in the above-described case, when the first flying object 700A is stationary in the air above the first target device 400A, the reference point of the first flying object 700A is located vertically above the reference point of the first target device 400A. Furthermore, when the second flying object 700B is stationary in the air above the second target device 400B, the reference point of the second flying object 700B is located vertically above the reference point of the second target device 400B. The distance between the first target device 400A and the second target device 400B is the distance between the reference point of the first target device 400A and the reference point of the second target device 400B. The estimation unit 660 determines the estimated distance between the first flying object 700A and the second flying object 700B as the distance between the first target device 400A and the second target device 400B.

[0257] Estimation unit 660 sends the estimated distance between first target device 400A and second target device 400B to output unit 670.

[0258] <Output unit 670> The output unit 670 outputs the distance received from the output unit 670 .

[0259] <Project 700> The physical structure (eg, outer shape) of the flying object 700 of this embodiment is the same as the physical structure of the flying object 200 of the second embodiment.

[0260] 25 is a block diagram illustrating an example of the configuration of a flying object 700 according to a fourth embodiment of the present disclosure. In the example illustrated in FIG. 25, the flying object 700 includes an instruction receiving unit 710, a measurement control unit 720, a body control unit 730, a movement control unit 740, a target information receiving unit 750, a target image acquiring unit 751, a target detection unit 752, and a target position identifying unit 753. The flying object 700 further includes a position target detection unit 760, a height target detection unit 770, and a distance transmission unit 780. The flying object 700 further includes a target image capturing unit 731, a position information acquiring unit 732, a target measurement unit 733, a height target measurement unit 734, a flying object measurement unit 735, and a distance measurement unit 736.

[0261] The target image capturing unit 731, the position information acquiring unit 732, the target measuring unit 733, the height target measuring unit 734, the flying object measuring unit 735 and the distance measuring unit 736 are the same as the target image capturing unit 231, the position information acquiring unit 232, the target measuring unit 233, the height target measuring unit 234, the flying object measuring unit 235 and the distance measuring unit 236 of the first embodiment, respectively.

[0262] <Target information receiving unit 750> The target information receiving unit 750 receives information on the first target device 400A, information on the second target device 400B, and information on the height target device from the control device 600. The target information receiving unit 750 transmits the received information on the first target device 400A, information on the second target device 400B, and information on the height target device to the target detection unit 752.

[0263] <Instruction Receiving Unit 710> The instruction receiving unit 710 receives an instruction from the control device 600 .

[0264] If the received instruction is an instruction to detect a target, instruction receiving unit 710 sends the received instruction to target detection unit 752.

[0265] If the received instruction is an instruction to move into the air above the target device 400, the instruction receiving unit 710 sends the received instruction to the aircraft control unit 730. If the received instruction is an instruction to adjust the second height, the instruction receiving unit 710 sends the received instruction to the aircraft control unit 730.

[0266] If the received instruction is an instruction to measure distance, instruction receiving unit 710 sends the received instruction to distance transmitting unit 780.

[0267] <Target detection unit 752> The target detection unit 752 receives information on the first target device 400A, information on the second target device 400B, and information on the height target device from the target information receiving unit 750.

[0268] Furthermore, the target detection unit 752 receives the target image from the target image acquisition unit 751 .

[0269] Similar to the target detection unit 110 of the second embodiment, the target detection unit 752 detects an image of the first target device 400A, an image of the information of the second target device 400B, and an image of the information of the height target device from the target image. The target detection unit 752 identifies the position of the first target device 400A, the position of the information of the second target device 400B, and the position of the information of the height target device in the target image.

[0270] The target detection unit 752 sends to the target position specification unit 753 the position of the first target device 400A, the position of the information of the second target device 400B, and the position of the information of the height target device in the target image. <Target image acquisition unit 751> The target image acquisition unit 751 receives a request for a target image from the instruction receiving unit 710. Upon receiving the request for a target image, the target image acquisition unit 751 determines the imaging position in the same manner as the method for determining the imaging position by the target image acquisition unit 181 of the second embodiment. At this time, information on the target area may be provided to the target image acquisition unit 751 in advance. Then, the target image is acquired in the same manner as the method for acquiring the target image by the target image acquisition unit 181 of the second embodiment. However, the target image acquisition unit 751 sends a movement instruction to the movement control unit 740. Furthermore, the target image acquisition unit 751 sends an instruction to capture the target image to the measurement control unit 720.

[0271] When the measurement control unit 720 receives an instruction to capture a target image, it uses the target image capturing unit 731 to capture the target image, and uses the position information acquiring unit 732 to acquire the position where the target image was captured.

[0272] The target image acquisition unit 751 receives the target image and the position where the target image was acquired from the measurement control unit 720. The target image acquisition unit 751 sends the received target image to the target detection unit 752. The target image acquisition unit 751 sends the received position where the target image was acquired to the target position identification unit 753.

[0273] <Target position identification unit 753> The target position specifying unit 753 receives the position where the target image was acquired from the target image acquiring unit 751. The target position specifying unit 753 receives from the target detecting unit 752 the position of the first target device 400A, the position of the information of the second target device 400B, and the position of the information of the height target device in the target image.

[0274] The target position identification unit 753 identifies the position of the first target device 400A, the position of the information of the second target device 400B, and the position of the information of the height target device in the target area in a manner similar to that of the target position identification unit 120 of the second embodiment.

[0275] The target position specifying unit 753 sends the specified position of the first target device 400A, the position information of the second target device 400B, and the position information of the height target device in the target area to the control device 600. The target position specifying unit 753 may also send the specified position of the first target device 400A, the position information of the second target device 400B, and the position information of the height target device in the target area to the second flying object 700B.

[0276] <Measurement control unit 720> The measurement control unit 720 has the same functions as the measurement control unit 220 of the second embodiment and operates in the same manner as the measurement control unit 220 of the second embodiment. Upon receiving a measurement instruction, the measurement control unit 720 performs measurement using a measurement unit according to the instruction, receives measurement results from the measurement unit, and sends the measurement results obtained by the measurement to the unit that issued the measurement instruction. However, the measurement control unit 720 uses a target image capturing unit 731 to capture a target image. The measurement control unit 720 acquires the position of the flying object 700 using a position information acquisition unit 732. The measurement control unit 720 measures the target device 400 using a target measurement unit 733. The measurement control unit 720 measures the height target device 500 using a height target measurement unit 734. The measurement control unit 720 measures another flying object 700 using a flying object measurement unit 735. The measurement control unit 720 measures the distance using a distance measurement unit 736.

[0277] <Movement control unit 740> The movement control unit 740 has the same functions as the movement control unit 240 of the second embodiment and operates in the same manner as the movement control unit 240 of the second embodiment. However, the movement control unit 740 controls the movement (i.e., position and height) of the air vehicle 700 in accordance with the received instructions.

[0278] <Aircraft Control Unit 730> The vehicle control unit 730 receives instructions for the flying object 700 from the control device 600 via the instruction receiving unit 710, and controls the movement and measurement of the vehicle in accordance with the received instructions.

