Aerial photography system, aerial photography method, and aerial mobile body management device

Abstract

[Problem] To provide an aerial photography system, an aerial photography method, and an aerial mobile body management device that can facilitate the smooth running of a contest, an event, or other activities. [Solution] An alarm control device of an aerial photography system (10) causes an alarm device (240) to perform a first proximity-state action which includes outputting an alarm sound or illumination of an alarm light, on a condition that a measured distance to the ground or the like of the photography area becomes less than a first distance threshold (LMT2), during aerial photographing of a photography area (90), and prohibits the first proximity-state action when the measured distance exceeds the first distance threshold during aerial photography of the photography area.

Description

Aerial photography system, aerial photography method, and airborne mobile object management device

[0001] The present invention relates to an aerial photography system, an aerial photography method, and an aerial mobile object management device.

[0002] Patent Document 1 aims to provide a flying object and a control method thereof that allow surrounding people to easily recognize when the flying object is moving downward or in the direction of gravity or landing (

[0005] , Abstract). To achieve this aim, the flying object (12) of Patent Document 1 (Abstract) is equipped with an alarm device (28) that issues an alarm in the direction of the velocity vector of the flying object (12). The alarm device (28) may include a light projector (120) that emits visible light (300) in the direction of the velocity vector of the flying object (12). The alarm device (28) may also include an alarm sound output device (122) that outputs an alarm sound (302) in the direction of the velocity vector of the flying object (12).

[0003] US Patent Application Publication No. 2021 / 0107643

[0004] As described above, the flying object (12) of Patent Document 1 (Abstract) discloses that when descending to land, for example, a visible light or a warning sound is output in the direction of travel, making it easier for people in the vicinity to recognize that the flying object is moving downward or in the direction of gravity or landing.

[0005] However, Patent Document 1 does not appear to consider cases where aerial photography of sports such as soccer and tennis is performed. For example, when aerial photography of a sport is performed in a stadium, it is necessary for an aerial vehicle such as a drone to not interfere with the sport as much as possible. For example, if a light or sound alarm is output only when the aerial vehicle is descending, the light or sound may interfere with the sport. Alternatively, it is conceivable that the more rapid the change in the position or attitude of the aerial vehicle, the more likely it is to interfere with the sport. These issues may apply not only to sports such as soccer and tennis, but also to other events (concerts, ceremonies, etc.) where people gather, and to any area where people are active.

[0006] The present invention has been made in consideration of the above-mentioned problems, and aims to provide an aerial photography system, an aerial photography method, and an aerial mobile object management device that can facilitate competitions, events, or other human activities.

[0007] An aerial photography system according to one aspect of the present invention comprises: a photography moving body that photographs a photography area using a camera; a movement control device that is placed on the moving body or outside the moving body and controls the aerial movement of the moving body; a distance information acquisition device that is placed on the moving body or outside the moving body and measures the distance to a monitoring target, which is the ground, floor, or water surface of the photography area or a person within the photography area, or acquires measured distance information; an alarm device that is placed on the moving body and outputs an alarm sound or turns on a warning light; and an alarm control device that is placed on the moving body or outside the moving body and controls the operation of the alarm device, wherein the alarm control device causes the alarm device to perform a first approach action, including outputting the alarm sound or turning on the warning light, on condition that the measured distance from the moving body to the monitoring target falls below a first distance threshold during aerial photography of the photography area, and prohibits the first approach action if the measured distance exceeds the first distance threshold during aerial photography of the photography area.

[0008] According to the present invention, during aerial photography of a photography area, a first approach action (including outputting a warning sound or illuminating a warning light) is performed when the measured distance to a monitoring target, which is the ground, floor, or water surface of the photography area, or a person within the photography area, falls below a first distance threshold. This makes it possible to alert a person (athlete, competition official, etc.) within the photography area when the photography moving object being photographed from the air is close to the person. On the other hand, if the measured distance during aerial photography of the photography area exceeds the first distance threshold, the first approach action is prohibited. This makes it possible to facilitate human activity within the photography area (such as a competition between athletes, etc.).

[0009] The mobile control device may cause the moving object to perform a second approach action on the condition that the measured distance during aerial photography of the photography area is below a second distance threshold. Furthermore, the mobile control device may prohibit the second approach action when the measured distance during aerial photography of the photography area is above the second distance threshold. The second approach action may include an action of restricting a behavior control value including at least one of the horizontal or vertical downward velocity, acceleration, or jerk (acceleration derivative), or attitude angle, angular velocity, or angular acceleration of the moving object, more than when the measured altitude exceeds the second distance threshold.

[0010] As a result, if the measured distance from the moving object to the monitoring target falls below the second distance threshold during aerial photography of the photography area, the predetermined behavior control value of the moving object is limited, making it difficult for active people (such as athletes) to attract attention to the moving object. On the other hand, if the measured altitude during aerial photography exceeds the second distance threshold, the second approach operation is prohibited. This makes it possible to facilitate aerial photography.

[0011] The second distance threshold may be the same as or different from the first distance threshold.

[0012] The mobile control device may cause the mobile body to perform an emergency ascent process to increase the altitude of the mobile body when the measured distance to the monitoring target falls below a third distance threshold that is smaller than the first distance threshold or the second distance threshold. This makes it possible to quickly increase the altitude of the mobile body when, for example, the distance to the monitoring target is considered to be too short.

[0013] When causing the moving object to perform the emergency ascent process, the movement control device may set the absolute value of the limit value for the vertically upward velocity or acceleration to be greater than the absolute value of the limit value for the horizontal or vertically downward velocity or acceleration. This allows the moving object to be quickly ascent during the emergency ascent process. Note that the process referred to here may also include a case where no limit value is set for the vertically upward velocity or acceleration of the moving object.

[0014] When an abnormality occurs in the stability of the aerial movement of the moving object, the alarm control device may cause the alarm device to perform a first abnormality operation including outputting the warning sound or illuminating the warning light even if the measured distance exceeds the first distance threshold. Thus, even in a situation where output of the warning sound or illumination of the warning light is restricted under normal circumstances, it is possible to notify people inside the stadium or people monitoring the moving object outside the stadium of an abnormality in the moving object by outputting the warning sound or illuminating the warning light.

[0015] An abnormality in the stability of the aerial movement of the moving body may include any one of the following: a calculation load associated with controlling the operation of the moving body exceeds a first load threshold, a memory processing load exceeds a second load threshold, a communication load (a communication load on LTE or an internet communication line between the drone as a moving body and a control device or server) exceeds a third load threshold, a disturbance index including strong wind exceeds a predetermined value, or an abnormality in a component of the drone (motor, rotor, etc.). As a result, when the stability of the aerial movement of the moving body decreases, a warning sound is output or a warning light is turned on, making it possible to notify people inside the stadium or people monitoring the moving body outside the stadium of an abnormality in the moving body.

[0016] If an abnormality occurs in the stability of the moving object's aerial movement, the movement control device may cause the moving object to perform a second abnormality operation even if the measured altitude exceeds the second distance threshold. The second abnormality operation may include an operation to limit the behavior control value, including at least one of the moving object's horizontal or vertical downward velocity, acceleration, or jerk, or its attitude angle, angular velocity, or angular acceleration, more than when the abnormality does not occur and the measured distance exceeds the second distance threshold. This makes it possible to limit the predetermined behavior control value more than usual when an abnormality occurs in the stability of the moving object's aerial movement. As a result, the moving object can be operated to suppress unintended behavior changes.

[0017] An abnormality occurring in the stability of the aerial movement of the moving body may include any one of the following: a calculation load associated with the motion control of the moving body exceeds a load threshold, a memory processing load exceeds a load threshold, a communication load (communication load of LTE or an internet communication line between the drone as a moving body and a control device or server) exceeds a load threshold, a disturbance index including strong winds exceeds a predetermined value, or an abnormality in a component of the drone (motor, rotor, etc.). As a result, when the stability of the aerial movement of the moving body decreases, the predetermined behavior control value is limited more than usual, thereby making it possible to operate the moving body so as to suppress unintended changes in behavior.

[0018] When the moving object moves from a takeoff point to the photography area (such as a stadium or an event venue) or when the moving object moves from the photography area to a target landing point, the alarm control device may cause the alarm device to perform a first location-movement operation, including outputting the warning sound or illuminating the warning light. This makes it possible to notify people in the vicinity of the presence of the moving object by outputting the warning sound or illuminating the warning light under conditions different from those during aerial photography of the photography area, while the moving object is moving from a takeoff point to the photography area or from the photography area to a target landing point.

[0019] When the moving object moves from a takeoff point outside the photographing area to the photographing area, or when the moving object moves from the photographing area to a target landing point outside the photographing area, the movement control device may cause the moving object to perform a second location-moving action. The second location-moving action may include an action of limiting the behavior control value, including at least one of the moving object's horizontal or vertical downward velocity, acceleration, or jerk, or its attitude angle, angular velocity, or angular acceleration, more than when the abnormality does not occur and the measured distance exceeds the second distance threshold during aerial photographing of the photographing area. As a result, during location-moving from a takeoff point outside the photographing area to the photographing area or from the photographing area to a target landing point outside the photographing area, the predetermined behavior control value is limited more than during normal photographing of the photographing area. Therefore, the moving object can be operated to suppress sudden changes in behavior that are unexpected by people around it during location-moving.

[0020] The aerial photography system may further include a display device that displays an operation screen or an operation monitoring screen of the moving body, and a display management device that manages the display on the display device. When the first approach operation or the second approach operation is being performed, the display management device may output on the operation screen or the operation monitoring screen that the first approach operation or the second approach operation is being performed. This makes it easier for a pilot or an observer of the moving body to understand that the first approach operation or the second approach operation is being performed.

[0021] The aerial photography system may further include a minimum value setting unit that sets a minimum distance that is the lowest value of the distance at which the moving object can approach the monitoring target during aerial photography of the photography area. The minimum value setting unit may set the minimum altitude or minimum distance before the start or after the end of the competition or event, or during a break or temporary suspension, to be smaller than the minimum altitude or minimum distance during a competition or event in the photography area. This allows photography to be performed in accordance with the progress of the competition or event by changing the altitude or distance at which the moving object can perform aerial photography during the competition or event and at other times.

[0022] When the minimum distance is set to a small value before or after the start or end of the competition or event, or during a break or temporary suspension, the display management device may output on the operation screen or the operation monitoring screen that the minimum distance is set to a small value, thereby making it easier for a driver or monitor of a moving object to understand that the minimum distance has been set to a small value.

[0023] When the competition or event is started or resumed with the minimum distance set small before the start or during a break or temporary suspension, the display management device may output on the operation screen or the operation monitoring screen that the minimum distance will be set large, making it easier for the operator or observer of the moving object to understand that the minimum altitude or minimum distance will be set large from now on.

