Movement path determination system, landing site determination system, movement path determination device, drone control device, and computer program

Abstract

This movement path determination system comprises: a drone information acquisition unit that acquires drone information which includes the size of a drone; a space information acquisition unit that acquires space information which includes the three-dimensional position of an object existing around a landing candidate site for the drone; an entry opening determination unit that determines an entry opening for entry of the drone into a building which includes the landing candidate site, on the basis of the drone information and the space information; a landing site determination unit that determines a landing site for the drone on the basis of the drone information and the space information; a first movement path determination unit that determines a first movement path for the drone from a drone base to the entry opening; and a second movement path determination unit that determines a second movement path for the drone from the entry opening to the landing site on the basis of the space information and the determined entry opening and landing site.

Description

Movement path determination system, landing point determination system, movement path determination device, drone control device, and computer program

[0001] This disclosure relates to a movement path determination system, a landing point determination system, a movement path determination device, a drone control device, and a computer program. This application claims priority to Japanese Application No. 2022-94867 filed on June 13, 2022, and incorporates by reference all of the contents of said Japanese application.

[0002] In recent years, demonstration experiments have been conducted on package delivery services using drones, a type of unmanned aerial vehicle. Patent Literature 1 discloses a method for determining a package delivery location using a drone.

[0003] International Publication No. 2020 / 136711

[0004] A movement path determination system according to one aspect of the present disclosure includes a drone information acquisition unit that acquires drone information including the size of the drone; a spatial information acquisition unit that acquires spatial information including the three-dimensional positions of objects present around a candidate landing point for the drone; an entry opening determination unit that determines an entry opening through which the drone will enter based on the drone information and the spatial information; a landing point determination unit that determines a landing point for the drone based on the drone information and the spatial information; a first movement path determination unit that determines a first movement path for the drone from a base to the entry opening; and a second movement path determination unit that determines a second movement path for the drone from the entry opening to the landing point based on the spatial information and the determined entry opening and landing point.

[0005] FIG. 1 is a diagram illustrating a configuration of a delivery system according to a first embodiment of the present disclosure. FIG. 2 is a block diagram illustrating a configuration of a terminal device according to the first embodiment of the present disclosure. FIG. 3 is a diagram illustrating an example of an image output from a camera. FIG. 4 is a diagram illustrating an example of drone information. FIG. 5 is a diagram illustrating an example of opening information. FIG. 6 is a diagram illustrating an example of travel route information. FIG. 7 is a diagram illustrating an example of display on a touch panel by an accessible opening display unit. FIG. 8 is a diagram illustrating an example of display on a touch panel by a possible landing point display unit. FIG. 9 is a diagram illustrating an example of display on a touch panel by a travel route display unit. FIG. 10 is a diagram illustrating an example of display on a touch panel by a travel route display unit. FIG. 11 is a block diagram illustrating a configuration of a server according to the first embodiment of the present disclosure. FIG. 12 is a sequence diagram illustrating a processing procedure of the delivery system according to the first embodiment of the present disclosure. FIG. 13 is a diagram illustrating a configuration of a delivery system according to a second embodiment of the present disclosure. FIG. 14 is a block diagram illustrating a configuration of a terminal device according to the second embodiment of the present disclosure. FIG. 15 is a sequence diagram illustrating a processing procedure of the delivery system according to the second embodiment of the present disclosure. FIG. 16 is a diagram illustrating an example of an image displayed on a touch panel.

[0006] [Problem to be Solved by the Present Disclosure] Generally, a heliport on the roof of a building or a marker area of ​​about 6 tatami mats installed on the ground is used as a landing point for a drone, and the drone lands by aiming at the mark on the heliport or marker area. It is not realistic to install a heliport or marker area at a private residence, and there is no established method for specifying a landing point for a drone for each private residence.

[0007] The present disclosure has been made in consideration of the above circumstances, and aims to provide a movement path determination system, a landing point determination system, a movement path determination device, a drone control device, and a computer program that can determine a drone's movement path or landing point in a simple manner.

[0008] [Effects of the Present Disclosure] According to the present disclosure, it is possible to determine the movement path or landing point of a drone using a simple method.

[0009] [Outline of Embodiments of the Present Disclosure] First, an outline of an embodiment of the present disclosure will be described. (1) A movement path determination system according to an embodiment of the present disclosure includes a drone information acquisition unit that acquires drone information including a size of a drone, a spatial information acquisition unit that acquires spatial information including three-dimensional positions of objects present around a candidate landing point for the drone, an entry opening determination unit that determines an entry opening for the drone to enter a building including the candidate landing point based on the drone information and the spatial information, a landing point determination unit that determines a landing point for the drone based on the drone information and the spatial information, a first movement path determination unit that determines a first movement path for the drone from a base of the drone to the entry opening, and a second movement path determination unit that determines a second movement path for the drone from the entry opening to the landing point based on the spatial information and the determined entry opening and landing point.

[0010] The drone information includes the size of the drone. Therefore, by acquiring the drone information and spatial information, it is possible to determine an entry opening through which the drone will enter the space surrounding the proposed landing site for the drone. It is also possible to determine the landing site for the drone. Once the entry opening and landing site are determined, it is possible to determine a first movement path and a second movement path. For example, a user can easily determine the movement path or landing site of the drone by acquiring spatial information using a distance sensor provided on a smartphone or the like and acquiring drone information from an external server.