[0279] Specifically, upon receiving an instruction to move into the air above the target device 400, the aircraft control unit 730 sends an instruction to move into the air above the target device 400 to the motion control unit 740, thereby moving the flying object 700 into the air above the target device 400 and stopping it there. The aircraft control unit 730 then performs position adjustment, direction adjustment, and height adjustment similar to the position adjustment, direction adjustment, and height adjustment performed by the flying object control unit 130 of the second embodiment. However, the aircraft control unit 730 receives information on the reference point of the detected target device 400 from the position target detection unit 760. The aircraft control unit 730 receives information on the reference point of the detected height target device 500 and information on the detected other flying objects 700 from the height target detection unit 770. The aircraft control unit 730 sends a measurement instruction to the measurement control unit 720. The aircraft control unit 730 also sends a movement instruction and a height change instruction to the motion control unit 740.

[0280] When the position adjustment, direction adjustment, and height adjustment are completed, the machine control unit 730 transmits a notification that the movement is completed.

[0281] When receiving the instruction to adjust the second height, the aircraft control unit 730 performs the second direction adjustment and the second height adjustment similar to the second direction adjustment and the second height adjustment of the flying object control unit 130 of the second embodiment. However, the aircraft control unit 730 sends a measurement instruction to the measurement control unit 720. The aircraft control unit 730 also sends a movement instruction and a height change instruction to the movement control unit 740.

[0282] When the second direction adjustment and the second height adjustment are completed, the machine control unit 730 transmits a notification that measurement preparation is complete.

[0283] The aircraft control unit 730 may perform the above-described fine orientation adjustment after the second orientation adjustment and the second height adjustment. In this case, the aircraft control unit 730 transmits a notification that measurement preparation is complete when the fine orientation adjustment is completed.

[0284] <Position target detection unit 760> The position target detection unit 760 operates in the same manner as the position target detection unit 131 of the second embodiment. However, the position target detection unit 760 receives a measurement image (e.g., an image) of the target device 400 measured by the target measurement unit 733 from the target measurement unit 733 via the measurement control unit 720. The position target detection unit 760 sends information on the detected reference point of the target device 400 to the aircraft control unit 730.

[0285] <Height target detection unit 770> The height target detection unit 770 operates in the same manner as the height target detection unit 132 of the second embodiment. However, the height target detection unit 770 receives measurement data (e.g., images) of the height target device 500 from the height target measurement unit 734 via the measurement control unit 720. The height target detection unit 770 receives measurement data (e.g., images) of the other flying object 700 from the flying object measurement unit 735 via the measurement control unit 720. The height target detection unit 770 sends information on the detected reference point of the height target device 500 to the aircraft control unit 730. The height target detection unit 770 sends information on the position of a figure indicating the reference plane of the other flying object 700 to the aircraft control unit 730.

[0286] <Distance transmitting unit 780> The distance transmitting unit 780 receives an instruction to measure the distance from the instruction receiving unit 710. Upon receiving the instruction to measure the distance, the distance transmitting unit 780 sends an instruction to measure the distance to the other flying object 700 to the measurement control unit 720. The distance transmitting unit 780 receives the distance to the other flying object 700 obtained by measurement from the measurement control unit 720 via the distance measurement unit 736. The distance transmitting unit 780 transmits the distance to the other flying object 700 to the control device 600.

[0287] <Operation> Next, the operation of the control device 600 according to the fourth embodiment of the present disclosure will be described in detail with reference to the drawings.

[0288] FIG. 26 is a flowchart illustrating an example of the overall operation of the control device 600 according to the fourth embodiment of the present disclosure. In the example shown in FIG. 26, the control device 600 performs a target position transmission process (step S201). Next, the control device 600 performs a second body position control process (step S202). The control device 600 also performs a first body position control process (step S203). Then, the control device 600 performs a distance estimation process (step S204). Finally, the output unit 670 outputs the obtained distance (step S205). The target position transmission process, the second body position control process, the first body position control process, and the distance estimation process will be described in detail below.

[0289] 27 is a flowchart illustrating an example of the operation of the target position measurement process of the control device 600 according to the fourth embodiment of the present disclosure. In the example illustrated in FIG. 27, the target information transmission unit 610 reads out information on the target device 400 (i.e., the first target device 400A and the second target device 400B) and information on the height target device 500 from the target information storage unit 620 (step S211). The target information transmission unit 610 transmits the read information on the target device 400 and information on the height target device 500 to the first flying object 700A (step S212). The target information transmission unit 610 transmits an instruction to detect a target to the first flying object 700A and receives the positions of the target device 400 and the height target device 500 in the target area from the first flying object 700A (step S213). The target information transmitting unit 610 transmits the position of the target device 400 and the position of the height target device 500 received from the first flying body 700A to the second flying body 700B (step S214).

[0290] FIG. 28 is a flowchart illustrating an example of the operation of the second flying object position control process of the control device 600 according to the fourth embodiment of the present disclosure. In the example illustrated in FIG. 28, the flying object control unit 630 controls the second flying object 700B to stop in the air above the second target device 400B (step S221). Specifically, the flying object control unit 630 transmits an instruction to the second flying object 700B to move in the air above the target device 400. The flying object control unit 630 acquires the state of the second flying object 700B (step S222). Specifically, if the flying object control unit 630 has not received a notification of the end of movement from the second flying object 700B, it determines that the state of the second flying object 700B is moving. When the flying object control unit 630 receives a notification of the end of movement from the second flying object 700B, it determines that the second flying object 700B has finished moving (i.e., is stationary at a position above the second target device 400B at the same height as the height target device 500). If the second flying object 700B has not finished moving (NO in step S223), the operation of the control device 600 returns to step S222. If the second flying object 700B has finished moving (YES in step S223), the control device 600 ends the operation shown in FIG.

[0291] FIG. 29 is a flowchart illustrating an example of the operation of the first flying object position control process of the control device 600 according to the fourth embodiment of the present disclosure. In the example illustrated in FIG. 29, the flying object control unit 630 controls the first flying object 700A to stop in the air above the first target device 400A (step S221). Specifically, the flying object control unit 630 transmits an instruction to the first flying object 700A to move in the air above the target device 400. The flying object control unit 630 acquires the state of the first flying object 700A (step S222). Specifically, if the flying object control unit 630 has not received a notification of the end of movement from the first flying object 700A, it determines that the state of the first flying object 700A is moving. When the flying object control unit 630 receives a notification of the end of movement from the first flying object 700A, it determines that the first flying object 700A has finished moving (i.e., is stationary at a position above the first target device 400A at the same height as the height target device 500). If the first flying object 700A has not finished moving (NO in step S223), the operation of the control device 600 returns to step S222.

[0292] If the state of the first flying object 700A is that the movement has ended (YES in step S223), the flying object control unit 630 controls the first flying object 700A to perform the second height adjustment (step S234). Specifically, the flying object control unit 630 transmits an instruction to the first flying object 700A to perform the second height adjustment. Then, the flying object control unit 630 acquires the state of the first flying object 700A (step S225). Specifically, if the flying object control unit 630 has not received a notification from the first flying object 700A that measurement preparation is complete, the flying object control unit 630 determines that the state of the first flying object 700A is that the second height adjustment has not been completed. If the flying object control unit 630 has received a notification from the first flying object 700A that measurement preparation is complete, the flying object control unit 630 determines that the state of the first flying object 700A is that the second height adjustment has been completed (i.e., that preparation for distance measurement is complete). If preparation for distance measurement is not complete (NO in step S236), the operation of control device 600 returns to step S235. If preparation for distance measurement is complete (YES in step S236), control device 600 ends the operation shown in FIG.