[0024] The first distance threshold or the second distance threshold may be different between inside the photographing area and outside the photographing area, thereby making it possible to set the first distance threshold or the second distance threshold suitable for photographing within the photographing area.

[0025] Another aspect of the present invention provides an aerial photography method using an aerial photography system including: a photography moving body that photographs a photography area from the air with a camera; a movement control device that is placed on the moving body or outside the moving body and controls the aerial movement of the moving body; a distance information acquisition device that is placed on the moving body or outside the moving body and measures the distance to a monitoring target, which is the ground, floor, or water surface of the photography area, or a person within the photography area, or acquires measured distance information; an alarm device that is placed on the moving body and outputs an alarm sound or turns on a warning light; and an alarm control device that is placed on the moving body or outside the moving body and controls the operation of the alarm device, wherein the alarm control device causes the alarm device to perform a first approach action, including outputting the alarm sound or turning on the warning light, on condition that the measured distance from the moving body to the monitoring target falls below a first distance threshold during aerial photography of the photography area, and prohibits the first approach action if the measured distance exceeds the first distance threshold during aerial photography of the photography area.

[0026] Another aspect of the present invention is an aerial photography method that uses an aerial photography system comprising: a photography moving body that photographs a photography area from the air with a camera; a movement control device that is placed on the moving body or outside the moving body and controls the aerial movement of the moving body; and a distance information acquisition device that is placed on the moving body or outside the moving body and measures the distance to a monitoring target that is the ground, floor, or water surface of the photography area or a person within the photography area, or acquires measured distance information, wherein the movement control device causes the moving body to perform a second approach action, on condition that the measured distance from the moving body to the monitoring target is below a second distance threshold, during aerial photography of the photography area; and prohibits the second approach action if the measured distance exceeds the second distance threshold during aerial photography of the photography area, and the second approach action includes an action that restricts a behavior control value including at least one of the horizontal or vertical downward velocity, acceleration, or jerk of the moving body, or the attitude angle, angular velocity, or angular acceleration, more than when the measured distance exceeds the second distance threshold.

[0027] Another aspect of the present invention is an aerial mobile object management device that manages a mobile object for filming that takes aerial photographs of a filming area with a camera, and the aerial mobile object management device is equipped with an alarm control device that controls the operation of the mobile object's warning device, which outputs a warning sound or turns on a warning light, and the alarm control device acquires from the mobile object a measured distance to a monitored object that is the ground, floor, or water surface of the filming area or a person within the filming area, or measured distance information indicating the measured distance, and during aerial filming of the filming area, causes the alarm device to perform a first approach action, including outputting the warning sound or turning on the warning light, on condition that the measured distance falls below a first distance threshold, and prohibits the first approach action if the measured distance exceeds the first distance threshold during aerial filming of the competition or event.

[0028] Another aspect of the present invention is an aerial mobile object management device that manages a mobile object for filming that takes aerial photographs of a filming area with a camera, and the aerial mobile object management device is equipped with a movement control device that controls the aerial movement of the mobile object, and the movement control device: acquires from the mobile object a measured distance to the ground, floor, or water surface of the filming area or a monitoring target that is a person within the filming area, or measured distance information indicating the measured distance; causes the mobile object to perform a second approach action on condition that the measured distance is below a second distance threshold during aerial filming of the filming area; and prohibits the second approach action if the measured distance exceeds the second distance threshold during aerial filming of the filming area, and the second approach action includes an action that restricts behavior control values ​​including at least one of the horizontal or vertical downward speed, acceleration, or jerk of the mobile object, or the attitude angle, angular velocity, or angular acceleration, more than when the measured distance exceeds the second distance threshold.

[0029] According to the present invention, it is possible to facilitate a competition, an event, or other human activity.

[0030] This is an overall configuration diagram of an aerial photography system according to an embodiment of the present invention. This is a functional configuration diagram of the drone in the above embodiment. This is an external perspective view schematically showing the drone in the above embodiment. This is a functional configuration diagram of the control device in the above embodiment. This is a front external view schematically showing the control device in the above embodiment. This is a functional configuration diagram of the server in the above embodiment. This is a flowchart showing the overall flow of aerial photography control in the above embodiment. This is an explanatory diagram of the aerial photography control in the above embodiment. This is an explanatory diagram of the alarm by the drone and the behavior restriction of the drone in the above embodiment. This is a flowchart of the takeoff preparation (details of S101 in FIG. 7) in the above embodiment. This is a flowchart of flight and photography within the photography permission area (details of S103 in FIG. 7) in the above embodiment. This is a flowchart of the first permission control (details of S304 in FIG. 11) in the above embodiment. This is a flowchart of the second permission control (details of S306 in FIG. 11) in the above embodiment. This is a first example of a screen displayed on the control device when flying and taking pictures within the photography permission area in the above embodiment. This is a second example of a screen displayed on the control device when flying and taking pictures within the photography permission area in the above embodiment. This is a flowchart of the movement to and landing at the target landing point (details of S104 in FIG. 7) in the above embodiment. This is an overall configuration diagram of an aerial photography system according to the first modification example of the present invention. This is an overall configuration diagram of an aerial photography system according to the second modification example of the present invention. This is an overall configuration diagram of an aerial photography system according to the third modification example of the present invention.

[0031] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In this specification and the drawings, components having substantially the same functional configuration are denoted by the same reference numerals, and redundant descriptions are omitted. Further, the embodiments shown below are merely examples, and other known elements and alternative means can be adopted according to the use, purpose, scale, etc.

[0032] <A. One Embodiment> [A-1. Configuration] (A-1-1. Overall Configuration) Fig. 1 is a diagram showing the overall configuration of an aerial photography system 10 (hereinafter also referred to as "system 10") according to one embodiment of the present invention. The system 10 uses a drone 20 to photograph a predetermined area (photography area) where human activity is likely to occur, such as a competition being held at a stadium 90 (Fig. 8) or an event being held at an event venue. As shown in Fig. 1, in addition to the drone 20, the system 10 also includes a control device 30 that allows a pilot to operate the drone 20, and a server 40 that manages the flight and photography of the drone 20.

[0033] In this embodiment, a competition is a contest of skills or ability, and includes sports played on land such as soccer, sports played on water such as the sea or river such as surfing or yacht racing, sports played in a semi-aquatic environment such as a pool such as water polo, swimming, or synchronized swimming (artistic swimming), and various other sports. Furthermore, it is not limited to matches, but also includes practice sessions.

[0034] A stadium is a place where a sport is played, and may include not only the area inside the court defined by the lines as shown in Figure 8, but also the area outside the court (for example, in the case of a soccer court, the grass area around the court defined by the lines, the area where the linesman moves, etc.). Furthermore, the present invention is not limited to sports and events, and can be applied to an aerial photography system that takes aerial photographs of a photography area for any purpose. The photography area referred to here may be defined as a two-dimensional object such as a soccer court, or as a three-dimensional object including the space above it.

[0035] The drone 20 and the control device 30 are connected to each other via wireless communication (which may include communication via a base station 52). The control device 30 and the server 40 are connected to each other via a communication network 50 such as the Internet. The drone 20 acquires satellite signals from an artificial satellite 54 to determine its own location. The configuration of the system 10 is not limited to that shown in FIG. 1; for example, configurations shown in FIGS. 17 to 19 can also be used (details will be described later).

[0036] (A-1-2. Drone 20) (A-1-2-1. Overview of the Drone 20) Fig. 2 is a functional configuration diagram of the drone 20 of this embodiment. Fig. 3 is a simplified external perspective view of the drone 20 of this embodiment. As described above, the drone 20 takes aerial photographs of competitions taking place in the stadium 90 (Fig. 8), events taking place at the event venue, and other human activities taking place in the photographing area. As shown in Fig. 2, the drone 20 has a drone sensor group 200, a communication unit 210, a flight mechanism 220, a photographing mechanism 230, an alarm device 240, and a drone control unit 250.

[0037] In this specification, the term "drone" refers to any flying object that has multiple rotors and the ability to autonomously control its attitude, regardless of the power source (electricity, prime mover, etc.), the control method (wireless or wired, fully autonomous flight type or partially manual flight type, etc.), and whether manned or unmanned. Drones are also sometimes called unmanned aerial vehicles (UAVs), flying objects, multicopters, RPASs (remote piloted aircraft systems), or UASs (unmanned aircraft systems), etc.

[0038] (A-1-2-2. Drone Sensor Group 200) The drone sensor group 200 includes various sensors arranged on the drone 20. Specifically, the drone sensor group 200 has a position measurement unit 201, a direction measurement unit 202, an altimeter 203, a speedometer 204, a gyro sensor 205, an obstacle sensor 206, etc. In addition to these, the drone sensor group 200 may also include various sensors that acquire information such as temperature, air pressure, wind speed, and acceleration.

[0039] The position measurement unit 201 receives signals from the artificial satellites 54 and measures the position (absolute position) of the aircraft based on the signals. The position measurement unit 201 measures its current position using, for example, a Global Navigation Satellite System (GNSS) or a Global Positioning System (GPS), although this is not particularly limited. As a method for measuring its position, for example, a Real Time Kinematic - Global Navigation Satellite System (RTK-GNSS) can also be used. The position information includes at least two-dimensional coordinate information (e.g., latitude and longitude) in a planar view, and preferably includes three-dimensional coordinate information including altitude information.

[0040] Furthermore, the base station 52, which provides information on the reference points of fixed stations used for relative positioning such as RTK, is wirelessly connected to the drone 20 and the control device 30, making it possible to measure the position of the drone 20 with higher accuracy. Here, when performing RTK measurement using a virtual reference point method with a VRS (Virtual Reference Station), the base station 52 can be omitted, or the accuracy of the position coordinate estimation of the base station 52 or the drone 20 can be further improved.

[0041] The orientation measurement unit 202 measures the orientation (heading direction) of the drone 20. The orientation measurement unit 202 is composed of a geomagnetic sensor that measures the heading direction (heading direction) of the drone 20 by measuring geomagnetism, a compass, etc.

[0042] The altimeter 203 measures the altitude above ground (hereinafter referred to as "altitude H") as the distance from the ground below (vertically downward) the drone 20. The measured value of altitude H acquired by the altimeter 203 is also referred to as the measured altitude Hd. Furthermore, when the photographing area is the sea, a river, or the like, the altitude H is acquired as the distance from the water surface. For example, a sonar sensor, a laser sensor, an infrared sensor, a time-of-flight (ToF) sensor, or the like can be used as the altimeter 203. The speedometer 204 detects the flight speed of the drone 20. The gyro sensor 205 detects the angular velocity of the drone 20. The obstacle sensor 206 has multiple control cameras 207 (Figure 3) and measures the position, velocity vector, etc. of a person positioned below the drone 20, etc., based on the acquired image.

[0043] (A-1-2-3. Communication Unit 210) Communication unit 210 is capable of radio wave communication via communication network 50 and includes, for example, a radio wave communication module. Communication unit 210 is capable of communication with control device 30 and the like via communication network 50 (including wireless base station 52).