[0011] (2) In the above (1), the drone information may further include the flight accuracy of the drone.

[0012] For example, even if the size of the opening is larger than the size of the drone, if the flight accuracy is poor, the drone may contact the periphery of the opening and be unable to enter the opening. Similarly, even if the size of the landing site is larger than the size of the drone, the drone may contact the periphery of the landing site and be unable to land at the landing site. With this configuration, the entry opening and landing site can be determined taking into account the flight accuracy of the drone. Therefore, it is possible to determine an entry opening that the drone can reliably enter and a landing site where the drone can reliably land.

[0013] (3) In (1) or (2) above, the entry opening determination unit determines an entry opening through which the drone can enter based on the drone information and the spatial information, and the travel path determination system further includes an entry opening display unit that displays the entry opening on a screen and a first selection information acquisition unit that acquires selection information of the entry opening by a user, and the entry opening determination unit may further determine the entry opening based on the selection information of the entry opening.

[0014] With this configuration, the user can select one of the multiple access openings, which allows the user to select an access opening by excluding access openings that the user does not want the drone to enter, or to select an access opening that the user thinks is easy for the drone to enter, thereby determining an access opening that meets the user's wishes.

[0015] (4) In (3) above, the entry opening determination unit may further determine an inaccessible opening that the drone cannot enter based on the drone information and the spatial information, and the accessible opening display unit may display the accessible opening and the inaccessible opening in an identifiable manner.

[0016] With this configuration, it is possible to distinguish between impassable openings that a drone cannot enter, such as when the size of the opening is smaller than the size of the drone, and accessible openings, allowing the user to efficiently select accessible openings.

[0017] (5) In any of (1) to (4) above, the landing point determination unit determines a possible landing point where the drone can land based on the drone information and the spatial information, and the movement path determination system further includes a possible landing point display unit that displays the possible landing points on a screen and a second selection information acquisition unit that acquires selection information of the possible landing points by a user, and the landing point determination unit may further determine the landing point based on the selection information of the possible landing points.

[0018] With this configuration, the user can select one of the possible landing points from among the possible landing points, which allows the user to select a possible landing point by excluding possible landing points at which the user does not want the drone to land, or to select a possible landing point at which the drone is likely to land easily, thereby determining a landing point that meets the user's wishes.

[0019] (6) In the above (5), the possible landing point display unit may further display the outline of the drone on the screen based on the drone information.

[0020] With this configuration, a possible landing site can be selected taking into consideration the external shape of the drone, making it possible to determine a landing site where the drone can land reliably.

[0021] (7) In any one of (1) to (6) above, the travel route determination system may further include a travel route display unit that displays the second travel route on a screen.

[0022] This configuration makes it possible to display the drone's movement path from the entrance opening to the landing point, thereby making it possible to make the user aware of the drone's movement path and to warn the user not to place objects on the movement path.

[0023] (8) In any of (1) to (7) above, the travel route determination system may further include a first notification unit that notifies the user that the second travel route has not been determined when the second travel route determination unit has not determined the second travel route.

[0024] Upon receiving the notification that the second movement route has not been determined, the user can take appropriate action, such as changing the landing point.

[0025] (9) In any of (1) to (8) above, the movement path determination system may further include a second notification unit that notifies the user that the drone is unable to move along the second movement path if the drone is unable to move along the second movement path.

[0026] When a user receives a notification that the drone was unable to move along the second movement path, the user can take action such as removing obstacles on the second movement path or changing the landing point.

[0027] (10) A landing point determination system according to another embodiment of the present disclosure includes a position determination unit that determines the position of a terminal device, a communication unit that communicates with a wireless tag, a tag position calculation unit that calculates the relative position of the wireless tag with respect to the terminal device based on the communication with the wireless tag by the communication unit, and a landing point determination unit that determines the position of the wireless tag as the landing point for a drone based on the position of the terminal device and the relative position of the wireless tag.

[0028] According to this configuration, the landing point of the drone can be determined by placing a wireless tag at the landing point and acquiring the position of the terminal device, thereby making it possible to determine the landing point of the drone in a simple manner.

[0029] (11) A movement path determination device according to another embodiment of the present disclosure includes a drone information acquisition unit that acquires drone information including the size of the drone; a spatial information acquisition unit that acquires spatial information including the three-dimensional positions of objects present around a candidate landing point for the drone; an entry opening determination unit that determines an entry opening for the drone to enter a building including the candidate landing point based on the drone information and the spatial information; a landing point determination unit that determines a landing point for the drone based on the drone information and the spatial information; and a movement path determination unit that determines a movement path for the drone from the entry opening to the landing point based on the spatial information and the determined entry opening and landing point.

[0030] The drone information includes the size of the drone. Therefore, by acquiring the drone information and spatial information, it is possible to determine an entry opening through which the drone will enter the space surrounding the proposed landing site for the drone. It is also possible to determine the landing site for the drone. Once the entry opening and landing site are determined, it is possible to determine the drone's movement path from the entry opening to the landing site. For example, a user can easily determine the drone's movement path or landing site by acquiring spatial information using a distance sensor equipped on a smartphone or the like and acquiring drone information from an external server.