[0293] FIG. 30 is a flowchart illustrating an example of the operation of the distance measurement process of the control device 600 according to the fourth embodiment of the present disclosure.

[0294] 30, the measurement control unit 640 controls the first flying object 700A using the distance to the second flying object 700B as the measurement quantity (step S241). Specifically, the measurement control unit 640 sends an instruction to measure the distance to the first flying object 700A. Then, the distance acquisition unit 650 acquires the measured distance (i.e., the first distance) from the first flying object 700A (step S242).

[0295] The measurement control unit 640 controls the second flying object 700B using the distance to the first flying object 700A as the measurement quantity (step S243). Specifically, the measurement control unit 640 sends an instruction to measure the distance to the second flying object 700B. Then, the distance acquisition unit 650 acquires the measured distance (i.e., the second distance) from the second flying object 700B (step S244).

[0296] Next, the estimation unit 660 estimates the distance between the first flying object 700A and the second flying object 700B from the first distance and the second distance (step S245). The estimation unit 660 estimates the distance between the first target device 400A and the second target device 400B from the distance between the first flying object 700A and the second flying object 700B. The estimation unit 660 sets the distance between the first flying object 700A and the second flying object 700B as the distance between the first target device 400A and the second target device 400B.

[0297] 30 is an example in which both the first flying object 700A and the second flying object 700B measure the distance to the other flying object. Either the first flying object 700A or the second flying object 700B may measure the distance to the other flying object. In this case, the control device 600 performs the operations of steps S241 and S242, or the operations of steps S243 and S244. Then, in step S245, the control device 600 estimates the distance between the first flying object 700A and the second flying object 700B from only the obtained distance.

[0298] Next, the operation of the flying body 700 according to the fourth embodiment of the present disclosure will be described in detail with reference to the drawings.

[0299] FIG. 31 is a flowchart illustrating an example of the overall operation of the flying object 700 according to the fourth embodiment of the present disclosure. In the example shown in FIG. 31, the flying object 700 performs a target detection process (step S251). Next, the flying object 700 performs an aircraft control process (step S252). Next, the instruction receiving unit 710 receives an instruction to measure the distance (i.e., the instruction to measure the distance described above) (step S253). The distance measuring unit 736 measures the distance to another flying object 700 (step S254). Finally, the distance transmitting unit 780 transmits the obtained distance (step S255).

[0300] Note that the operation of the aircraft control process for the first flying body 700A differs from the operation of the aircraft control process for the second flying body 700B. Also, the second flying body 700B does not need to perform the operation of step S251. Also, if the estimation unit of the control device 600 is configured to estimate the distance between the first flying body 700A and the second flying body 700B from the first distance, the second flying body 700B does not need to perform the operations of steps S253 and S254.

[0301] FIG. 32 is a flowchart illustrating an example of the operation of the target detection process of the flying object 700 according to the fourth embodiment of the present disclosure. In the example illustrated in FIG. 32, first, the target information receiving unit 750 receives information on the target devices 400 (i.e., the first target device 400A and the second target device 400B) and information on the height target device 500 (step S261). Next, the target image acquiring unit 751 uses the measurement control unit 720 and the target image capturing unit 731 to capture an image of the target area (step S262). The target image acquiring unit 751 further uses the measurement control unit 720 and the position information acquiring unit 732 to acquire information on the position at the time of capturing the image (step S263). The information on the position at the time of capturing the image is information on the position at which the flying object 700 captured the image of the target area.

[0302] Next, when the target detection unit 752 receives an instruction to detect a target, it detects the target device 400 and the height target device 500 from the image of the target area obtained by imaging (step S254). The image of the target area obtained by imaging is the target image described above. Next, the target position identification unit 753 identifies the positions of the target device 400 and the height target device 500 in the target area (step S265). Then, the target position identification unit 753 transmits the positions of the target device 400 and the height target device 500 in the target area to the control device 600 (step S266).

[0303] 33, 34, 35, and 36 are flowcharts illustrating an example of the operation of the body control process of the first flying body 700A according to the fourth embodiment of the present disclosure.

[0304] In the operation shown in FIG. 33, the instruction receiving unit 710 receives an instruction to stop in the air above the target device 400 (here, the first target device 400A) (step S271). The instruction to stop in the air above the target device 400 is the instruction to move to the air above the target device 400, as described above. Upon receiving the instruction to move to the air above the target device 400, the aircraft control unit 730 controls the airframe of the flying object 700 (here, the first flying object 700A) so that it flies toward the air above the target device 400 (step S272). Then, the aircraft control unit 730 controls the airframe of the flying object 700 (here, the first flying object 700A) so that it begins hovering above the target device 400 (step S273).

[0305] In the operation shown in FIG. 34, the aircraft control unit 730 starts position adjustment. In the position adjustment, the target measurement unit 733 measures the target device (here, the first target device 400A) (step S274). The aircraft control unit 730 determines whether the aircraft is hovering above the target device 400 using the position of the reference point of the target device 400 detected from the measurement data obtained by the measurement (step S275). If the aircraft is not hovering above the target device 400 (NO in step S276), the aircraft control unit 730 moves the aircraft so that it comes to a standstill above the target device 400 (step S277). Then, the flying object 700 repeats the operation from step S273 onwards. If the aircraft is hovering above the target device 400 (YES in step S276), the flying object 200 next performs the operation of step S278 in FIG. 35.

[0306] In the operation shown in FIG. 35, the height target measurement unit 734 measures the height target device 500 (step S278). The aircraft control unit 730 determines whether the height of the aircraft's resting position is the same as the height of the height target device 500 (step S279). If the height of the aircraft's resting position is not the same as the height of the height target device 500 (NO in step S280), the aircraft control unit 730 uses the movement control unit 740 to move the aircraft so that the height of the aircraft's resting position becomes the same as the height of the height target device 500 (step S281). Then, the flying object 200 repeats the operations from step S274 onwards.

[0307] If the height of the resting position of the aircraft is the same as the height of the height target device 500 (YES in step S280), information indicating that the aircraft has come to rest above the target device is transmitted (step S282). The information indicating that the aircraft has come to rest above the target device is the above-mentioned notification of the end of movement. The flying object 700 then performs the operation of step S283. Note that in the series of operations in Figures 33, 34, 35, and 36, the flying object 700 performs the operation of step S282 only the first time. In other words, if step S282 is repeated two or more times, in step S282 from the second time onwards, the aircraft control unit 730 does not transmit information indicating that the aircraft has come to rest above the target device.

[0308] In the operation of FIG. 36, upon receiving a command for the second height adjustment, the aircraft control unit 730 measures the other flying object 700 (here, the second flying object 700B) using the measurement control unit 720 and the flying object measurement unit 735 (step S283). The aircraft control unit 730 determines whether the height of the resting position of the flying object 200 is the same as the height of the resting position of the other flying object 700 (step S284). Note that this aircraft refers to the aircraft of the flying object 700 on which the aircraft control unit 730 is mounted. If the heights of the resting positions of both (i.e., the aircraft and the other flying object 700) are not the same (NO in step S285), the aircraft control unit 730 moves the aircraft so that the height of the resting position of the aircraft becomes the same as the height of the resting position of the other flying object 700 (step S286). Then, the flying object 200 repeats the operations from step S274 onwards. In this repetition, as described above, the flying object 700 does not perform the operation of step S282. In step S282 from the second time onwards, the aircraft control unit 730 does not transmit information indicating that the aircraft has come to rest above the target device.