[0044] (A-1-2-4. Flight Mechanism 220) The flight mechanism 220 is a mechanism that causes the drone 20 to fly, and generates thrust in the airframe for lifting the drone 20 and moving it in a desired direction. As shown in Figures 2 and 3, the flight mechanism 220 has a plurality of rotors 221 and a plurality of rotor actuators 222. The rotor actuators 222 have, for example, electric motors.

[0045] The flight mechanism 220 may also be provided with a propeller guard (not shown) to prevent the propeller from interfering with obstacles. The number of rotors 221 constituting the flight mechanism 220 is not particularly limited, but may include, for example, one, two, four, six, or eight rotors. The rotor 221 may be composed of a single propeller, or may be composed of multiple propellers arranged coaxially. The number and shape of the blades of each propeller are not particularly limited.

[0046] (A-1-2-5. Filming mechanism 230) The filming mechanism 230 is a mechanism for capturing images of competitions at the stadium 90 (FIG. 8), events at the event venue, etc., and has a camera 231, a camera holding unit 232, and an image processing unit 233. As shown in FIG. 3, the camera 231 (imaging device) is disposed at the bottom of the main body of the drone 20, and outputs image data relating to peripheral images captured around the drone 20. The camera 231 is a video camera (color camera) that captures video. The video may include audio data acquired by a microphone (not shown). Additionally or alternatively, the camera 231 may also capture still images.

[0047] The orientation of the camera 231 (the attitude of the camera 231 relative to the main body of the drone 20) can be adjusted by a camera actuator (not shown) incorporated in the camera holding unit 232. Alternatively, the position of the camera 231 relative to the main body of the drone 20 may be fixed. The camera holding unit 132 may have a mechanism for suppressing transmission of shaking or vibration of the aircraft to the camera 231. The image processing unit 233 performs predetermined image processing on image data acquired by the camera 231. The image data acquired by the camera 231 can be transmitted to a storage unit of the drone 20 itself, the control device 30, the server 40, etc. Part or all of the image processing unit 233 may be positioned as part of the photography control unit 252 described below.

[0048] (A-1-2-6. Warning Device 240) The warning device 240 alerts people around the drone 20 to the presence of the drone 20. As shown in Figures 2 and 3, the warning device 240 has a warning light 241 and a speaker 242. As shown in Figure 3, the warning light 241 is provided for each actuator 222, for example. The speaker 242 outputs a warning sound and is provided on the body of the drone 20.

[0049] (A-1-2-7. Drone control unit 250) The drone control unit 250 controls the entire drone 20, including flying and photographing the drone 20. The drone control unit 250 includes an input / output unit, a calculation unit, and a storage unit, which are not shown. The drone control unit 250 includes a calculation device such as a CPU (Central Processing Unit) for executing information processing, and storage devices such as a RAM (Random Access Memory) and a ROM (Read Only Memory). The drone control unit 250 includes a flight control unit 251, a photographing control unit 252, and an alarm control unit 253.

[0050] The flight control unit 251 controls the flight of the drone 20 (control of the aircraft's attitude angle and flight operations from takeoff to flight and landing) via the flight mechanism 220. The flight control unit 251 has a processing unit, also called a flight controller. The processing unit may have one or more processors, such as a programmable processor (e.g., a central processing unit (CPU), MPU, or DSP). The processing unit has access to memory. The memory stores logic, code, and / or program instructions that the processing unit can execute to perform one or more steps. The memory may include, for example, a separable medium such as an SD card or RAM, or an external storage device. Various data acquired from the drone sensor group 200 may be directly transmitted to and stored in the memory. For example, video or still image data captured by the camera 231 may be recorded in an internal memory or an external memory.

[0051] The processing unit includes a control module configured to control the airframe state of the drone 20. For example, the control module controls the flight mechanism 220 (thrust generating unit) of the drone 20 to adjust the spatial configuration, attitude angle, angular velocity, angular acceleration, angular jerk rate, and / or acceleration of the drone 20 having six degrees of freedom (translational motion x, y, and z, and rotational motion θx, θy, and θz). The control module can control one or more of the camera holder 232 and sensors.

[0052] The flight control unit 251 can control the flight of the drone 20 based on control signals from the control device 30 or based on a preset autonomous flight program. The flight control unit 251 can also control the flight of the drone 20 by controlling the flight mechanism 220 (thrust generation unit) based on various information such as the field to be photographed, flight permitted / prohibited areas, information on the corresponding flight geofences, map information including two-dimensional or three-dimensional map data, current position information of the drone 20, attitude information (heading information), speed information, and acceleration information, or any combination of these.

[0053] In this specification, "field to be photographed" refers to a two-dimensional location to be photographed (for example, the outline defining the stadium 90 (for example, the frame consisting of the touchlines and goal lines of a soccer field)). "Flight permitted / prohibited area" refers to a three-dimensional unit of space that permits or prohibits flight of the drone 20. "Geofence" refers to a virtual boundary line, and in particular refers to a fence that marks the boundary between a flight permitted area in which a mobile object such as the drone 20 is permitted to fly or move and a flight prohibited area. Therefore, if a mobile object such as the drone 20 comes into contact with a geofence, flight or movement is restricted to prevent the aircraft from flying outside the flight permitted area.

[0054] The photography control unit 252 controls photography by the drone 20 via the photography mechanism 230. The warning control unit 253 controls warnings by the drone 20 via the warning device 240.

[0055] (A-1-3. Control Device 30) (A-1-3-1. Overview of Control Device 30) FIG. 4 is a functional configuration diagram of the control device 30 of this embodiment. FIG. 5 is a simplified front view of the exterior of the control device 30 of this embodiment. The control device 30 is a portable information terminal that controls the drone 20 through operation by the operator and displays information received from the drone 20 (e.g., position, altitude, remaining battery level, camera footage, etc.). In this embodiment, the flight status (altitude, attitude, etc.) of the drone 20 is remotely controlled by the control device 30, but the drone 20 may also control it autonomously. In that case, when the operator transmits a flight command to the drone 20 via the control device 30, the drone 20 performs autonomous flight. However, manual operation may be possible during basic operations such as takeoff and return, and in emergencies.

[0056] The control device 30 has an input / output unit 300 and a communication unit 310. The input / output unit 300 performs various inputs by a user such as a pilot, outputs to the user, and inputs and outputs signals between the drone 20 and the server 40. The input / output unit 300 includes an operation input unit 320 and a display unit 330. The operation input unit 320 and the display unit 330 are connected to each other so that they can communicate with each other via wire or wirelessly. The control device 30 also includes a calculation unit such as a CPU for executing information processing, and storage devices such as RAM and ROM. The control device 30 of this embodiment also receives and displays work instructions and the like from the server 40.

[0057] (A-1-3-2. Communication Unit 310) The communication unit 310 is disposed in the same housing as the operation input unit 320 or the display unit 330, and has a communication function for wirelessly communicating with the drone 20 using Wi-Fi, 2.4 GHz, or a frequency band of 5.6 to 5.8 GHz. The communication unit 310 also has a wireless communication function that enables communication with the server 40 via an internet line 50 using a communication standard such as LTE (Long Term Evolution). In the system 10 ( FIG. 1 ) of this embodiment, the drone 20 communicates with the server 40 via the control device 30. Therefore, this system configuration is suitable for cases where the drone 20 and the control device 30 are located within a distance where direct wireless communication is possible (for example, visual flight by a pilot, etc.), but is not limited thereto.

[0058] (A-1-3-3. Operation Input Unit 320) The operation input unit 320 accepts various inputs from a user such as a pilot, and inputs operation commands such as flight direction and takeoff / landing when the pilot pilots the drone 20. For example, the operation input unit 320 accepts input operations that instruct the three-dimensional flight operations of the drone 20, including takeoff, landing, ascent, descent, turning, forward movement, backward movement, left and right movement, etc. As shown in FIG. 4 , the operation input unit 320 of this embodiment includes an up / down movement input unit 321, a left / right movement input unit 322, a forward / backward movement input unit 323, a yaw rotation input unit 324, a power input unit 325, and a feedback input unit 326. As shown in FIG. 5 , the operation input unit 320 as hardware includes a left input stick 327L, a right input stick 327R, an up menu button 328, and a down menu button 329.

[0059] The up / down movement input unit 321 is an input unit used by the pilot to move the drone 20 up and down, and is composed of the right input stick 327R. That is, when the right input stick 327R is moved upward (toward the back), the drone 20 rises, and when the right input stick 327R is moved downward (toward the front), the drone 20 descends. The left / right movement input unit 322 is an input unit used by the pilot to move the drone 20 left and right, and is composed of the right input stick 327R. That is, when the right input stick 327R is moved to the right, the drone 20 moves right, and when the right input stick 327R is moved to the left, the drone 20 moves left.

[0060] The forward / backward movement input unit 323 is an input unit used by the pilot to move the drone 20 forward or backward, and is constituted by the left input stick 327L. That is, when the left input stick 327L is moved upward (toward the rear), the drone 20 moves forward, and when the left input stick 327L is moved downward (toward the front), the drone 20 moves backward. The yaw rotation input unit 324 is an input unit used by the pilot to yaw rotate the drone 20, and is constituted by the left input stick 327L. That is, when the left input stick 327L is moved to the right, the drone 20 turns right, and when the left input stick 327L is moved to the left, the drone 20 turns left.

[0061] The power input unit 325 is a unit that turns the power of the control device 30 on and off, and is configured with a mechanical switch, etc. The return input unit 326 is a unit that inputs a command to return the drone 20, which is located in the stadium 90 (FIG. 8), etc., to the target landing point P2.

[0062] (A-1-3-4. Display Unit 330) The display unit 330 displays to the pilot status information of the drone 20 obtained from the drone 20 or the server 40. The display unit 330 may be configured as a touch panel or LCD monitor that is integrally built into the control device 30, or may be configured as a display device such as an LCD monitor, tablet terminal, or smartphone that is connected to the control device 30 by wire or wirelessly. The display unit 330 can display images related to various information such as the field to be photographed, permitted / prohibited flight areas, flight geofence, map information, current position information of the drone 20, attitude information (directional information), speed information, acceleration information, and remaining battery power.

[0063] (A-1-4. Server 40) (A-1-4-1. Overview of the Server 40) Fig. 6 is a functional configuration diagram of the server 40 of this embodiment. The server 40 manages or controls the flight and photography of the drone 20. As shown in Fig. 6, the server 40 has a communication unit 400, a calculation unit 410, and a storage unit 420. The server 40 also has an input / output unit (not shown) for inputting or outputting various types of information (image output, audio output). The communication unit 400 has a modem or the like (not shown), and is capable of communicating with the drone 20, the control device 30, etc. via the communication network 50.