[0031] (12) A drone control device according to another embodiment of the present disclosure includes a drone information providing unit that provides drone information, including the size of the drone, to a terminal device; a location information acquiring unit that acquires from the terminal device location information of an entry opening for the drone to enter a building including a landing point, the location information being determined based on the drone information; a first movement path determining unit that determines a first movement path for the drone from the drone's base to the entry opening; a second movement path acquiring unit that acquires from the terminal device a second movement path for the drone from the entry opening to the landing point; and a movement instruction transmitting unit that transmits movement instructions to the drone based on the first movement path and the second movement path.

[0032] The terminal device can acquire the position information of the access opening and the second movement route determined based on the drone information, and transmit a movement command to the drone based on the first movement route and the second movement route. This makes it possible to control the drone based on the movement route or landing point of the drone determined by a simple method.

[0033] (13) A computer program according to another embodiment of the present disclosure causes a computer to function as a drone information acquisition unit that acquires drone information including the size of the drone, a spatial information acquisition unit that acquires spatial information including the three-dimensional positions of objects present around a candidate landing point for the drone, an entry opening determination unit that determines an entry opening for the drone to enter a building including the candidate landing point based on the drone information and the spatial information, a landing point determination unit that determines a landing point for the drone based on the drone information and the spatial information, and a movement path determination unit that determines a movement path for the drone from the entry opening to the landing point based on the spatial information and the determined entry opening and landing point.

[0034] According to this configuration, the computer can function as the above-described travel route determination device, and therefore, the same functions and effects as those of the above-described travel route determination device can be achieved.

[0035] (14) A computer program according to another embodiment of the present disclosure causes a computer to function as a position identification unit that identifies the position of a terminal device, a tag position calculation unit that calculates the relative position of the wireless tag with respect to the terminal device based on communication with the wireless tag via a communication unit, and a landing point determination unit that determines the position of the wireless tag as a landing point for a drone based on the position of the terminal device and the relative position of the wireless tag.

[0036] According to this configuration, the computer can function as the landing site determination system described above, and therefore, the same functions and effects as those of the landing site determination system described above can be achieved.

[0037] [Details of the Embodiments of the Present Disclosure] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. Note that each of the embodiments described below represents a specific example of the present disclosure. The numerical values, shapes, materials, components, component placement and connection configurations, steps, and step order shown in the following embodiments are examples and do not limit the present disclosure. Furthermore, among the components in the following embodiments, components not recited in independent claims are components that can be added arbitrarily. Furthermore, each figure is a schematic diagram and is not necessarily a precise illustration.

[0038] The same components are denoted by the same reference numerals, and their functions and names are also the same, so their explanations will be omitted where appropriate.

[0039] <First Embodiment> [Overall Configuration of Delivery System] Figure 1 is a diagram showing the configuration of a delivery system according to a first embodiment of the present disclosure. The delivery system 10 is a system for delivering packages from a package delivery base (hereinafter also referred to as a "base"), which is the base of a drone 1, to a delivery destination, and includes the drone 1, a terminal device 2, and a server 5. The drone 1, the terminal device 2, and the server 5 are connected to a network 7 via wireless or wired connections. The network 7 is configured, for example, by a public communication network such as 5G.

[0040] Drone 1 is an unmanned aerial vehicle that flies from a delivery base to a delivery destination and delivers packages to the destination according to a travel route determined by server 5. Drone 1 is equipped with a mechanism for grasping packages, a position identification unit for identifying the position of drone 1, and a camera. Drone 1 can detect obstacles and the like in its path from images captured by the camera, and flies to its destination while avoiding obstacles.

[0041] The terminal device 2 is, for example, a smartphone or tablet device carried by a user, and determines the landing point of the drone 1 at the delivery destination, an entry opening at the delivery destination through which the drone 1 enters, and the route of the drone 1 from the entry opening to the landing point. In this embodiment, it is assumed that the drone 1 delivers a package to a balcony of a roofed building such as an apartment building or a detached house. That is, it is assumed that the drone 1 passes through the balcony opening from the outside, enters the balcony, and lands on the balcony. However, the balcony does not have to have a roof. Furthermore, the landing point of the drone 1 is not limited to a balcony. The first embodiment is also applicable to cases where the drone 1 lands in a location with an opening to the outside.

[0042] Based on the information determined by the terminal device 2, the server 5 determines the movement route of the drone 1 from the delivery base to the landing point of the drone 1 at the delivery destination, and instructs the drone 1 to fly along the determined movement route.

[0043] 2 is a block diagram showing the configuration of the terminal device 2 according to the first embodiment of the present disclosure. The terminal device 2 includes a communication unit 21, a camera 22, a sensor 23, a touch panel 24, a speaker 25, a position identification unit 26, a storage unit 27, a control unit 28, and a bus 29.

[0044] The communication unit 21 connects the terminal device 2 to the network 7 and performs wireless or wired communication with external devices. The camera 22 captures images of the surroundings of the terminal device 2 and outputs the images.