[0309] If the heights of the resting positions of both (i.e., the airframe and the other flying object 700) are the same (YES in step S285), the airframe control unit 730 transmits information indicating that the measurement procedure has been completed to the control device 600 (step S287). This information indicating that the measurement procedure has been completed is the notification of completion of measurement preparation, as described above. Then, the flying object 700 ends the operation of the airframe control process.

[0310] 33, 34, and 37 are flowcharts illustrating an example of the operation of the aircraft control process for the second flying object 700B according to the fourth embodiment of the present disclosure. In the operations shown in FIGS. 33 and 34, the second flying object 700B performs the same operation as the above-described operation of the first flying object 700A shown in FIGS. 33 and 34. However, in this case, the flying object 700 in the operations shown in FIGS. 33 and 34 is the second flying object 700B, the other flying object 700 is the first flying object 700A, and the target device 400 is the second target device 400B.

[0311] Of the operations shown in Fig. 37, the operations from step S279 to step S282 are the same as the operations from step S279 to step S282 shown in Fig. 35, except that the aircraft is the aircraft of second flying object 700B. However, in the operations shown in Fig. 37, after the operation of step S282, second flying object 700B ends the operation of the aircraft control processing.

[0312] <Effects> The present embodiment described above has the same effects as the third embodiment, for the same reasons as those for the effects of the third embodiment.

[0313] <First Modification of the Fourth Embodiment> The target information transmitting unit 610 transmits the read information of the first target device 400A, the information of the second target device 400B, and the information of the height target device 500 to the first flying object 700A. Then, the target information transmitting unit 610 transmits to the first flying object 700A information on the target area (for example, information indicating the range of the target area) and an instruction to detect the target device 400 and the height target device 500 in the target area.

[0314] Upon receiving information about the target area and an instruction to detect the target device 400 and the height target device 500 in the target area, the first flying object 700A captures an image of the target area. The first flying object 700A uses the captured image to detect the target device 400 and the height target device 500 in the target area. Specifically, the first flying object 700A detects an image of the target device 400 and an image of the height target device 500 from the captured image. The first flying object 700A then identifies the positions of the target device 400 and the height target device 500 in the target area. The first flying object 700A transmits the identified positions of the target device 400 and the height target device 500 to the target information transmitting unit 610.

[0315] The target information transmitting unit 610 transmits the read information of the first target device 400A, information indicating the position of the second target device 400B, and information of the height target device 500 to the first flying body 700A. The target information transmitting unit 610 transmits the read information of the second target device 400B, information indicating the position of the second target device 400B, and information of the height target device 500 to the second flying body 700B.

[0316] <Second Modification of the Fourth Embodiment> In this modification, information on a plurality of ordered first target devices 400A and information on a plurality of ordered second target devices 400B are provided to the control device 600. The target detection unit 752 identifies the positions of all first target devices 400A and all second target devices 400B. The aircraft control unit 730 controls the first flying object 700A and the second flying object 700B in accordance with the orders assigned to the first target device 400A and the second target device 400B so that the first flying object 700A comes to rest in the air above the first target device 400A and the second flying object 700B comes to rest in the air above the second target device 400B. The aircraft control unit 730 then controls the first flying object 700A and the second flying object 700B so that the second flying object 700B comes to rest in the air above the second target device 400B, which has the same order assigned to the first target device 400A, during a time period that at least partially overlaps with the time period in which the first flying object 700A comes to rest in the air above the first target device 400A. The distance acquisition unit 650 acquires the distance between the first flying object 700A coming to rest in the air above the first target device 400A and the second flying object 700B coming to rest in the air above the second target device 400B, for each combination of the first target device 400A and the second target device 400B, which have the same order assigned. The estimation unit 660 estimates the distance between the first target device 400A and the second target device 400B for each combination of the first target device 400A and the second target device 400B that have the same order. The output unit 670 outputs the distance between the first target device 400A and the second target device 400B for each combination of the first target device 400A and the second target device 400B that have the same order.

[0317] In this modification, the flying object control unit 630 may transmit a sequence instruction indicating the order of the target devices 400 to the first flying object 700A and the second flying object 700B. When the instruction receiving unit 710 of the first flying object 700A receives the sequence instruction, the flying object control unit 730 controls the flying object so that the flying object comes to rest in the air above the first target device 400A in the order indicated by the sequence instruction for the multiple first target devices 400A. When the instruction receiving unit 710 of the second flying object 700B receives the sequence instruction, the flying object control unit 730 controls the flying object so that the flying object comes to rest in the air above the second target device 400B in the order indicated by the sequence instruction for the multiple second target devices 400B.

[0318] Furthermore, the aircraft control unit 730 of the first flying object 700A may control the aircraft to fly over the first target device 400A in sequence in accordance with the order assigned to each of the multiple first target devices 400A. Furthermore, the aircraft control unit 730 of the second flying object 700B may control the aircraft to fly over the second target device 400B in sequence in accordance with the order assigned to each of the multiple first target devices 400A. In this case, when controlling the first flying object 700A to fly over the next first target device 400A, the aircraft control unit 730 of the first flying object 700A may send an instruction to the second flying object 700B to fly over the next second target device 400B. When the instruction receiving unit 710 of the second target device 400B receives an instruction to fly into the sky above the next second target device 400B, it may control the second flying object 700B to fly into the sky above the next second target device 400B in accordance with the instruction.

[0319] <Third Modification of the Fourth Embodiment> In this modification, the flying object control unit 130 does not perform the second direction adjustment and the second height adjustment.

[0320] In this case, the first flying object does not transmit a notification that it is ready to measure. When the measurement control unit 640 receives notifications from both the first flying object and the second flying object that they have finished moving, it may transmit an instruction to measure the distance.

[0321] <Other embodiments> The control device and flying object according to the above-described embodiments can be realized using a computer including a memory into which a program read from a storage medium is loaded and a processor that executes the program. The control device and flying object according to the above-described embodiments can also be realized by dedicated hardware. The control device and flying object according to the above-described embodiments can also be realized by a combination of the computer and dedicated hardware.

[0322] FIG. 38 is a diagram illustrating an example of a hardware configuration of a computer 1000 capable of implementing a control device and a flying object according to an embodiment of the present disclosure. Referring to FIG. 38, the computer 1000 includes a processor 1001, a memory 1002, a storage device 1003, and an I / O (Input / Output) interface 1004. The computer 1000 can also access a storage medium 1005. The memory 1002 and the storage device 1003 are, for example, storage devices such as RAM (Random Access Memory) and a hard disk. The storage medium 1005 is, for example, a storage device such as RAM or a hard disk, a ROM (Read Only Memory), or a portable storage medium. The storage device 1003 may also be the storage medium 1005. The processor 1001 can read and write data and programs from and to the memory 1002 and the storage device 1003. The processor 1001 can access, for example, other devices via the I / O interface 1004. The processor 1001 can access a storage medium 1005. The storage medium 1005 stores a program that causes the computer 1000 to operate as a control device according to an embodiment of the present disclosure, or a program that causes the computer 1000 to operate as a flying object according to an embodiment of the present disclosure.

[0323] The processor 1001 loads a program stored in the storage medium 1005, which causes the computer 1000 to operate as a control device according to an embodiment of the present disclosure, into the memory 1002. The processor 1001 then executes the program loaded into the memory 1002, causing the computer 1000 to operate as a control device according to an embodiment of the present disclosure.