[0064] The calculation unit 410 includes a CPU and operates by executing a program stored in the storage unit 420. Some of the functions executed by the calculation unit 410 can be realized using a logic IC (Integrated Circuit). Some of the programs of the calculation unit 410 can also be configured using hardware (circuit components).

[0065] The storage unit 420 stores programs and data used by the calculation unit 410 and includes a RAM. The RAM may be a volatile memory such as a register, or a non-volatile memory such as a hard disk or flash memory. The storage unit 420 may also include a ROM in addition to the RAM.

[0066] The server 40 may be a general-purpose computer such as a workstation or a personal computer, or may be logically realized by cloud computing.

[0067] (A-1-4-2. Calculation unit 410) As shown in FIG. 6, the calculation unit 410 has a takeoff preparation unit 430, a takeoff flight unit 440, an in-area operation control unit 450, and a landing flight unit 460. The takeoff preparation unit 430 makes preparations necessary for the takeoff of the drone 20. The takeoff preparation unit 430 has a flight permission area acquisition unit 431 and a takeoff feasibility determination unit 432. The flight permission area acquisition unit 431 is a component that sets the planned flight path of the drone 20 from the current position (takeoff point P1 (FIG. 8)) to the target shooting location (here, the stadium 90 (FIG. 8)), and selects the planned flight path from within the area in which flight of the drone 20 is permitted.

[0068] The takeoff permission determination unit 432 determines whether the drone 20 is permitted to take off. For example, the takeoff permission determination unit 432 determines whether the distance Dpf from the current position of the drone 20 to the target shooting location is within a predetermined range. This determination is made to check whether the distance from the current position of the drone 20 to the target shooting location is excessively long, taking into account the possibility that the user may have mistakenly selected the wrong shooting location. Alternatively, this determination may be made to check whether the distance from the current position of the drone 20 to the target shooting location (and the distance from the target shooting location to the return location after shooting) is excessively long, taking into account the expected power consumption, remaining battery power, etc.

[0069] The takeoff flight unit 440 controls the takeoff of the drone 20. The takeoff flight unit 440 has a takeoff flight control unit 441 and a status notification unit 442. The takeoff flight control unit 441 controls the operation of the drone 20 during takeoff. The status notification unit 442 monitors the status of the drone 20 and its surroundings during takeoff, and notifies the takeoff flight control unit 441 and the control device 30.

[0070] The in-area operation control unit 450 controls the flight of the drone 20 from the takeoff point P1 to the target shooting location and from the target shooting location (shooting area) to the target landing point P2. The in-area operation control unit 450 has a flight area restriction unit 451, a flight-permitted area switching unit 452, a flight mode switching unit 453, and a status notification unit 454.

[0071] The flight area restriction unit 451 restricts the area in which the drone 20 can fly (permitted flight area). The permitted flight area switching unit 452 switches the permitted flight area depending on the conditions, and operates exclusively during shooting at the target shooting location (such as the stadium 90 (FIG. 8)) (details will be described later using FIGS. 8 and 9, etc.). The flight mode switching unit 453 switches the flight mode of the drone 20. The status notification unit 454 monitors the status of the drone 20 and its surroundings during flight, and notifies each unit of the in-area operation control unit 450 and the control device 30.

[0072] The flight modes switched by the flight mode switching unit 453 include, for example, location transfer mode (normal), location transfer mode (emergency), photography flight mode (normal), photography flight mode (first low altitude), photography flight mode (second low altitude), etc. The location transfer mode (normal) is a flight mode that is normally used between the takeoff point P1 and the target photography location, and between the target photography location and the target landing point P2. The location transfer mode (emergency) is a flight mode that is used when an abnormality occurs between the takeoff point P1 and the target photography location, and between the target photography location and the target landing point P2.

[0073] The photography flight mode (normal) is a flight mode that is normally used at the target photography location (such as the stadium 90). The photography flight mode (first low altitude) is a flight mode that is used when a first predetermined condition is met at the target photography location (such as the stadium 90), and corresponds to the first permission control (S304 in FIG. 11 and FIG. 12) described later. The photography flight mode (second low altitude) is a flight mode that is used when a second predetermined condition is met at the target photography location (such as the stadium 90), and corresponds to the second permission control (S306 in FIG. 11 and FIG. 13) described later.

[0074] The landing flight unit 460 controls the landing of the drone 20. The landing flight unit 460 has a landing flight control unit 461 and a status notification unit 462. The landing flight control unit 461 controls the operation of the drone 20 during landing. The status notification unit 462 monitors the status of the drone 20 and its surroundings during landing, and notifies the landing flight control unit 461 and the control device 30.

[0075] [A-2. Control] (A-2-1. Overall flow of aerial photography control) Next, the control (aerial photography control) of this embodiment will be described. As described above, in this embodiment, aerial photography of a competition taking place in the stadium 90 (FIG. 8), an event taking place at an event venue, etc. is performed by the drone 20. Also, in this embodiment, an alarm is issued using the alarm device 240 and the behavior of the drone 20 is restricted depending on the location of the drone 20 (inside or outside the stadium 90), the altitude H, etc.

[0076] The warning using the warning device 240 referred to here refers to both the illumination of the warning light 241 and the output of a warning sound from the speaker 242 (or only one of them is acceptable). Furthermore, the behavior restriction of the drone 20 is, for example, a speed restriction of the drone 20. However, the restriction may be limited to only the horizontal direction and the vertically downward direction, and not to the vertically upward direction. Furthermore, the behavior control values ​​subject to behavior restriction may include, in addition to or instead of the speed, at least one of the acceleration or jerk of the drone 20, or the attitude angle (pitch, roll), angular velocity, or angular acceleration. In this case, the acceleration may be limited to only the horizontal direction and the vertically downward direction, and not to the vertically upward direction.

[0077] Fig. 7 is a flowchart showing the overall flow of aerial photography control in this embodiment. Fig. 8 is an explanatory diagram of aerial photography control in this embodiment. Fig. 9 is an explanatory diagram of warnings by the drone 20 and behavior restrictions on the drone 20 in this embodiment.

[0078] When the drone 20 and the control device 30 are powered on and the pilot operates the control device 30 to issue a command to start aerial photography control, the server 40 (takeoff preparation unit 430) begins takeoff preparation in step S101 of Fig. 7. Takeoff preparation will be described later with reference to Fig. 10. In Fig. 8, point P1 is the takeoff point of the drone 20.

[0079] Next, in step S102 of Figure 7, the drone 20 takes off in response to a command from the server 40 and moves to the stadium to be photographed (specifically, the photography-permitted area (e.g., area B4 of Figure 8)) via the takeoff and landing area (e.g., areas A1 and A2 of Figure 8).

[0080] As shown in Figure 9, takeoff and landing area A1 is set in a range where altitude H is equal to or greater than 0 and less than threshold value LMT2. In takeoff and landing area A1, the drone 20 issues both an alert and behavioral restrictions using the alarm device 240. The alert and behavioral restrictions are implemented based on commands from the server 40. Furthermore, takeoff and landing area A2 is set in a range where altitude H is equal to or greater than threshold value LMT2 and less than threshold value LMT4. In takeoff and landing area A2, the drone 20 issues an alert using the alarm device 240 but does not implement behavioral restrictions. When the drone 20 reaches photography-permitted area B4, neither an alert nor behavioral restrictions are implemented using the alarm device 240.

[0081] 8, the takeoff and landing area A2 and the photography-permitted area B4 are adjacent to each other, but they do not have to be adjacent. In that case, for example, a location change area (not shown) is set between the takeoff and landing area A2 and the photography-permitted area B4.

[0082] 7, the drone 20 photographs the competition in response to commands from the control device 30 or the server 40. During this process, the drone 20 moves within the photography-permitted areas B2 to B4. The photography-permitted areas referred to here are areas normally used for photography.

[0083] As shown in FIG. 9 , the normal photography area B4 is set in a range where the altitude H is equal to or greater than the threshold value LMT3 and less than the threshold value LMT4. In area B4, the drone 20 is not warned by the warning device 240 and is not restricted in its behavior. The first low-altitude photography area B3 is set in a range where the altitude H is equal to or greater than the threshold value LMT2 and less than the threshold value LMT3. In area B3, the drone 20 is restricted in its behavior but is not warned. The second low-altitude photography area B2 is set in a range where the altitude H is equal to or greater than the threshold value LMT1 and less than the threshold value LMT2. In area B2, the drone 20 is both warned by the warning device 240 and is restricted in its behavior. The photography-prohibited area B1 is set in a range where the altitude H is equal to or greater than 0 and less than the threshold value LMT1. Flight of the drone 20 is not permitted in area B1. If the drone 20 experiences an abnormality that prevents it from flying and lands within the stadium 90, both a warning and behavior restrictions are issued in area B1. Details of step S103 will be described later with reference to FIG. 11 .

[0084] In step S104 of FIG. 7 , the drone 20 ends image capture in response to a command from the control device 30 or the server 40, and moves to and lands at the target landing point P2 via a takeoff and landing area (e.g., areas A1 and A2 in FIG. 8 ). As with takeoff, in area A2, the drone 20 issues an alarm using the alarm device 240 but does not impose any behavioral restrictions. In addition, in area A1, the drone 20 issues both an alarm using the alarm device 240 and imposes behavioral restrictions. The alarm and behavioral restrictions are imposed based on a command from the server 40. Details of step S104 will be described later with reference to FIG. 16 .

[0085] (A-2-2. Takeoff Preparation (S101)) Figure 10 is a flowchart of takeoff preparation in this embodiment (details of S101 in Figure 7). Steps S201 to S206 in Figure 10 are processes of the server 40 (takeoff preparation unit 430). In step S201, the server 40 obtains location information of the stadium to be photographed, selected by the user using the control device 30. That is, the control device 30 displays candidate shooting locations, such as the stadium 90, that can be selected in response to the user's operation of the operation input unit 320.

[0086] The data of the candidate shooting locations is stored in the memory unit 420 (database) of the server 40 and is provided by the server 40. When the user selects a target shooting location from the candidate shooting locations, the server 40 reads the location information of the target shooting location from its own memory unit 420 (database). Note that the "location information" referred to here does not have to include altitude information (absolute altitude or relative altitude) as long as it includes information on the horizontal position of the stadium to be photographed (i.e., latitude and longitude). The stadium to be photographed may be specified as a photography-permitted area (e.g., area B4).

[0087] In step S202, the server 40 acquires the current position (takeoff point P1) of the drone 20 from the drone 20 via the control device 30. The "current position" here does not have to include altitude information (absolute altitude or relative altitude) as long as it includes information on the horizontal position of the drone 20's current position (i.e., latitude and longitude).

[0088] In step S203, the server 40 determines whether the distance Dpf from the current position of the drone 20 (take-off point P1) to the stadium to be photographed is within a predetermined range. This determination is made to check whether the distance Dpf from the current position of the drone 20 to the stadium to be photographed is excessively long, taking into consideration the possibility that the user may have mistakenly selected the wrong stadium to be photographed.