[0045] Fig. 3 is a diagram showing an example of an image output from camera 22. Fig. 3 shows an example of an image of a balcony of an apartment building captured by a user operating camera 22. The image includes floor 101, which is a potential landing point for drone 1, and balcony openings 102A and 102B through which drone 1 can enter the apartment building, including floor 101.

[0046] The sensor 23 measures the distance to an object around the terminal device 2 and outputs depth information corresponding to the distance. That is, the depth information of each pixel represents the distance to the object. The sensor 23 is configured by, for example, a LIDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging).

[0047] Distance measurement by the sensor 23 and photographing by the camera 22 can be performed simultaneously. As a result, for example, the sensor 23 measures the distance to objects (here, the floor 101, the openings 102A and 102B, the wall 103, the window 104, the pillar 105, the fence 106, etc.) on the balcony shown in Fig. 3 .

[0048] The touch panel 24 functions as a display device that displays images and as an input device that accepts input operations by the user. The speaker 25 outputs sounds.

[0049] The position identification unit 26 identifies the position of the terminal device 2. The position identification unit 26 identifies the position of the terminal device 2 using satellite navigation. For example, the position identification unit 26 identifies the position of the terminal device 2 based on radio waves received from multiple GPS (Global Positioning System) satellites. The position of the terminal device 2 can be identified by, for example, latitude and longitude. Satellite navigation uses a satellite positioning system (GNSS: Global Navigation Satellite System) such as GPS, but the satellite positioning system is not limited to GPS.

[0050] The storage unit 27 is configured by a volatile memory element such as an SRAM (Static RAM) or a DRAM (Dynamic RAM), a non-volatile memory element such as a flash memory or an EEPROM (Electrically Erasable Programmable Read Only Memory), or a magnetic storage device such as a hard disk. The storage unit 27 stores a computer program 27P executed by the control unit 28. The storage unit 27 also stores data obtained when the computer program 27P is executed.

[0051] The control unit 28 is composed of a processor such as a CPU (Central Processing Unit), and includes functional processing units realized by executing the computer program 27P, such as a drone information acquisition unit 30, a spatial information acquisition unit 31, an entry opening determination unit 32, a landing point determination unit 33, a movement route determination unit 34, a possible entry opening display unit 35, a selection information acquisition unit 36, a possible landing point display unit 37, a movement route display unit 38, and an error notification unit 39.

[0052] The drone information acquisition unit 30 acquires drone information including the size of the drone 1 that will deliver the package to the user's home and the flight accuracy of the drone 1 from the server 5 via the communication unit 21.

[0053] FIG. 4 illustrates an example of drone information. The drone information 52D includes the drone size (height, width, depth), hovering accuracy (vertical, horizontal), and positional accuracy (vertical, horizontal). The hovering accuracy (vertical, horizontal) and positional accuracy (vertical, horizontal) are examples of the flight accuracy of the drone 1. According to the drone information 52D, for example, the height, width, and depth dimensions of the drone 1 are 300 mm, 500 mm, and 500 mm, respectively. The vertical and horizontal hovering accuracy of the drone 1 is ±0.1 m. The vertical and horizontal positional accuracy of the drone 1 is ±50 mm. The positional accuracy of the drone 1 can be improved to within a few centimeters by using a technology called RTK (Real Time Kinematic), which improves the positional accuracy of the drone 1 by correcting the positional information of the drone 1 obtained from a satellite positioning system such as GPS based on corrected positional information from a reference station installed on the ground.

[0054] The spatial information acquisition unit 31 calculates spatial information including the three-dimensional positions of objects present around candidate landing points for the drone 1 based on the depth information output by the sensor 23. The spatial information indicates the three-dimensional positions of the objects as three-dimensional coordinates in a coordinate system (e.g., a right-handed coordinate system with the origin at the lens center of the camera 22 and the line of sight direction of the camera 22 as the X-axis) previously set in the terminal device 2. For example, the spatial information includes the three-dimensional coordinates of the floor 101, openings 102A and 102B, wall surface 103, window 104, pillar 105, and fence 106 in FIG. 3 . Note that because the openings 102A and 102B are in space, the three-dimensional coordinates of the openings 102A and 102B are coordinates of a point at infinity or an indefinite value.

[0055] The entry opening determination unit 32 determines, based on the drone information 52D acquired by the drone information acquisition unit 30 and the spatial information acquired by the spatial information acquisition unit 31, an entry-permitted opening, which is an opening through which the drone 1 can enter the apartment building including the floor section 101, and an inaccessible opening, which is an opening through which the drone 1 cannot enter the apartment building including the floor section 101.

[0056] For example, the entry opening determination unit 32 determines the horizontal and vertical sizes of each of the openings 102A and 102B shown in FIG. 3 based on the spatial information. The entry opening determination unit 32 determines the size of the area that the drone 1 may occupy based on the size, hovering accuracy, and positional accuracy of the drone 1 based on the drone information 52D. In the example shown in FIG. 4 , the entry opening determination unit 32 determines that the height size of the area that the drone 1 may occupy is 450 mm (= 300 mm + 0.1 m + 50 mm) and the width size is 650 mm (500 mm + 0.1 m + 50 mm). For each of the openings 102A and 102B, if the horizontal size of the opening is equal to or less than 650 mm, the width size that the drone 1 may occupy, and if the vertical size of the opening is equal to or less than 450 mm, the height size that the drone 1 may occupy, the entry opening determination unit 32 determines the opening as an entry-permitted opening; otherwise, the entry opening determination unit 32 determines the opening as an inaccessible opening. For example, the entrance opening determining unit 32 determines the opening 102A as an entrance-permitted opening and the opening 102B as an entrance-prohibited opening.