[0324] The processor 1001 loads a program stored in the storage medium 1005, which causes the computer 1000 to operate as a flying object according to an embodiment of the present disclosure, into the memory 1002. Then, the processor 1001 executes the program loaded into the memory 1002, causing the computer 1000 to operate as a flying object according to an embodiment of the present disclosure.

[0325] The target detection unit 110, target position identification unit 120, flying object control unit 130, position target detection unit 131, height target detection unit 132, measurement control unit 140, and distance acquisition unit 150 can be realized by a processor 1001 that executes programs loaded into memory 1002. The estimation unit 160, output unit 170, target image acquisition unit 181, position information acquisition unit 182, target measurement result acquisition unit 183, height measurement result acquisition unit 184, and flying object measurement result acquisition unit 185 can be realized by the processor 1001 that executes programs loaded into memory 1002. The transmission / reception unit 210, measurement control unit 220, and movement control unit 240 can be realized by the processor 1001 that executes programs loaded into memory 1002. The target image capturing unit 231, the position information acquiring unit 232, the target measurement unit 233, the height target measurement unit 234, the flying object measurement unit 235, and the distance measuring unit 236 can be realized by the processor 1001 that executes programs loaded into the memory 1002. The target information transmitting unit 610, the flying object control unit 630, the measurement control unit 640, the distance acquiring unit 650, the estimation unit 660, and the output unit 670 can be realized by the processor 1001 that executes programs loaded into the memory 1002. The instruction accepting unit 710, the measurement control unit 720, the aircraft control unit 730, the movement control unit 740, the target information receiving unit 750, the target image acquiring unit 751, the target detection unit 752, and the target position identifying unit 753 can be realized by the processor 1001 that executes programs loaded into the memory 1002. The position target detection unit 760, the height target detection unit 770, and the distance transmission unit 780 can be realized by the processor 1001 that executes programs loaded into the memory 1002. The target image capture unit 731, the position information acquisition unit 732, the target measurement unit 733, the height target measurement unit 734, the flying object measurement unit 735, and the distance measurement unit 736 can be realized by the processor 1001 that executes programs loaded into the memory 1002.

[0326] The target information storage unit 620 can be realized by a memory 1002 included in the computer 1000 or a storage device 1003 such as a hard disk drive.

[0327] Some or all of the target detection unit 110, target position identification unit 120, flying object control unit 130, position target detection unit 131, height target detection unit 132, measurement control unit 140, and distance acquisition unit 150 can be realized by dedicated circuits that realize the functions of each unit. Some or all of the estimation unit 160, output unit 170, target image acquisition unit 181, position information acquisition unit 182, target measurement result acquisition unit 183, height measurement result acquisition unit 184, and flying object measurement result acquisition unit 185 can be realized by dedicated circuits that realize the functions of each unit. Some or all of the transmission / reception unit 210, measurement control unit 220, and movement control unit 240 can be realized by dedicated circuits that realize the functions of each unit. Some or all of the target image capture unit 231, position information acquisition unit 232, target measurement unit 233, height target measurement unit 234, flying object measurement unit 235, and distance measurement unit 236 can be realized by dedicated circuits that realize the functions of each unit. The target information transmission unit 610, the target information storage unit 620, the flying object control unit 630, the measurement control unit 640, the distance acquisition unit 650, the estimation unit 660, and the output unit 670 can be partly or entirely realized by dedicated circuits that realize the functions of each unit. The instruction reception unit 710, the measurement control unit 720, the aircraft control unit 730, the movement control unit 740, the target information reception unit 750, the target image acquisition unit 751, the target detection unit 752, and the target position identification unit 753 can be partly or entirely realized by dedicated circuits that realize the functions of each unit.

[0328] A part or all of the position target detection unit 760, the height target detection unit 770, and the distance transmission unit 780 can be realized by a dedicated circuit that realizes the function of each unit. A part or all of the target image capture unit 731, the position information acquisition unit 732, the target measurement unit 733, the height target measurement unit 734, the flying object measurement unit 735, and the distance measurement unit 736 can be realized by a dedicated circuit that realizes the function of each unit.

[0329] Furthermore, some or all of the above-described embodiments can be described as, but are not limited to, the following supplementary notes.

[0330] (Appendix 1) a flying object control means for controlling the first flying object and the second flying object so that the first flying object comes to rest in the air above a first target device and the second flying object comes to rest in the air above a second target device; a measurement control means for controlling the first flying object so that the first flying object measures a first distance to the second flying object as the first flying object comes to rest above the first target device and the second flying object comes to rest above the second target device; distance acquisition means for acquiring the measured first distance from the first flying object; A control device comprising:

[0331] (Appendix 2) the flying object control means controls at least one of the first flying object and the second flying object to fly while capturing an image of the ground in a target area where the first target device and the second target device are installed, and to transmit the image; The control device a target image receiving means for receiving the image; a target detection means for detecting the first target device and the second target device from the image; a target position specifying means for specifying a position of the first target device and a position of the second target device in the target area; Equipped with The flying object control means controls the first flying object and the second flying object using the identified positions of the first target device and the second target device. 10. The control device of claim 1.

[0332] (Appendix 3) the first target device is included in a first target device sequence, which is an ordered set of a plurality of first target devices; the second target device is included in a second target device sequence, which is a set of an ordered plurality of second target devices; the flying object control means controls the first flying object and the second flying object so that the second flying object comes to rest in the sky above the second target device, the second target device having the same order in the first target device sequence as the first target device in the second target device sequence, during a second time period that is at least partially the same as a first time period in which the first flying object comes to rest in the sky above the first target device; The measurement control means controls the first flying object so that the first flying object measures the distance to the second flying object during a time period common to the first time period and the second time period. 3. The control device according to claim 1 or 2.

[0333] (Appendix 4) The flying object control means controls the first flying object and the second flying object so that the first flying object repeatedly stops in the air above the first target device and flies to the air above the next first target device in accordance with the order in the first target device sequence, and the second flying object repeatedly stops in the air above the second target device and flies to the air above the next second target device in accordance with the order in the second target device sequence. 4. The control device according to claim 3.

[0334] (Appendix 5) a height target measurement result acquisition means for acquiring, from the first flying object, first height target measurement data that is a result of the first flying object measuring a height target device, and acquiring, from the second flying object, second height target measurement data that is a result of the second flying object measuring the height target device; Equipped with The flying object control means uses the first height target measurement data and the second height target measurement data to control the first flying object and the second flying object so that the first flying object and the second flying object come to rest at the same height as the height of the height target device. 5. The control device according to any one of claims 1 to 4.

[0335] (Appendix 6) a projectile measurement result acquisition means for acquiring second projectile measurement data from the first projectile, which is a result of the first projectile measuring the second projectile, and acquiring first projectile measurement data from the second projectile, which is a result of the second projectile measuring the first projectile; Equipped with The flying object control means uses the first flying object measurement data and the second flying object measurement data to control the first flying object and the second flying object so that the height of the first flying object and the height of the second flying object become the height of the height target device. 6. The control device according to any one of appendices 1 to 5.