[0089] If the distance Dpf is within the predetermined range (S204: true), in step S205, the server 40 permits the takeoff of the drone 20. If the distance Dpf is not within the predetermined range (S204: false), in step S206, the server 40 prohibits the takeoff of the drone 20.

[0090] If the user mistakenly selects a different stadium, the drone 20 will begin flying from the takeoff position in a direction unintended by the user, and the user will not be able to immediately understand why the drone 20 is flying in an unintended direction, which is undesirable for the operation of the drone 20. Therefore, by providing the takeoff prohibition function based on the distance Dpf described above, safer operation can be achieved even in the event of a user operation error.

[0091] (A-2-3. Flying and photographing within the permitted photography area (S103)) (A-2-3-1. Overview) Figure 11 is a flowchart of flying and photographing within the permitted photography area in this embodiment (details of S103 in Figure 7). Steps S301 to S308 in Figure 11 are processes of the server 40 (in-area operation control unit 450). In step S301, the server 40 permits the drone 20 to fly within the normal photography area B4.

[0092] In the next step S302, the server 40 determines whether an abnormality has occurred in the flight of the drone 20. The abnormality here refers to an abnormality related to the stability of the drone 20's aerial movement. Examples of such abnormalities include when the computational load associated with the drone 20's operational control (behavior control, photography control, etc.) exceeds a first load threshold, when the processing load of the drone 20's onboard memory exceeds a second load threshold, or when the communication load (the communication load of the LTE or internet communication line between the drone 20 and the control device 20 or server 40) exceeds a third load threshold. Alternatively, such abnormalities may include when a disturbance indicator, such as a strong wind, exceeds a tolerable value or when an abnormality has been detected in a component of the drone 20 (such as the motor or rotor). If no abnormality has occurred in the flight of the drone 20 (S302: True), the process proceeds to step S303.

[0093] In step S303, the server 40 determines whether to permit entry into the first low-altitude photography area B3. Specifically, during a competition or other occasions (before the start of the competition, after work, during a break, or during a temporary suspension), for example, if the operator inputs a request for permission to enter the first low-altitude photography area B3 to the operation input unit 320 of the control device 30, entry into the first low-altitude photography area B3 is permitted. Note that "temporary suspension" here may include, for example, a player being substituted or preparing for a penalty kick or free kick. Alternatively, if the server 40 sets permission for entry into the first low-altitude photography area B3 for each competition, and the administrator of the server 40 manually sets permission for entry into the first low-altitude photography area B3, the server 40 permits entry. Alternatively, the server 40 may set permission for entry into the first low-altitude photography area B3 according to time periods based on the competition schedule, and permit entry if the entry is within the permitted time period.

[0094] If entry into the first low-altitude photography area B3 is permitted (S303: true), the server 40 executes the first permission control in step S304. Details of the first permission control will be described later with reference to Fig. 12. If entry into the first low-altitude photography area B3 is not permitted (S303: false), the process proceeds to step S305.

[0095] In step S305, the server 40 determines whether to permit entry into the second low-altitude photography area B2. Specifically, when a request for permission to enter the second low-altitude photography area B2 is input by the operator to the operation input unit 320 of the control device 30 during a situation other than during the competition (before the start of the competition, after work, during a break, or during a temporary suspension), the server 40 permits entry into the second low-altitude photography area B2. Alternatively, when an administrator of the server 40 sets whether or not entry is permitted for each competition, if the administrator sets permission for entry into the second low-altitude photography area B2, the server 40 permits entry. Alternatively, the server 40 may set entry into the second low-altitude photography area B2 according to time periods based on the competition schedule, and permit entry if the entry is within the permitted time period.

[0096] In order to enter the second low-altitude photography area B2 from the normal photography area B4, it is necessary to pass through the first low-altitude photography area B1. Therefore, it should be noted that step S303 is a step for determining whether or not it is possible to enter only the first low-altitude photography area B1, while step S305 is a step for determining whether or not it is possible to enter both the first low-altitude photography area B1 and the second low-altitude photography area B2.

[0097] If entry into the second low-altitude photography area B2 is permitted (S305: true), the server 40 executes the second permission control in step S306. Details of the second permission control will be described later with reference to Fig. 13. If entry into the second low-altitude photography area B2 is not permitted (S305: false), the process proceeds to step S307.

[0098] In step S307, the server 40 determines whether or not to end filming. For example, if the pilot inputs a request to end filming to the operation input unit 320 of the control device 30, the server 40 determines that filming should end. Alternatively, if an administrator of the server 40 manages the end of filming for each competition, the server 40 determines that filming should end when the administrator requests that filming be ended. If filming is to end (S307: true), flight and filming (S103 in FIG. 7) within the current permitted filming area is ended. If filming is not to end (S307: false), the server 40 returns to step S301.

[0099] If an abnormality occurs in the flight of the drone 20 in step S302 (S302: false), the server 40 executes abnormality processing in step S308. In the abnormality processing, for example, an alarm is issued using the alarm device 240, or the behavior of the drone 20 is restricted, or both are executed.

[0100] The warning using the warning device 240 referred to here refers to both the illumination of the warning light 241 and the output of a warning sound from the speaker 242 (or only one of them is acceptable). Furthermore, the behavior restriction of the drone 20 is, for example, a speed restriction of the drone 20. However, the restriction may be limited to only the horizontal direction and the vertically downward direction, and not to the vertically upward direction. Furthermore, the behavior control values ​​subject to behavior restriction may include, in addition to or instead of the speed, at least one of the acceleration or jerk of the drone 20, or the attitude angle (pitch, roll), angular velocity, or angular acceleration. In this case, the acceleration may be limited to only the horizontal direction and the vertically downward direction, and not to the vertically upward direction.

[0101] (A-2-3-2. First Permission Control) Figure 12 is a flowchart of the first permission control in this embodiment (details of S304 in Figure 11). In step S3041, the server 40 notifies the control device 30 that the altitude limit has been lifted. That is, the server 40 switches the minimum value of the altitude H (minimum altitude Hmin) in the flight control of the drone 20 by the server 40 from threshold value LMT3 to threshold value LMT2 (in other words, adds the first low-altitude photography area B3 to the photographable area). Then, the server 40 notifies the control device 30 that the switch has been made. Upon receiving the notification, the control device 30 displays on the display unit 330 that the switch has been made (for example, that low-altitude flight is now possible).

[0102] In step S3042, the server 40 determines whether the drone 20 has entered the first low-altitude photography area B3. Specifically, the server 40 acquires the measured altitude Hd from the drone 20 and compares it with a threshold LMT3 indicating the upper limit of the first low-altitude photography area B3. If the measured altitude Hd is below the threshold LMT3, it is determined that the drone 20 has entered the first low-altitude photography area B3. Therefore, step S3042 is true even when the drone 20 is in the second low-altitude photography area B2 or the photography-permitted area B1. If the drone 20 has entered the first low-altitude photography area B3 (S3042: true), the process proceeds to step S3043. If the drone 20 has not entered the first low-altitude photography area B3 (S3042: false), the process proceeds to step S3047.

[0103] In step S3043, the server 40 restricts the behavior of the drone 20. The behavior restriction of the drone 20 is, for example, a speed restriction of the drone 20. However, the restriction may be limited only to the horizontal direction and the vertically downward direction, and not to the vertically upward direction. Furthermore, the behavior control value that is the target of the behavior restriction may include at least one of the acceleration or jerk of the drone 20, or the attitude angle (pitch, roll), angular velocity, or angular acceleration, in addition to or instead of the speed. In this case, the acceleration may be limited only to the horizontal direction and the vertically downward direction, and not to the vertically upward direction.

[0104] In step S3044, the server 40 instructs the control device 30 to display on the display unit 330 a notification that the drone 20 is flying in the first low-altitude photography area B3 or that its behavior is restricted.

[0105] In step S3045, the server 40 determines whether the drone 20 has entered the second low-altitude photography area B2. As described above, under the first permission control, entry into the first low-altitude photography area B3 is permitted, and entry into the second low-altitude photography area B2 is prohibited. Therefore, if the drone 20 has entered the second low-altitude photography area B2, it is in a prohibited state. Therefore, if the drone 20 has entered the second low-altitude photography area B2 (S3045: true), the server 40 executes emergency ascent processing in step S3046. After step S3046, or if the drone 20 has not entered the second low-altitude photography area B2 (S3045: false), the process proceeds to step S3047.

[0106] The emergency ascent process of step S3046 is a process of automatically ascenting the drone 20. Alternatively, the emergency ascent process may display a message on the display unit 330 of the control device 30 requesting that the drone 20 be ascent immediately.

[0107] In step S3047, the server 40 determines whether or not to cancel the permission to enter the first low-altitude photography area B3. For example, the permission can be canceled when a predetermined time has passed since the permission was granted, or when the measured altitude Hd reaches a predetermined threshold higher than the upper limit threshold of the first low-altitude photography area B3. If the permission to enter the first low-altitude photography area B3 is to be canceled (S3047: true), the process proceeds to step S3048. If the permission to enter the first low-altitude photography area B3 is not to be canceled (S3047: false), the process returns to step S3042.

[0108] In step S3048, server 40 commands control device 30 to display a notification on display unit 330 that permission to enter first low-altitude photography area B3 has been revoked or that the minimum allowable flight altitude Hmin will increase. After step S3048, the first permission control (S304) ends and the process returns to step S301 in FIG. 11 .

[0109] (A-2-3-3. Second Permission Control) Figure 13 is a flowchart of the second permission control in this embodiment (details of S306 in Figure 11). In step S3061, the server 40 notifies the control device 30 that the altitude limit has been lifted. That is, the server 40 switches the minimum altitude Hmin in the flight control of the drone 20 in the server 40 from threshold LMT3 to threshold LMT1 (in other words, the first low-altitude photography area B3 and the second low-altitude photography area B2 are added to the photographable area). The server 40 then notifies the control device 30 that the switch has been made. Upon receiving the notification, the control device 30 displays on the display unit 330 that the switch has been made (for example, that low-altitude flight is now possible). The trigger for detecting the above-mentioned switching and notifying the operation device 30 may be the comparison of the minimum altitude Hmin with the threshold value LMT3 and the fact that it is smaller than the threshold value LMT3, or the trigger may be the change to a value smaller than the initial minimum altitude Hmin based on the change history of the minimum altitude Hmin. Furthermore, the notification to the operation device 30 is not limited to a notification that the above-mentioned switching has been performed, but may also be a warning display urging the pilot to fly with caution around people in the shooting area.