[0057] The entry opening determination unit 32 determines the entry opening selected by the user from the determined entry openings as the entry opening through which the drone 1 will enter. The entry opening determination unit 32 transmits opening information regarding the determined entry opening to the server 5 via the communication unit 21.

[0058] FIG. 5 is a diagram showing an example of opening information. The opening information includes opening coordinates (latitude), opening coordinates (longitude), opening height, and opening entry direction. The opening coordinates (latitude) indicate the latitude of the entry opening, for example, "YY.YYYYYY" (degrees). The opening coordinates (longitude) indicate the longitude of the entry opening, for example, "XXX.XXXXXX" (degrees). The opening height indicates the height of the entry opening, for example, "15 m". The opening entry direction indicates the direction of the entry opening relative to the terminal device 2, for example, "275 degrees". Here, true north is 0 degrees.

[0059] Here, the entry opening determination unit 32 calculates the opening coordinates (latitude) and the opening coordinates (longitude) based on the position (latitude, longitude) of the terminal device 2 identified by the position identification unit 26 and the three-dimensional position of the entry opening indicated by the spatial information. However, if the three-dimensional position of the entry opening indicates the coordinates of a point at infinity or is indefinite, the entry opening determination unit 32 may calculate the three-dimensional position of the entry opening from the three-dimensional coordinates of objects surrounding the entry opening (in the example of FIG. 3 , the pillar 105 and the fence 106). For example, if the entry opening is opening 102A, the entry opening determination unit 32 may calculate the three-dimensional position of the opening 102A by extending the surface of the fence 106 upward. Then, the entry opening determination unit 32 calculates the opening coordinates (latitude) and the opening coordinates (longitude).

[0060] The landing point determination unit 33 determines a possible landing point at which the drone 1 can land, based on the drone information 52D acquired by the drone information acquisition unit 30 and the spatial information acquired by the spatial information acquisition unit 31. The landing point determination unit 33 determines the possible landing point selected by the user from the determined possible landing points as the landing point for the drone 1.

[0061] The movement path determination unit 34 determines a movement path of the drone 1 from the entry opening to the landing point based on the spatial information calculated by the spatial information acquisition unit 31, the information on the entry opening determined by the entry opening determination unit 32, and the information on the landing point determined by the landing point determination unit 33. For example, the movement path determination unit 34 determines a movement path for the drone 1 to enter the interior of the balcony from the entry opening at a predetermined elevation angle and, when the drone 1 arrives directly above the landing point, change the course of the drone 1 vertically and land at the landing point. The movement path determination unit 34 transmits the determined movement path information to the server 5 via the communication unit 21. Note that if there is an obstacle or the like between the entry opening and the landing point and the drone 1 cannot move, the movement path determination unit 34 does not determine a movement path and transmits information indicating that the movement path could not be determined to the server 5 via the communication unit 21.

[0062] FIG. 6 is a diagram illustrating an example of movement path information. The movement path information includes movement path coordinates (1) to (n), landing point coordinates, and a reference coordinate direction. The movement path coordinates (1) to (n) are the coordinates of n points that the drone 1 passes through between the entrance opening and the landing point. The landing point coordinates are the coordinates of the point where the drone 1 lands. For example, if we consider a right-handed coordinate system with the lens center of the camera 22 as the origin and the line of sight of the camera 22 as the X axis, the drone 1 passes through coordinates (X1, Y1, Z1), ..., coordinates (Xn, Yn, Zn), and lands at coordinates (ZL, YL, ZL). The reference coordinate direction indicates the direction of the X axis in the coordinate system, e.g., "0 degrees." Here, true north is 0 degrees.

[0063] The accessible opening display unit 35 displays the accessible openings and the impenetrable openings determined by the access opening determination unit 32 on the touch panel 24 in a distinguishable manner. For example, the accessible opening display unit 35 may display the accessible openings and the impenetrable openings in frames of different colors superimposed on the image captured by the camera 22, or may display the accessible openings and the impenetrable openings in different frames.

[0064] 7 is a diagram showing an example of display on the touch panel 24 by the accessible opening display unit 35. On the touch panel 24, frames 111 and 112 are displayed superimposed on the image of the balcony captured by the camera 22 shown in FIG. 3. The frame 111 is a frame that highlights the opening 102A, and the frame 112 is a frame that highlights the opening 102B. The frame 111 does not have a cross mark, which indicates that the opening 102A is an accessible opening. On the other hand, the frame 112 has a cross mark, which indicates that the opening 102B is an inaccessible opening.

[0065] The selection information acquisition unit 36 ​​acquires information about the accessible opening selected by the user from the accessible openings displayed on the touch panel 24 by the accessible opening display unit 35. Specifically, the selection information acquisition unit 36 ​​acquires information about the position touched by the user on the screen from the touch panel 24, and identifies the accessible opening selected by the user based on the acquired position information and the display position of the accessible opening on the screen. In the example shown in Fig. 7, the only accessible opening is opening 102A, so the user selects opening 102A.