[0336] (Appendix 7) an estimation means for estimating an estimated distance, the distance between the first target device and the second target device, using the first distance; an output means for outputting the estimated distance; 7. The control device according to any one of claims 1 to 6, further comprising:

[0337] (Appendix 8) the measurement control means controls the second flying object so that the second flying object measures a second distance to the first flying object in response to the first flying object reaching the airspace above the first target device and the second flying object reaching the airspace above the second target device; The distance acquisition means further acquires the measured first distance from the second flying object; The estimation means estimates the estimated distance using the first distance and the second distance. 8. The control device according to claim 7.

[0338] (Appendix 9) the first flying object, the second flying object, the first target device, and the second target device; A control device according to any one of Supplementary Notes 1 to 8; A measurement system including:

[0339] (Appendix 10) a target image capturing means for capturing an image of a target area; target detection means for detecting a first target device from the region of interest using the image of the region of interest; an aircraft control means for controlling the position of the aircraft so that the aircraft moves and stops in the air above the detected first target device; distance measuring means for measuring the distance to another flying object stationary in the air above the first target device; distance transmitting means for transmitting the distance; A flying vehicle equipped with the above.

[0340] (Appendix 11) a target information receiving means for receiving information on a first target device sequence which is a set of a plurality of ordered first target devices; Equipped with the target detection means detects the plurality of first target devices of the first target device sequence in the target area from the image of the target area; the aircraft control means controls the aircraft so that the other flying object comes to rest in the air above the first target devices included in the first target device sequence, the order of the second target devices in the second target device sequence being the same as the order of the second target devices in the first target device sequence, during a first time period that is at least partially common to a second time period in which the other flying object comes to rest in the air above the second target devices included in the second target device sequence, the second target device sequence being a collection of a plurality of ordered second target devices; The distance measurement means measures the distance to the other flying object during a time period common to the first time period and the second time period. 11. A flying object as described in Appendix 10.

[0341] (Appendix 12) An instruction receiving means for receiving an order instruction indicating the designated order Equipped with The aircraft control means controls the aircraft so that the other flying object comes to rest in the air above the second target device whose order in the second target device sequence is the designated order indicated by the designated order, during the first time period at least partially common to the second time period, and comes to rest in the air above the first target device whose order in the first target device sequence is the designated order indicated by the designated order. 12. A flying object as described in Appendix 11.

[0342] (Appendix 13) said airframe control means controls said airframe to repeatedly stop in the air above said first target device and fly to the air above the next first target device in accordance with the order of said first target device in the sequence; an instruction transmitting means for instructing the other flying object, which repeats stopping in the air above the second target device and flying to the air above the next second target device in accordance with the order in the second target device sequence, to fly to the air above the next second target device when the flying object starts flying to the air above the next first target device; 12. The flying object according to claim 11, further comprising:

[0343] (Appendix 14) Height target measuring means for measuring height target device Equipped with The aircraft control means uses the measurement results of the height target device to control the height of the rest position of the aircraft so that the height of the height target device and the height of the rest position of the aircraft are the same. 14. The flying object according to any one of claims 10 to 13.

[0344] (Appendix 15) a flying object measuring means for measuring the other flying object after controlling the height of the resting position of the airframe so that the height of the height target device and the height of the resting position of the airframe are the same; Equipped with The airframe control means uses the measurement results of the other flying object to control the height of the rest position of the airframe so that the height of the rest position of the other flying object and the height of the rest position of the airframe are the same. 14. A flying object as described in Appendix 14.

[0345] (Appendix 16) a flying object measuring means for measuring the other flying object; Equipped with The airframe control means uses the measurement results of the other flying object to control the height of the rest position of the airframe so that the height of the rest position of the other flying object and the height of the rest position of the airframe are the same. 14. The flying object according to any one of claims 10 to 13.

[0346] (Appendix 17) controlling the first flying object and the second flying object so that the first flying object comes to rest in the air above a first target device and the second flying object comes to rest in the air above a second target device; controlling the first flying object so that the first flying object measures a first distance to the second flying object in response to the first flying object coming to rest above the first target device and the second flying object coming to rest above the second target device; obtaining the first distance measurement from the first projectile; Control method.

[0347] (Appendix 18) controlling at least one of the first flying object and the second flying object to fly while capturing an image of the ground in a target area where the first target device and the second target device are installed, and to transmit the image; receiving the image; a target detection means for detecting the first target device and the second target device from the image; Identifying a location of the first target device and a location of the second target device within the region of interest; Using the identified positions of the first target device and the second target device, the first flying object and the second flying object are controlled. 18. The control method of claim 17.

[0348] (Appendix 19) the first target device is included in a first target device sequence, which is an ordered set of a plurality of first target devices; the second target device is included in a second target device sequence, which is a set of an ordered plurality of second target devices; controlling the first flying object and the second flying object so that the second flying object comes to rest in the air above the second target device, the second target device having the same order in the first target device sequence as the first target device in the second target device sequence, during a second time period that is at least partially the same as a first time period in which the first flying object comes to rest in the air above the first target device; The first flying object is controlled so that the first flying object measures the distance to the second flying object during a time period common to the first time period and the second time period. 19. The control method according to claim 17 or 18.

[0349] (Appendix 20) The first flying object and the second flying object are controlled so that the first flying object repeatedly stops in the air above the first target device and flies to the air above the next first target device in accordance with the order in the first target device sequence, and the second flying object repeatedly stops in the air above the second target device and flies to the air above the next second target device in accordance with the order in the second target device sequence. 19. The control method of claim 19.

[0350] (Appendix 21) The first flying object acquires first height target measurement data, which is a result of measuring a height target device, from the first flying object, and the second flying object acquires second height target measurement data, which is a result of measuring the height target device, from the second flying object; Using the first height target measurement data and the second height target measurement data, the first flying object and the second flying object are controlled so that they come to rest at the same height as the height of the height target device. 21. A control method according to any one of appendices 17 to 20.

[0351] (Appendix 22) Acquiring second projectile measurement data from the first projectile, which is a result of the first projectile measuring the second projectile, and acquiring first projectile measurement data from the second projectile, which is a result of the second projectile measuring the first projectile; Using the first flying object measurement data and the second flying object measurement data, the first flying object and the second flying object are controlled so that the height of the first flying object and the height of the second flying object become the height of the height target device. 22. A control method according to any one of appendices 17 to 21.

[0352] (Appendix 23) using the first distance to estimate an estimated distance, the estimated distance being the distance between the first target device and the second target device; outputting the estimated distance; 23. A control method according to any one of appendices 17 to 22.

[0353] (Appendix 24) In response to the first projectile reaching the space above the first target device and the second projectile reaching the space above the second target device, further controlling the second projectile so that the second projectile measures a second distance to the first projectile; further acquiring the measured first distance from the second projectile; Estimating the estimated distance using the first distance and the second distance. 24. The control method of claim 23.

[0354] (Appendix 25) capturing an image of the area of ​​interest; Detecting a first target device from the region of interest using the image of the region of interest; Controlling the position of the aircraft so that it moves and stops above the detected first target device; measuring, in the airspace above the first targeting device, the distance to another flying object stationary in the airspace above a second targeting device; transmitting the distance; Projectile control method.

[0355] (Appendix 26) receiving information on a sequence of first target devices, which is an ordered set of a plurality of first target devices; detecting the plurality of first target devices of the sequence of first target devices in the target area from the image of the target area; controlling the aircraft so that the other flying object comes to rest in the air above the first target devices included in the first target device sequence, the order of the second target devices in the second target device sequence being the same as the order of the second target devices in the first target device sequence, during a first time period that is at least partially the same as a second time period in which the other flying object comes to rest in the air above the second target devices included in the second target device sequence, the second target device sequence being a collection of a plurality of ordered second target devices; The distance to the other flying object is measured during a time period common to the first time period and the second time period. 26. A method for controlling a flying object according to claim 25.