[0110] In step S3062, the server 40 determines whether the drone 20 has entered the first low-altitude photography area B3. Specifically, the server 40 acquires the measured altitude Hd from the drone 20 and compares it with a threshold LMT3 indicating the upper limit of the first low-altitude photography area B3. If the measured altitude Hd is below the threshold LMT3, it is determined that the drone 20 has entered the first low-altitude photography area B3. Therefore, even if the drone 20 is present in the second low-altitude photography area B2, step S3062 is true (TRUE). If the drone 20 has entered the first low-altitude photography area B3 (S3062: true), the process proceeds to step S3063. If the drone 20 has not entered the first low-altitude photography area B3 (S3062: false), the process proceeds to step S3070.

[0111] Steps S3063 and S3064 are similar to steps S3043 and S3044 in FIG.

[0112] In step S3065, the server 40 determines whether the drone 20 has entered the second low-altitude photography area B2. As described above, under the second permission control, entry into the second low-altitude photography area B2 is permitted. If the drone 20 has entered the second low-altitude photography area B2 (S3065: true), the process proceeds to step S3066. If the drone 20 has not entered the second low-altitude photography area B2 (S3065: false), the process proceeds to step S3070.

[0113] In step S3066, the server 40 issues an alarm using the alarm device 240. The alarm using the alarm device 240 here refers to both the illumination of the warning light 241 and the output of an alarm sound from the speaker 242 (or only one of these may be used). In step S3067, the server 40 instructs the control device 30 to display on the display unit 330 a notification that the drone 20 is flying in the second low-altitude photography area B2 or that an alarm using the alarm device 240 is in progress.

[0114] In step S3068, the server 40 determines whether the drone 20 has entered the photography-prohibited area B1. As described above, under the second permission control, the drone 20 is only permitted to enter the second low-altitude photography area B2, and is prohibited from entering the photography-prohibited area B1. Therefore, if the drone 20 has entered the photography-prohibited area B1, it is prohibited from entering. Therefore, if the drone 20 has entered the photography-prohibited area B1 (S3068: True), the server 40 executes emergency ascent processing in step S3069. The emergency ascent processing is a processing for automatically ascenting the drone 20. Alternatively, the emergency ascent processing may display a message on the display unit 330 of the control device 30 requesting immediate ascent of the drone 20. After step S3069, or if the drone 20 has not entered the photography-prohibited area B1 (S3068: False), the process proceeds to step S3070.

[0115] In step S3070, the server 40 determines whether or not to cancel the permission to enter the second low-altitude photography area B2. Specifically, the permission can be canceled, for example, when the competition begins before the start of the competition, or when the competition resumes after a break or a temporary suspension. The start or resumption of the competition can be manually input by, for example, an administrator of the server 40. Alternatively, the permission can be canceled when a predetermined time has passed since the permission to enter the second low-altitude photography area B2 was granted, or when the measured altitude Hd reaches a threshold value (a value higher than the threshold value LMT2). ​​If the permission to enter the second low-altitude photography area B2 is to be canceled (S3070: True), the process proceeds to step S3071. If the permission to enter the second low-altitude photography area B2 is not to be canceled (S3070: False), the process returns to step S3062.

[0116] In step S3071, server 40 commands control device 30 to display a notification on display unit 330 that permission to enter second low-altitude photography area B2 has been revoked or that the minimum allowable flight altitude Hmin will increase. After step S3071, the second permission control (S306) ends and the process returns to step S301 in FIG. 11 .

[0117] (A-2-3-4. Examples of display screens) Figure 14 is a first example of a screen 60 displayed on the control device 30 while flying and photographing within a photography-permitted area in this embodiment. Screen 60 in Figure 14 is displayed on the display unit 330 of the control device 30. Screen 60 is displayed, for example, in step S3044 in Figure 12 or steps S3064 and S3067 in Figure 13. Screen 60 includes a competition venue image 600, an athlete image 602, and a warning image 604. Warning image 604 includes warning messages such as "Caution!" and "Flying in a low-altitude area."

[0118] Figure 15 shows a second example of a screen 60a displayed on the control device 30 while flying and photographing within a photography-permitted area in this embodiment. The screen 60a in Figure 15 is displayed on the display unit 330 of the control device 30. The screen 60a is displayed, for example, in step S3067 in Figure 13. The screen 60a may be displayed, for example, by clicking or pushing the warning image 604 in Figure 14. The screen 60a includes a competition field image 600, an athlete image 602, a warning image 604a, a lights-out button 606, and a warning sound stop button 608.

[0119] The warning image 604a includes warning messages such as "Caution!" and "Flying in a low-altitude area," as in the example of Fig. 14. The warning image 604a in Fig. 15 also includes a message that says "For safety reasons, the operating speed is being limited," i.e., a message indicating that the behavior of the drone 20 is being restricted. The warning image 604a in Fig. 15 also includes a message that says "To alert you, a warning light is being turned on and a warning sound is being output," i.e., a message indicating that a warning is being issued by the warning device 240.

[0120] The light-off button 606 is a button used by the operator to instruct turning off the warning light 241, and pressing the light-off button 606 turns off the warning light 241. The warning sound stop button 608 is a button used by the operator to instruct stopping the warning sound, and pressing the warning sound stop button 608 stops the output of the warning sound from the speaker 242.

[0121] (A-2-4. Movement to and landing at target landing point P2 (S104)) Figure 16 is a flowchart of movement to and landing at target landing point P2 in this embodiment (details of S104 in Figure 7). Steps S401 to S406 in Figure 16 are processes of the server 40 (landing flight unit 460). In step S401, the server 40 receives input of a return instruction from the control device 30 in response to operation by the pilot. In the following step S402, the server 40 determines whether or not the drone 20 is located outside the normal photography area B4. In other words, it determines whether or not the drone 20 is located in any of areas B1 to B3.

[0122] This determination is made based on the measured altitude Hd. That is, the server 40 acquires the measured altitude Hd from the drone 20 and compares it with a threshold LMT3 that indicates the lower limit of the normal photography area B4. If the measured altitude Hd is below the threshold LMT3, it is determined that the drone 20 is outside the normal photography area B4. If the drone 20 is outside the normal photography area B4 (S402: true), the process proceeds to step S403. If the drone 20 is within the normal photography area B4 (S402: false), the process proceeds to step S405.

[0123] In step S403, the server 40 performs emergency ascent processing. The emergency ascent processing is processing that automatically ascents the drone 20. Alternatively, the emergency ascent processing may display a message on the display unit 330 of the control device 30 requesting that the drone 20 be ascent immediately. In step S404, the server 40 determines whether the drone 20 is present within the normal photography area B4. If the drone 20 is present within the normal photography area B4 (S404: true), the process proceeds to step S405. If the drone 20 is not present within the normal photography area B4, the process returns to step S403.

[0124] In step S405, the server 40 moves the drone 20 from the stadium to be photographed (normal photography area B4) to the target landing point P2. In step S406, the server 40 lands the drone 20 at the target landing point P2.

[0125] [A-3. Effects of the Present Embodiment] According to the present embodiment, during aerial photography of a competition, if the drone 20 enters the second low-altitude photography area B2 (in other words, if the measured altitude Hd (measured distance) to the monitoring target, which is the ground of the competition venue 90, is below the threshold LMT2 (first distance threshold)), a first approach operation is performed, including outputting a warning sound and illuminating the warning light 241 (S3065: true → S3066 in FIG. 13 ). This allows the drone 20 (photography vehicle) performing aerial photography to warn people (athletes, competition officials, etc.) in the competition venue 90 (photography area) if they are close to them. On the other hand, if the measured altitude Hd exceeds the threshold LMT2 during aerial photography of a competition (S3065: false in FIG. 13 ), the first approach operation is prohibited. This allows for smoother competition, etc., between athletes, etc.

[0126] In this embodiment, the in-area operation control unit 450 (mobile control device) of the server 40 performs behavior restriction (second approach operation) on the drone 20 on the condition that the drone 20 has entered the first low-altitude photography area B3 during aerial photography of the competition (in other words, the measured altitude Hd of the drone 20 (moving body) is below the threshold LMT3 (second distance threshold) (S3042: true → S3043 in FIG. 12, S3062: true → S3063 in FIG. 13). In addition, when the drone 20 enters the first low-altitude photography area B3 during aerial photography of the competition (in other words, the measured altitude Hd of the drone 20 (moving body) is below the threshold LMT3 (second distance threshold), If the drone has not entered the low-altitude photography area B3 (in other words, if the measured altitude Hd is greater than LMT3), behavior restriction is prohibited (S3042 in FIG. 12: false, S3062 in FIG. 13: false). The behavior restriction may include an operation to restrict behavior control values ​​including at least one of the horizontal or vertical downward speed, acceleration, or jerk (acceleration derivative) of the drone 20, or the attitude angle (pitch, roll), angular velocity, or angular acceleration, more than when the measured altitude Hd is greater than the threshold LMT3.

[0127] As a result, if the measured altitude Hd of the drone falls below the threshold LMT3 during aerial photography of a competition, the predetermined behavior control value of the drone 20 is restricted, thereby preventing the drone 20 from suddenly accelerating and causing athletes and others to feel uneasy about the movement of the drone 20. On the other hand, if the measured altitude Hd exceeds the threshold LMT3 during aerial photography of a competition, behavior restrictions are prohibited. This makes it possible to smoothly film aerial photography of a competition.

[0128] In this embodiment, if the drone 20 enters the second low-altitude photography area B2 during the first permission control (in other words, if the measured altitude Hd (measured distance) of the drone 20 falls below the threshold LMT2 (third distance threshold); S3045 in FIG. 12 : true), the in-area operation control unit 450 (mobile control device) causes the drone 20 to perform emergency ascent processing to increase the altitude H of the drone 20 (S3046). Similarly, if the drone 20 enters the photography-prohibited area B1 during the second permission control (in other words, if the measured altitude Hd of the drone 20 falls below the threshold LMT1 (third distance threshold); S3068 in FIG. 13 : true), the in-area operation control unit 450 (mobile control device) causes the drone 20 to perform emergency ascent processing (S3069). This makes it possible to quickly increase the altitude H of the drone 20 if, for example, the altitude H of the drone 20 is considered to be too low.

[0129] In this embodiment, when the in-area operation control unit 450 (mobile control device) of the server 40 causes the drone 20 (moving body) to perform emergency ascent processing, it sets the absolute value of the limit value for vertical upward speed or acceleration to be greater than the absolute value of the limit value for horizontal or vertical downward speed or acceleration. This makes it possible to quickly ascent the drone 20 during emergency ascent processing.

[0130] In this embodiment, if an abnormality occurs in the stability of the aerial movement of the drone 20 (moving object) (S302 in FIG. 11 : false), the in-area operation control unit 450 (alarm control device) causes the alarm device 240 to issue an alarm (first abnormality operation) including outputting an alarm sound or illuminating the warning light 241 (S308 in FIG. 11 ), even if the drone 20 is within the normal photography area B4 (in other words, even if the measured altitude Hd exceeds the threshold value LMT3 (first distance threshold)). As a result, even in a situation where the output of the alarm sound or the illumination of the warning light 241 is normally restricted, by outputting the alarm sound or illuminating the warning light 241, it is possible to notify, for example, a person inside the stadium 90 or a person monitoring the drone 20 outside the stadium 90 of an abnormality in the drone 20.