[0066] The possible landing point display unit 37 displays the possible landing points determined by the landing point determination unit 33 on the touch panel 24. For example, the possible landing point display unit 37 may superimpose an area including the possible landing points on the image captured by the camera 22 in a color different from that of other areas.

[0067] Furthermore, based on the drone information 52D, the possible landing point display unit 37 displays the outline of the drone 1 on the touch panel 24. For example, the possible landing point display unit 37 displays a rectangular area that the drone 1 may occupy based on the size, hovering accuracy, and positional accuracy of the drone 1 as the outline of the drone 1. In the example shown in Fig. 4, the possible landing point display unit 37 displays a rectangle that is 450 mm (= 300 mm + 0.1 m + 50 mm) in the height direction, 650 mm (500 mm + 0.1 m + 50 mm) in the width direction, and 650 mm (500 mm + 0.1 m + 50 mm) in the depth direction.

[0068] 8 is a diagram showing an example of a display on the touch panel 24 by the possible landing point display unit 37. On the touch panel 24, a plane 121 and a rectangular frame 131 are displayed superimposed on the image of the balcony captured by the camera 22 shown in FIG.

[0069] Surface 121 is a surface that includes a possible landing point for drone 1, and is, for example, a blue surface. Rectangular frame 131 three-dimensionally shows the area that drone 1 may occupy.

[0070] The selection information acquisition unit 36 ​​further acquires information about a possible landing point selected by the user from the possible landing points displayed on the touch panel 24 by the landing point determination unit 33. Specifically, in the example of FIG. 8 , the user drags a rectangular frame 131 on the touch panel 24 and releases their finger (drops) at a position where they want the drone 1 to land. Note that movement of the rectangular frame 131 by dragging is restricted so that the rectangular frame 131 can only be moved within the plane 121 that includes the possible landing points. The selection information acquisition unit 36 ​​acquires information about the position where the user dropped the rectangular frame 131 from the touch panel 24, and identifies the possible landing point selected by the user based on the acquired position information and the displayed positions of the possible landing points on the screen.

[0071] The movement path display unit 38 displays the movement path of the drone 1 from the entry opening to the landing point determined by the movement path determination unit 34 on the touch panel 24 by superimposing it on the image captured by the camera 22.

[0072] 9 and 10 are diagrams showing examples of display on the touch panel 24 by the movement path display unit 38. Referring to Fig. 9, when the movement path determination unit 34 is calculating the movement path of the drone 1, the movement path display unit 38 displays a message "Route calculation in progress" superimposed on the image of the balcony captured by the camera 22.

[0073] 10 , when the movement path determination unit 34 has completed calculation of the movement path of the drone 1, the movement path display unit 38 displays the movement path 141 superimposed on the image of the balcony captured by the camera 22. The movement path 141 is indicated by a dashed line as an area that the drone 1 may occupy when moving from the opening 102A to the landing point.

[0074] When a movement route has not been determined by the movement route determination unit 34, the error notification unit 39 notifies the user by displaying that fact on the touch panel 24 or by outputting a sound from the speaker 25. Furthermore, when the error notification unit 39 receives a notification from the server 5 or the drone 1 that an obstacle exists on the movement route of the drone 1 and the drone 1 has been unable to land at the landing point, the error notification unit 39 notifies the user by displaying the notification content on the touch panel 24 or by outputting the notification content as sound from the speaker 25.

[0075] 11 is a block diagram showing the configuration of the server 5 according to the first embodiment of the present disclosure. The server 5 includes a communication unit 51, a storage unit 52, a control unit 53, and a bus 54. The communication unit 51 connects the server 5 to the network 7 and performs wireless or wired communication with external devices.

[0076] The storage unit 52 is configured with a volatile memory element such as an SRAM or a DRAM, a non-volatile memory element such as a flash memory or an EEPROM, or a magnetic storage device such as a hard disk. The storage unit 52 stores a computer program 52P executed by the control unit 53 and the drone information 52D described above. The storage unit 52 also stores data obtained when the computer program 52P is executed.

[0077] The control unit 53 is composed of a processor such as a CPU, and includes functional processing units realized by executing the computer program 52P, such as a drone information providing unit 55, a landing point information acquisition unit 56, a movement route determination unit 57, and an error notification unit 58.

[0078] The drone information providing unit 55 reads drone information 52D of the drone that will deliver the package to the home of the user using the terminal device 2 from the memory unit 52, and transmits the read drone information 52D to the terminal device 2 via the communication unit 51.

[0079] The landing point information acquisition unit 56 receives opening information and travel route information from the terminal device 2 via the communication unit 51.