[0356] (Appendix 27) Accepts an order instruction indicating the specified order, The other flying object is controlled so that the other flying object comes to rest in the air above the second target device whose order in the second target device series is the designated order indicated by the designated order, during the first time period which is at least partially common to the second time period, and comes to rest in the air above the first target device whose order in the first target device series is the designated order indicated by the designated order. 27. A method for controlling a flying object according to claim 26.

[0357] (Appendix 28) controlling the airframe to repeatedly stop in the air above a first target device and fly to the air above the next first target device in accordance with the order of the first target devices in the series; When the flight to the sky above the next first target device starts, the other flying object, which repeats stopping in the sky above the second target device and flying to the sky above the next second target device in accordance with the order in the second target device sequence, is instructed to fly to the sky above the next second target device. 27. A method for controlling a flying object according to claim 26.

[0358] (Appendix 29) Measure the height target device; Using the measurement results of the height target device, the height of the rest position of the aircraft is controlled so that the height of the height target device and the height of the rest position of the aircraft are the same. 29. A flying object control method according to any one of appendices 25 to 28.

[0359] (Appendix 30) measuring the other flying object after controlling the height of the resting position of the airframe so that the height of the height target device and the height of the resting position of the airframe are the same; Using the measurement results of the other flying object, the height of the rest position of the airframe is controlled so that the height of the rest position of the other flying object and the height of the rest position of the airframe are the same. 29. A method for controlling a flying object according to claim 29.

[0360] (Appendix 31) measuring the other projectiles; Using the measurement results of the other flying object, the height of the rest position of the airframe is controlled so that the height of the rest position of the other flying object and the height of the rest position of the airframe are the same. 29. A flying object control method according to any one of appendices 25 to 28.

[0361] (Appendix 32) a flying object control process for controlling the first flying object and the second flying object so that the first flying object comes to rest in the air above a first target device and the second flying object comes to rest in the air above a second target device; a measurement control process for controlling the first flying object so that the first flying object measures a first distance to the second flying object in response to the first flying object coming to rest above the first target device and the second flying object coming to rest above the second target device; a distance acquisition process for acquiring the measured first distance from the first flying object; A storage medium that stores a program that causes a computer to execute the above.

[0362] (Appendix 33) the flying object control process controls at least one of the first flying object and the second flying object to fly while capturing an image of the ground in a target area where the first target device and the second target device are installed, and to transmit the image; The program a target image receiving process for receiving the image; a target detection means for detecting the first target device and the second target device from the image; a target position identification process for identifying a position of the first target device and a position of the second target device in the target area; on the computer, The flying object control process controls the first flying object and the second flying object using the identified positions of the first target device and the second target device. 33. The storage medium of claim 32.

[0363] (Appendix 34) the first target device is included in a first target device sequence, which is an ordered set of a plurality of first target devices; the second target device is included in a second target device sequence, which is a set of an ordered plurality of second target devices; the flying object control process controls the first flying object and the second flying object so that the second flying object comes to rest in the sky above the second target device, the second target device having the same order in the first target device sequence as the first target device in the second target device sequence, during a second time period that is at least partially the same as a first time period in which the first flying object comes to rest in the sky above the first target device; The measurement control process controls the first flying object so that the first flying object measures the distance to the second flying object during a time period common to the first time period and the second time period. 34. The storage medium according to claim 32 or 33.

[0364] (Appendix 35) The flying object control process controls the first flying object and the second flying object so that the first flying object repeatedly stops in the air above the first target device and flies to the air above the next first target device in accordance with the order in the first target device sequence, and the second flying object repeatedly stops in the air above the second target device and flies to the air above the next second target device in accordance with the order in the second target device sequence. 35. The storage medium of claim 34.

[0365] (Appendix 36) The program A height target measurement result acquisition process in which first height target measurement data, which is a result of the first flying object measuring a height target device, is acquired from the first flying object, and second height target measurement data, which is a result of the second flying object measuring the height target device, is acquired from the second flying object. on the computer, The flying object control process uses the first height target measurement data and the second height target measurement data to control the first flying object and the second flying object so that the first flying object and the second flying object come to rest at the same height as the height of the height target device. 36. A storage medium according to any one of appendices 32 to 35.

[0366] (Appendix 37) The program A projectile measurement result acquisition process for acquiring second projectile measurement data from the first projectile, which is a result of the first projectile measuring the second projectile, and acquiring first projectile measurement data from the second projectile, which is a result of the second projectile measuring the first projectile. on the computer, The flying object control process uses the first flying object measurement data and the second flying object measurement data to control the first flying object and the second flying object so that the height of the first flying object and the height of the second flying object become the height of the height target device. 37. A storage medium according to any one of appendices 32 to 36.

[0367] (Appendix 38) The program an estimation process that uses the first distance to estimate an estimated distance, which is a distance between the first target device and the second target device; an output process for outputting the estimated distance; 38. The storage medium according to any one of appendices 32 to 37, further causing a computer to execute the steps.

[0368] (Appendix 39) the measurement control process further controls the second flying object so that the second flying object measures a second distance to the first flying object in response to the first flying object reaching the airspace above the first target device and the second flying object reaching the airspace above the second target device; The distance acquisition process further includes acquiring the measured first distance from the second flying object; The estimation process estimates the estimated distance using the first distance and the second distance. 39. The storage medium of claim 38.

[0369] (Appendix 40) a target image capturing process for capturing an image of a target area; a target detection process that detects a first target device from the region of interest using the image of the region of interest; an aircraft control process for controlling the position of the aircraft so that the aircraft moves and stops in the air above the detected first target device; a distance measurement process for measuring, in the airspace above the first target device, a distance to another flying object stationary in the airspace above a second target device; a distance transmission process for transmitting the distance; A storage medium that stores a program that causes a computer to execute the above.

[0370] (Appendix 41) The program A target information receiving process for receiving information on a first target device sequence, which is a set of a plurality of ordered first target devices. on the computer, the target detection process detects the plurality of first target devices of the first target device sequence in the target area from an image of the target area; the aircraft control process controls the aircraft so that the other flying object comes to rest in the air above the first target devices included in the first target device sequence, the order of the second target devices in the second target device sequence being the same as the order of the second target devices in the first target device sequence, during a first time period that is at least partially common to a second time period in which the other flying object comes to rest in the air above the second target devices included in the second target device sequence, the second target device sequence being a collection of a plurality of ordered second target devices; The distance measurement process measures the distance to the other flying object during a time period common to the first time period and the second time period. 41. The storage medium of claim 40.

[0371] (Appendix 42) The program Instruction acceptance process that accepts the order instruction indicating the specified order on the computer, The aircraft control process controls the aircraft so that the other flying object comes to rest in the air above the second target device whose order in the second target device sequence is the designated order indicated by the designated order, during the first time period that is at least partially common to the second time period, and comes to rest in the air above the first target device whose order in the first target device sequence is the designated order indicated by the designated order. 42. The storage medium of claim 41.