[0131] In this embodiment, if an abnormality occurs in the stability of the aerial movement of the drone 20 (moving object) (S302: true in FIG. 11 ), the in-area operation control unit 450 (movement control device) of the server 40 causes the drone 20 to perform a behavior restriction (second abnormality operation) even if the measured altitude Hd exceeds the threshold LMT3 (second distance threshold) (S308). The second abnormality operation may include an operation to restrict behavior control values, including at least one of the drone 20's horizontal or vertical downward velocity, acceleration, or jerk, or its attitude angle (pitch, roll), angular velocity, or angular acceleration, more than when no abnormality occurs and the measured altitude Hd exceeds the threshold LMT3. This makes it possible to restrict predetermined behavior control values ​​more than usual when an abnormality occurs in the stability of the aerial movement of the drone 20. As a result, the drone 20 can be operated to suppress unintended changes in its behavior.

[0132] As a result, when the stability of the drone 20's aerial movement decreases, a warning sound is output or the warning light 241 is illuminated, making it possible to notify, for example, a person inside the stadium 90 or a person monitoring the drone 20 outside the stadium 90 of an abnormality in the drone 20. Alternatively, when the stability of the drone 20's aerial movement decreases, the drone 20 can be operated to suppress unintended changes in operation by limiting a predetermined behavior control value more than usual.

[0133] In this embodiment, when the drone 20 (moving body) moves from the takeoff point P1 to the competition venue 90 (S102 in FIG. 7 ), or when the drone 20 moves from the competition venue 90 to the target landing point P2 (S104 in FIG. 7 ), the calculation unit 410 (alarm control device) of the server 40 causes the alarm device 240 to perform a first location-movement operation, including outputting a warning sound or illuminating the warning light 241 ( FIG. 9 ). As a result, during location movement from the takeoff point P1 to the competition venue 90 or from the competition venue 90 to the target landing point P2, the warning sound is output or the warning light 241 is illuminated under conditions different from those during aerial photography of the competition, making it possible to notify nearby people of the presence of the drone 20.

[0134] In this embodiment, when the drone 20 (moving body) moves from a takeoff point P1 outside the stadium 90 to the stadium 90, or when the drone 20 moves from the stadium 90 to a target landing point P2 outside the stadium 90, the calculation unit 410 (movement control device) of the server 40 causes the drone 20 to perform a behavior restriction (operation when moving to a second location). The behavior restriction here includes an operation to restrict behavior control values ​​including at least one of the horizontal or vertical downward speed, acceleration, or jerk of the drone 20, or the attitude angle (pitch, roll), angular velocity, or angular acceleration, more than when no abnormality occurs during aerial photography of the competition and the measured altitude Hd exceeds a threshold LMT3 (second distance threshold).

[0135] As a result, the predetermined behavior control value is limited more than during normal filming of the competition when moving from takeoff point P1 outside the stadium 90 to the stadium 90 or from the stadium 90 to the target landing point P2 outside the stadium 90. Therefore, the drone 20 can be operated so as to suppress sudden changes in behavior that are unexpected by people around it while moving from one location to another.

[0136] In this embodiment, the aerial photography system 10 further includes a display unit 330 (display device) that displays the operation screen 60, 60a of the drone 20 (mobile object), and a computing unit 410 (display management device) of the server 40 that manages the display of the display unit 330 (FIGS. 1, 4 to 6). When an alarm (first approach operation) is issued in step S3066 of FIG. 13 or a behavior restriction (second approach operation) is issued in step S3043 of FIG. 12 or step S3063 of FIG. 13, the computing unit 410 (display management device) of the server 40 outputs on the operation screen 60, 60a that an alarm or behavior restriction is being issued (FIGS. 14 and 15). This makes it easier for the operator of the drone 20 to understand that an alarm or behavior restriction is being issued.

[0137] In this embodiment, the aerial photography system 10 includes a flight-permitted area switching unit 452 (minimum value setting unit) of the server 40 that sets a threshold value LMT1, LMT2, or LMT3 as the minimum altitude Hmin, which is the lowest value of the altitude H at which the drone 20 (mobile body) can move during aerial photography of a competition ( FIG. 6 ). The flight-permitted area switching unit 452 sets the minimum altitude Hmin (threshold value LMT1) before the start or end of a competition, or during a break or temporary suspension, to be lower than the minimum altitude Hmin (threshold value LMT2) during the competition ( FIG. 9 ). This allows the drone 20 to change the altitude H at which aerial photography is possible between during and outside of the competition, thereby enabling photography to be performed in accordance with the progress of the competition.

[0138] In this embodiment, the aerial photography system 10 further includes a display unit 330 (display device) that displays the operation screen 60, 60a of the drone 20 (mobile object), and a calculation unit 410 (display management device) of the server 40 that manages the display of the display unit 330 (FIGS. 1, 4-6). When the second permission control (S306 in FIG. 11, FIG. 13) is being executed (in other words, when the minimum altitude is set low before or after the competition, during a break, or during a temporary suspension (S3061 in FIG. 13)), the calculation unit 410 outputs a message indicating that the minimum altitude has been set low on the operation screen 60, 60a of the control device 30 (S3064, S3067 in FIG. 13, FIG. 14, and FIG. 15). This makes it easier for the operator of the drone 20 to understand that the minimum altitude has been set low.

[0139] In this embodiment, when a competition is started or resumed while the second permission control (S306 in FIG. 11, FIG. 13) is being executed (in other words, when the minimum altitude Hmin is set low before or after the competition, or during a break or temporary suspension (S3061 in FIG. 13)), the calculation unit 410 (display management device) of the server 40 outputs on the operation screen 60a of the control device 30 a message indicating that the minimum altitude Hmin will be set high (S3071 in FIG. 13). This makes it easier for the operator of the drone 20 to understand that the minimum altitude Hmin will now be set high.

[0140] In this embodiment, the upper warning threshold is threshold LMT2 inside the stadium 90, whereas the upper warning threshold is threshold LMT4 outside the stadium 90 (FIG. 9). In other words, the upper warning threshold (default value) issued by the warning device 240 differs between inside the stadium 90 and outside the stadium 90. This makes it possible to set an upper warning threshold suitable for filming inside the stadium 90, which is the filming location for the competition.

[0141] B. Modifications The present invention is not limited to the above-described embodiment, and various configurations can be adopted based on the contents of this specification. For example, the following configurations can be adopted.

[0142] [B-1. Configuration] (B-1-1. Aerial Photography System 10) The aerial photography system 10 in the above embodiment was intended to photograph sports (soccer, tennis, etc.) taking place in a stadium 90 ( FIG. 8 ). However, this is not limited to this, if attention is paid to, for example, warnings issued by the warning device 240 or behavioral restrictions on the drone 20. For example, the subject of photography is not limited to the sports mentioned above, and the system can also be applied to other events (concerts, ceremonies, etc.) where people gather, or other human activities.

[0143] In the above embodiment, the aerial photography system 10 has the configuration shown in Fig. 1. However, for example, when attention is paid to the warning by the warning device 240 or the behavior restriction of the drone 20, the configuration is not limited to this.

[0144] FIG. 17 is an overall configuration diagram of an aerial photography system 10A (hereinafter also referred to as "system 10A") according to a first modified example of the present invention. In the system 10A shown in FIG. 17, a drone 20, a control device 30, a server 40, and a base station 52 are connected to each other so that they can communicate with each other via a communication network 50 such as an internet line. Unlike the system 10 of FIG. 1, the drone 20 wirelessly communicates directly with the internet line 50 using a communication method such as LTE without going through the control device 30. Therefore, the drone 20, the control device 30, and the base station 52 do not need to communicate directly with each other via wireless communication; they only need to be connected to the internet line 50 in remote locations. This system configuration is therefore suitable for cases where the drone 20 and the control device 30 are located in remote locations (e.g., when a pilot remotely controls the drone).

[0145] Figure 18 is an overall configuration diagram of an aerial photography system 10B (hereinafter also referred to as "system 10B") according to a second modified example of the present invention. In the example of system 10B shown in Figure 18, a drone 20, a control device 30, a base station 52, and a server 40 are connected to each other so as to be able to communicate with each other via a communication network 50 such as an internet line, and the drone 20 and the base station 52 are connected to the internet line 50 by satellite communication via a satellite 54.

[0146] FIG. 19 is an overall configuration diagram of an aerial photography system 10C (hereinafter also referred to as "system 10C") according to a third modified example of the present invention. The example of system 10C shown in FIG. 19 illustrates a redundant system in which multiple servers 40 are connected to a single drone 20 via multiple internet lines 50. In this case, even if an abnormality occurs in a server 40 or internet line 50, the operation of system 10C can be continued using the other redundant servers 40 and internet lines 50, thereby improving the reliability of system 10C. Note that in FIGS. 18 and 19 , the drone 20 and the control device 30 can be controlled from a remote location, and thus the configuration is suitable for remote operation. However, the present invention is not limited to this configuration and can also be applied to visual flight in which the pilot manually controls the drone 20 while watching it.

[0147] The device described in the above embodiment may be realized as a single device, or may be realized by a plurality of devices (e.g., cloud server 40, drone 20, control device 30) that are partly or entirely connected via a communication network 50. For example, each functional unit and memory unit of the server 40 may be implemented in a different server 40, drone 20, or control device 30 that is connected to each other via the communication network 50.

[0148] (B-1-2. Drone 20) In the above embodiment, basic behavior control of the drone 20 during shooting was performed based on operation of the control device 30 ( FIG. 5 ). However, for example, if attention is focused on an alarm issued by the alarm device 240 or behavior restrictions on the drone 20, the basic behavior control of the drone 20 is not limited to this, and may be automatic control (without manual operation) by the drone 20 itself or based on commands from the server 40.

[0149] In the above embodiment, the drone 20 is used as an example of a mobile body for aerial photography, but this is not limited thereto, for example, if attention is paid to an alarm issued by the alarm device 240 or behavioral restrictions on the drone 20. The mobile body may be, for example, a camera system that can move along a wire placed in the air within the stadium 90.

[0150] In the above embodiment, the altitude H of the drone 20 is detected by the altimeter 203 provided on the drone 20 ( FIG. 2 ). However, the altitude H may be detected by other methods. For example, the drone 20 may be photographed by two ground cameras provided in or around the stadium 90, and the altitude H of the drone 20 may be detected based on the two captured images.

[0151] (B-1-3. Control Device 30) The control device 30 in the above embodiment has the configuration shown in Figures 4 and 5. However, this is not limited to this, for example, if attention is paid to the warning issued by the warning device 240 or the behavioral restrictions of the drone 20. With regard to the operation input unit 320, for example, the number and arrangement of the input sticks, and the number, shape, and arrangement of the buttons can be changed as appropriate. Alternatively, the configuration realized by the operation input unit 320 in Figure 5 can be replaced with a touch panel.