[0080] The movement path determination unit 57 determines a movement path of the drone 1 from a predetermined base of the drone 1 to the opening based on the opening information. The movement path can be determined using known technology. For example, it may determine a movement path that minimizes the movement distance of the drone 1, or a movement path that minimizes the movement time of the drone 1. Furthermore, the movement path determination unit 57 determines a movement path from the base through the opening to the landing point based on the determined movement path of the drone 1 from the base to the opening and the movement path information received from the terminal device 2. At this time, the movement path determination unit 57 converts the coordinate system of the movement path information to match the coordinate system of the drone 1 according to the reference coordinate orientation indicated in the movement path information received from the terminal device 2. The movement path determination unit 57 sends a movement instruction to the drone 1 by transmitting information on the determined movement path from the base to the landing point via the communication unit 21 to the drone 1. The drone 1 flies from the base to the landing point according to the movement path determined by the movement path determination unit 57 and delivers the package to the landing point.

[0081] The error notification unit 58 receives error information transmitted from the drone 1 when the drone 1 is unable to fly along the movement path via the communication unit 51. When the error information indicates that the drone 1 is unable to land at the landing point due to the presence of an obstacle between the opening and the landing point, the error notification unit 58 notifies the terminal device 2 of this via the communication unit 51.

[0082] 12 is a sequence diagram showing a processing procedure of the delivery system 10 according to the first embodiment of the present disclosure. The server 5 transmits drone information 52D as shown in FIG. 4 to the terminal device 2, and the terminal device 2 receives the drone information 52D (step S1).

[0083] The camera 22 of the terminal device 2 captures an image of the balcony including the candidate landing point for the drone 1 as shown in Fig. 3 (step S2). Note that if the area including the candidate landing point does not fit within the shooting area of ​​the camera 22, the user may pan the camera 22 to capture a panoramic image wider than the shooting area.

[0084] In addition, at the same time as capturing the image, the terminal device 2 measures the distance to the objects on the balcony shown in Figure 3 (here, the floor 101, openings 102A and 102B, wall 103, window 104, pillar 105, and fence 106, etc.) and outputs depth information (step S3).

[0085] Based on the depth information, the terminal device 2 calculates spatial information about the surroundings of the candidate landing sites, including the three-dimensional positions of objects that exist around the candidate landing sites (step S4).

[0086] Based on the drone information 52D and the spatial information, the terminal device 2 determines accessible openings that the drone 1 can enter and inaccessible openings that the drone 1 cannot enter (step S5).

[0087] The terminal device 2 displays an image such as that shown in Fig. 7 on the touch panel 24 (step S6). This allows the opening 102A, which is an accessible opening, to be displayed distinctly from the opening 102B, which is an inaccessible opening. The terminal device 2 also displays a message saying "Please specify a drone entrance" superimposed on the image.

[0088] The user selects an accessible opening through which the drone 1 is to enter on the touch panel 24, and the terminal device 2 acquires information about the selected accessible opening (step S7). For example, if the user selects the opening 102A on the image shown in Fig. 7, information about the opening 102A (e.g., position information about the opening 102A on the image) is acquired.

[0089] The terminal device 2 determines the accessible opening selected by the user as the access opening through which the drone 1 will enter (step S8). For example, the terminal device 2 determines the selected opening 102A as the access opening.

[0090] The terminal device 2 determines a possible landing point where the drone 1 can land based on the drone information 52D and the spatial information (step S9).

[0091] 8, the terminal device 2 displays on the touch panel 24 an image including a surface 121 including a possible landing point for the drone 1 and a rectangular frame 131 indicating an area that the drone 1 may occupy (step S10). The terminal device 2 also displays a message saying "Please specify a landing point" superimposed on the image.

[0092] The user selects a possible landing spot for the drone 1 by dragging and dropping the rectangular frame 131 on the touch panel 24, and the terminal device 2 identifies the selected possible landing spot for the drone 1 (step S11). For example, if the user drops the rectangular frame 131 at the position of the rectangular frame 131 shown in Fig. 8, a position in real space corresponding to the position of the rectangular frame 131 on the image is identified as the possible landing spot.

[0093] The terminal device 2 determines the possible landing point selected by the user and identified by the terminal device 2 as the landing point for the drone 1 (step S12).

[0094] The terminal device 2 displays an image on the touch panel 24 indicating that the drone 1 is calculating its movement path, as shown in Figure 9 (step S13).

[0095] The terminal device 2 determines the movement path of the drone 1 from the entry opening to the landing point based on the spatial information, the information on the entry opening, and the information on the landing point. The terminal device 2 displays an image showing the movement path 141 of the drone 1 as shown in Fig. 10 on the touch panel 24 (step S14). If the movement path cannot be found, the terminal device 2 displays an image indicating that the movement path cannot be found on the touch panel 24 and cancels subsequent processing.

[0096] The terminal device 2 transmits opening information (Figure 5) indicating the position of the determined entry opening and travel route information (Figure 6) indicating the determined travel route to the server 5, and the server 5 receives the opening information and travel route information (step S15).

[0097] The server 5 determines a movement route for the drone 1 from the delivery base to the opening based on the opening information. The server 5 also determines a movement route from the delivery base to the landing point, passing through the opening, based on the determined movement route and the movement route information received from the terminal device 2 (step S16).

[0098] The server 5 transmits movement route information indicating the movement route from the delivery base to the landing point to the drone 1, and the drone 1 receives the movement route information (step S17).

[0099] Drone 1 flies from the delivery center for the package through the opening to the landing point according to the received travel route information, thereby delivering the package to the landing point (step S18).