[0372] (Appendix 43) the airframe control process controls the airframe to repeatedly stop in the air above the first target device and fly to the air above the next first target device in accordance with the order of the first target device sequence; The program an instruction transmission process for instructing the other flying object, which repeats stopping in the air above the second target device and flying to the air above the next second target device in accordance with the order in the second target device sequence, to fly to the air above the next second target device when the flying to the air above the next first target device starts; 42. The storage medium of claim 41, further causing a computer to execute the steps.

[0373] (Appendix 44) The program Height target measurement process for measuring height target device on the computer, The aircraft control process uses the measurement results of the height target device to control the height of the rest position of the aircraft so that the height of the height target device and the height of the rest position of the aircraft are the same. 44. A storage medium according to any one of appendices 40 to 43.

[0374] (Appendix 45) The program a flying object measurement process for measuring the other flying object after controlling the height of the resting position of the airframe so that the height of the height target device and the height of the resting position of the airframe are the same; I put it on the computer, The aircraft control process uses the measurement results of the other flying object to control the height of the rest position of the aircraft so that the height of the rest position of the other flying object and the height of the rest position of the aircraft are the same. 45. The storage medium of claim 44.

[0375] (Appendix 46) The program A flying object measurement process for measuring the other flying object on the computer, The aircraft control process uses the measurement results of the other flying object to control the height of the rest position of the aircraft so that the height of the rest position of the other flying object and the height of the rest position of the aircraft are the same. 44. A storage medium according to any one of appendices 40 to 43.

[0376] Although the present disclosure has been described above with reference to the embodiments, the present disclosure is not limited to the above embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present disclosure within the scope of the present disclosure. [Explanation of symbols]

[0377] 1. Measurement System 2. Measurement System 10 Control device 70 Projectile 100 control device 110 Target detection unit 120 Target position identification section 130 Flying object control section 131 Position target detection unit 132 Height target detection unit 140 Measurement control section 150 Distance acquisition part 160 Estimation Department 170 Output section 181 Target image acquisition unit 182 Location information acquisition unit 183 Target measurement result acquisition section 184 Height measurement result acquisition unit 185 Flying object measurement result acquisition unit 200 Projectile 200A 1st flying object 200B 2nd flying object 210 Transmitter / Receiver 220 Measurement control section 231 Target image capturing unit 232 Location information acquisition unit 233 Target Measurement Section 234 Height target measurement unit 235 Flying object measurement section 236 Distance measurement unit 240 Control Unit 300 Communication Network 400 target device 400A Primary Targeting Device 400B 2nd target device 500 target device 600 control device 610 Target Information Transmission Unit 620 Target information storage unit 630 Flying object control unit 640 Measurement control section 650 Distance acquisition part 660 Estimation part 670 Output Section 700 Projectile 700A 1st flying object 700B 2nd flying object 710 Instruction Reception Department 720 Measurement control section 730 Aircraft Control Unit 731 Target image capturing unit 732 Location information acquisition unit 733 Target Measurement Department 734 Height target measurement unit 735 Flying object measurement section 736 Distance measurement unit 740 Control Unit 750 Target Information Receiving Department 751 Target image acquisition unit 752 Target detection unit 753 Target position identification section 760 Position target detection unit 770 Height target detection unit 780 Distance Transmitter 1000 computers 1001 processor 1002 memory 1003 Storage device 1004 I / O interface 1005 Storage medium

Claims

1. a flying object control means for controlling the first flying object and the second flying object so that the first flying object comes to rest vertically above a first target device and the second flying object comes to rest vertically above a second target device; a measurement control means for controlling the first flying object so that the first flying object measures a first distance to the second flying object in response to the first flying object coming to rest vertically above the first target device and the second flying object coming to rest vertically above the second target device; distance acquisition means for acquiring the measured first distance from the first flying object; A control device comprising:

2. the flying object control means controls at least one of the first flying object and the second flying object to fly while capturing an image of the ground in a target area where the first target device and the second target device are installed, and to transmit the image; The control device a target image receiving means for receiving the image; a target detection means for detecting the first target device and the second target device from the image; a target position specifying means for specifying a position of the first target device and a position of the second target device in the target area; Equipped with The flying object control means controls the first flying object and the second flying object using the identified positions of the first target device and the second target device. The control device according to claim 1 .

3. the first target device is included in a first target device sequence, which is a set of an ordered plurality of first target devices; the second target device is included in a second target device sequence, which is a set of an ordered plurality of second target devices; the flying object control means controls the first flying object and the second flying object so that the second flying object comes to rest vertically above the second target device, the second target device having the same order in the first target device row as the first target device in the first target device row, during a second time period that is at least partially the same as a first time period in which the first flying object comes to rest vertically above the first target device; The measurement control means controls the first flying object so that the first flying object measures the distance to the second flying object during a time period common to the first time period and the second time period. The control device according to claim 1 or 2.

4. The flying object control means controls the first flying object and the second flying object so that the first flying object repeats coming to rest vertically above the first target device and flying vertically above the next first target device in accordance with the order in the first target device sequence, and the second flying object repeats coming to rest vertically above the second target device and flying vertically above the next second target device in accordance with the order in the second target device sequence. The control device according to claim 3 .

5. a height target measurement result acquisition means for acquiring, from the first flying object, first height target measurement data that is a result of measurement of the height target device by the first flying object, and acquiring, from the second flying object, second height target measurement data that is a result of measurement of the height target device by the second flying object; Equipped with The flying object control means uses the first height target measurement data and the second height target measurement data to control the first flying object and the second flying object so that the first flying object and the second flying object come to rest at the same height as the height of the height target device. The control device according to any one of claims 1 to 4.

6. a flying object measurement result acquisition means for acquiring second flying object measurement data from the first flying object, which is a result of the first flying object measuring the second flying object, and acquiring first flying object measurement data from the second flying object, which is a result of the second flying object measuring the first flying object; Equipped with The flying object control means uses the first flying object measurement data and the second flying object measurement data to control the first flying object and the second flying object so that the height of the first flying object and the height of the second flying object become the height of the height target device. The control device according to claim 5 .

7. an estimation means for estimating an estimated distance using the first distance, the estimated distance being the distance between the first target device and the second target device; an output means for outputting the estimated distance; The control device according to claim 1 , further comprising:

8. a target image capturing means for capturing an image of a target area; target detection means for detecting a first target device from the region of interest using the image of the region of interest; an aircraft control means for controlling the position of the aircraft so that the aircraft moves vertically above the detected first target device and stops there; distance measuring means for measuring the distance to another flying object that is stationary vertically above the second target device, vertically above the first target device; distance transmitting means for transmitting the distance; A flying vehicle equipped with the above.

9. controlling the first flying object and the second flying object so that the first flying object comes to rest vertically above the first target device and the second flying object comes to rest vertically above the second target device; controlling the first projectile so that the first projectile measures a first distance to the second projectile in response to the first projectile coming to rest vertically above the first target device and the second projectile coming to rest vertically above the second target device; obtaining the measured first distance from the first flying object; Control method.

10. a flying object control process for controlling the first flying object and the second flying object so that the first flying object comes to rest vertically above the first target device and the second flying object comes to rest vertically above the second target device; a measurement control process for controlling the first flying object so that the first flying object measures a first distance to the second flying object in response to the first flying object coming to rest vertically above the first target device and the second flying object coming to rest vertically above the second target device; a distance acquisition process for acquiring the measured first distance from the first flying object; A program that causes a computer to execute the following.

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