[0152] The control input unit 320 may have a takeoff button and a landing button to instruct automatic takeoff and landing, a flight start button to instruct the aircraft to automatically fly to a specified location and hover there, a home button to perform a return operation to the starting location, a mode switch button to switch flight modes, an emergency stop button to stop the propellers in an emergency, an emergency landing button to make a soft landing on the spot in an emergency, a hover button to make the aircraft hover on the spot and remain stationary in the air in an emergency, etc.

[0153] [B-2. Control] The series of processes described in connection with the above embodiment may be realized using software, hardware, or a combination of software and hardware. A computer program for realizing each function of the server 40 according to this embodiment may be created and installed on a PC or the like. A computer-readable recording medium on which such a computer program is stored may also be provided. Examples of the recording medium include a magnetic disk, an optical disk, a magneto-optical disk, and a flash memory. Furthermore, the above computer program may be distributed, for example, via a communication network 50 without using a recording medium.

[0154] The flowcharts used in the above embodiments do not necessarily have to be executed in the order shown in the drawings. Some processing steps may be executed in parallel. In addition, additional processing steps may be employed, and some processing steps may be omitted.

[0155] In the above embodiment, the measured altitude Hd, which is the vertical distance between the drone 20 and the ground of the stadium 90, is used as an index used for controlling the warning by the warning device 240 and the behavioral restrictions of the drone 20 (see, for example, FIGS. 8 and 9 ). However, this is not limiting, for example, if attention is paid to the fact that the warning by the warning device 240 or the behavioral restrictions of the drone 20 are issued depending on the distance between the drone 20 and the monitored object.

[0156] For example, instead of the vertical distance between the drone 20 and the ground of the stadium 90, the vertical distance between the drone 20 and the floor of an indoor stadium (basketball court, volleyball court, etc.) can be used. Alternatively, for example, in the case of surfing, yacht racing, water polo, swimming, or artistic swimming, the vertical distance between the drone 20 and the water surface can be used.

[0157] Alternatively, the ground warning device 240 may issue an alarm or restrict the behavior of the drone 20 based on the relative distance between the drone 20 and a person (such as a player or a ball) within the stadium 90. The relative distance can be measured, for example, by the obstacle sensor 206. In this case, similar to the thresholds LMT1 to LMT4 in FIGS. 8 and 9 , a threshold value for the relative distance may be set, and the warning device 240 or the behavior restriction of the drone 20 may be controlled based on the relationship between the relative distance and the threshold value. Alternatively, the warning device 240 or the behavior restriction of the drone 20 may be controlled using a combination of the measured altitude Hd and the relative distance. In this case, for example, the warning device 240 may issue an alarm or the behavior restriction of the drone 20 may be controlled when the measured altitude Hd and the relative distance each fall below a predetermined threshold.

[0158] As mentioned above, the playing field 90 does not necessarily have to be defined as only the court divided by lines, but may also include the periphery of the court. Therefore, the "people within the playing field 90" mentioned above may include, for example, soccer linesmen. Furthermore, the relative distance between the drone 20 and the people within the playing field 90 can also be detected using methods other than the obstacle sensor 206 (multiple cameras) (for example, a laser sensor, an infrared sensor, or a time-of-flight (ToF) sensor).

[0159] In the above embodiment, with respect to the relationship between areas A1 and A2 outside the stadium 90 and areas B1 to B4 inside the stadium 90, the upper limit threshold for restricting the behavior of the drone 20 is set to LMT2 outside the stadium 90 and LMT4 inside the stadium 90 (FIGS. 8 and 9). However, for example, if attention is focused on the warning by the warning device 240 or the behavior restriction of the drone 20, this is not limiting, and the upper limit threshold for restricting the behavior outside the stadium 90 and inside the stadium 90 may be the same.

[0160] In the above embodiment, the upper limit threshold LMT2 for issuing an alarm and the upper limit threshold LMT3 for restricting the behavior of the drone 20 are different within the stadium 90 (FIGS. 8 and 9). However, for example, if attention is focused on the alarm issued by the alarm device 240 or the behavior restriction of the drone 20, this is not limiting, and the two may be the same.

[0161] In the above embodiment, the areas B1 to B4 were set in advance during photography (see, for example, FIGS. 8 and 9). However, this is not limited to this, for example, if attention is paid to the warning issued by the warning device 240 or the behavioral restrictions of the drone 20. For example, a system is also possible in which the user operates the control device 30 to change the vertical position of the geofence that defines one of the areas B1 to B4.

[0162] In the above embodiment, it is possible to both issue an alarm by the alarm device 240 and restrict the behavior of the drone 20 (see, for example, FIGS. 8 and 9 ). However, for example, it may be possible to only issue an alarm by the alarm device 240 or restrict the behavior of the drone 20.

[0163] DESCRIPTION OF SYMBOLS 10, 10A, 10B, 10B... Aerial photography system 20... Drone (moving body for photography) 60, 60a... Operation screen 90... Stadium (photography area) 203... Altimeter (distance information acquisition device) 231... Camera 240... Alarm device 241... Warning light 330... Display unit (display device) 410... Calculation unit (alarm control device, display management device) 450... In-area operation control unit (movement control device) 452... Flight permission area switching unit (minimum value setting unit) Hd... Measured altitude (measured distance) LMT1... Threshold (third distance threshold) LMT2... Threshold (first distance threshold, third distance threshold) LMT3... Threshold (second distance threshold) P1... Take-off point P2... Target landing point

Claims

1. A mobile body for aerial photography that photographs a photographing area with a camera, A movement control device that is disposed on the mobile body or outside the mobile body and controls the aerial movement of the mobile body, A distance information acquisition device that is disposed on the mobile body or outside the mobile body and measures the distance to the ground or floor or water surface of the photographing area or a human being as a monitoring target within the photographing area or acquires measured distance information, An alarm device that is disposed on the mobile body and outputs a warning sound or emits a warning light, An alarm control device that is disposed on the mobile body or outside the mobile body and controls the operation of the alarm device An aerial photography system comprising: The alarm control device, During aerial photography of the photographing area, when the measured distance from the mobile body to the monitoring target falls below a first distance threshold, the alarm device is caused to perform a first approaching operation including outputting the warning sound or emitting the warning light, When the measured distance exceeds the first distance threshold during aerial photography of the photographing area, the first approaching operation is prohibited, The movement control device, During aerial photography of the photographing area, when the measured distance falls below a second distance threshold, the mobile body is caused to perform a second approaching operation, When the measured distance exceeds the second distance threshold during aerial photography of the photographing area, the second approaching operation is prohibited, The second approaching operation includes an operation of restricting at least one of the horizontal or vertically downward speed or acceleration or jerk of the mobile body, or the angle, angular velocity or angular acceleration of the attitude angle, more than when the measured distance exceeds the second distance threshold An aerial photography system characterized by the above.

2. In the aerial photography system according to claim 1, When the measured distance to the monitoring target falls below a third distance threshold smaller than the first distance threshold or the second distance threshold, the movement control device causes the mobile body to perform an emergency ascent process of raising the altitude of the mobile body An aerial photography system characterized by the above.

3. In the aerial photography system according to claim 2, When causing the mobile body to perform the emergency ascent process, the movement control device makes the absolute value of the limit value for the vertically upward speed or acceleration larger than the absolute value of the limit value for the horizontal or vertically downward speed or acceleration An aerial photography system characterized by the above.

4. In the aerial photography system according to claim 1, when an abnormality occurs in the stability of the aerial movement of the moving body, even if the measured distance exceeds the first distance threshold value, the alarm control device causes the alarm device to perform a first abnormal operation including output of the warning sound or emission of the warning light, or when an abnormality occurs in the stability of the aerial movement of the moving body, even if the measured distance exceeds the second distance threshold value, the movement control device causes the moving body to perform a second abnormal operation, wherein the second abnormal operation includes an operation of restricting at least any one of the behavior control values including the horizontal or vertically downward speed, acceleration, jerk, or the angle, angular velocity, or angular acceleration of the attitude angle of the moving body, compared to the case where no abnormality has occurred and the measured distance exceeds the second distance threshold value An aerial photography system characterized by the above.

5. In the aerial photography system according to claim 4, the case where an abnormality occurs in the stability of the aerial movement of the moving body includes the case where any one of the arithmetic load associated with the operation control of the moving body, the processing load of the memory, and the communication load of the moving body exceeds a load threshold value An aerial photography system characterized by the above.

6. In the aerial photography system according to claim 1, when the moving body moves from a takeoff point outside the shooting area to the shooting area, or when the moving body moves from the shooting area to a target landing point, the alarm control device causes the alarm device to perform a first movement operation including output of the warning sound or emission of the warning light, or, when the moving body moves from the takeoff point to the shooting area, or when the moving body moves from the shooting area to the target landing point, the movement control device causes the moving body to perform a second movement operation, wherein the second movement operation includes an operation of restricting at least any one of the behavior control values including the horizontal or vertically downward speed, acceleration, jerk, or the angle, angular velocity, or angular acceleration of the attitude angle of the moving body, compared to the case where no abnormality has occurred during the aerial photography of the competition and the measured distance exceeds the second distance threshold value An aerial photography system characterized by the above.

7. In the aerial photography system according to claim 1, the aerial photography system further includes a display device for displaying an operation screen or an operation monitoring screen of the moving body, and a display management device for managing the display of the display device and further includes. When the first approach operation or the second approach operation is being performed, the display management device causes the operation screen or the operation monitoring screen to output that the first approach operation or the second approach operation is being performed. An aerial photography system characterized by the above.

8. In the aerial photography system according to Claim 1, the aerial photography system further includes a minimum value setting unit that sets a minimum distance, which is the minimum value of the distance at which the moving body can approach the monitoring target during aerial photography of a competition or an event in the photography area, and the minimum value setting unit sets the minimum distance during before the start or after the end or during a break or suspension of the competition or the event to be smaller than the minimum distance during the competition or the event. An aerial photography system characterized by the above.

9. In the aerial photography system according to Claim 8, the aerial photography system further includes a display device that displays an operation screen or an operation monitoring screen of the moving body, and a display management device that manages the display of the display device ; when the minimum distance is set to be small before the start or after the end or during a break or suspension of the competition or the event, the display management device causes the operation screen or the operation monitoring screen to output that the minimum distance is set to be small. An aerial photography system characterized by the above.

10. In the aerial photography system according to Claim 9, when the competition or the event starts or resumes in a state where the minimum distance is set to be small before the start or during a break or suspension of the competition or the event, the display management device causes the operation screen or the operation monitoring screen to output that the minimum distance is set to be large. An aerial photography system characterized by the above.

11. In the aerial photography system according to Claim 1, the first distance threshold value or the second distance threshold value is different between inside and outside the photography area. An aerial photography system characterized by the above.