[0100] If the drone 1 is unable to deliver the package due to an obstacle or the like during flight, it returns to the base and transmits error information including information about the point where it returned to the server 5. The server 5 receives the error information transmitted from the drone 1 (step S19).

[0101] Based on the received error information, if drone 1 turns back at a point between the opening and the landing point, server 5 transmits error information to terminal device 2 indicating that an obstacle exists on the drone 1's movement path and drone 1 was unable to land at the landing point, and terminal device 2 receives the error information (step S20).

[0102] Based on the error information, the terminal device 2 notifies the user that an obstacle exists on the movement path of the drone 1 and the drone 1 is unable to land at the landing point (step S21).

[0103] As described above, the drone information 52D includes the size of the drone 1. Therefore, by acquiring the drone information 52D and spatial information, the terminal device 2 can determine an entry opening through which the drone 1 enters the space surrounding a candidate landing point for the drone 1. The terminal device 2 can also determine the landing point for the drone 1. Once the entry opening and the landing point are determined, the terminal device 2 can determine the movement path of the drone 1 from the base to the entry opening and the movement path of the drone 1 from the entry opening to the landing point. For example, a user can acquire spatial information using a distance sensor provided in the terminal device 2, such as a smartphone, and the terminal device 2 can acquire the drone information 52D from the external server 5, thereby easily determining the movement path or landing point of the drone 1.

[0104] Even if the size of the opening is larger than the size of the drone 1, if the hovering accuracy or positioning accuracy of the drone 1 is poor, the drone 1 may come into contact with the periphery of the opening and be unable to enter the opening. Similarly, even if the size of the landing site is larger than the size of the drone 1, the drone 1 may come into contact with the periphery of the landing site and be unable to land at the landing site. In embodiment 1, the entry opening and landing site can be determined taking into account the hovering accuracy and positioning accuracy of the drone 1. Therefore, it is possible to determine an entry opening that the drone 1 can reliably enter and a landing site where the drone 1 can reliably land.

[0105] The user can also select one of the multiple entry openings, which allows the user to select an entry opening by excluding an entry opening that the user does not want the drone 1 to enter, or to select an entry opening that the drone 1 can easily enter, thereby determining an entry opening that meets the user's wishes.

[0106] Furthermore, it is possible to display an inaccessible opening that the drone 1 cannot enter, distinguishing it from an accessible opening, such as when the size of the opening is smaller than the size of the drone 1. This allows the user to efficiently select an accessible opening.

[0107] The user can also select one of the possible landing points from among the possible landing points. This allows the user to select a possible landing point by excluding possible landing points at which the user does not want the drone 1 to land, or to select a possible landing point at which the drone 1 is likely to land easily, thereby determining a landing point that meets the user's wishes.

[0108] 8, a rectangular frame 131 indicating the area that the drone 1 may occupy is displayed on the touch panel 24. This allows the user to select a possible landing spot taking into consideration the external shape of the drone 1. This makes it possible to determine a landing spot where the drone 1 can land reliably.

[0109] 10, a movement path 141 of the drone 1 from the entrance opening to the landing point can be displayed. This allows the user to recognize the movement path of the drone 1 and warns the user not to place any objects on the movement path.

[0110] Furthermore, if the terminal device 2 is unable to determine the route of the drone 1 from the entrance opening to the landing point, it notifies the user of this, allowing the user to take appropriate action, such as changing the landing point.

[0111] Furthermore, the terminal device 2 notifies the user if the drone 1 cannot fly along the route from the entrance opening to the landing point, allowing the user to take action such as removing obstacles on the route or changing the landing point.

[0112] The server 5 also acquires from the terminal device 2 the position information of the access opening determined based on the drone information 52D and the movement route of the drone 1 from the opening to the landing point, and determines the movement route from the base to the landing point. The server 5 can send a movement instruction to the drone 1 based on the determined movement route. This makes it possible to control the drone 1 based on the movement route or landing point of the drone 1 determined by a simple method.

[0113] <Embodiment 2> In embodiment 1, it is assumed that the drone 1 passes through an opening to enter a space and land. In embodiment 2, it is assumed that the drone 1 lands from above the landing point without passing through the opening.

[0114] [Overall Configuration of Delivery System] Figure 13 is a diagram showing the configuration of a delivery system according to embodiment 2 of the present disclosure. The delivery system 10 is a system for delivering packages from a delivery base to a delivery destination, and includes a drone 1, a terminal device 2, a smart tag 8, and a server 5. As in embodiment 1, the drone 1, the terminal device 2, and the server 5 are connected to the network 7 wirelessly or via a wired connection. The drone 1 and the server 5 are the same as those shown in embodiment 1.

[0115] The smart tag 8 is a wireless tag that is wirelessly connected to the terminal device 2. For example, the smart tag 8 and the terminal device 2 are connected in accordance with Bluetooth (registered trademark), a wireless communication standard. Note that the version of Bluetooth (registered trademark) in the second embodiment is assumed to be 5.1 or later. Bluetooth (registered trademark) versions 5.1 and later are equipped with a direction finding function. The user places the smart tag 8 at the landing point of the drone 1.

[0116] The terminal device 2 is, for example, a smartphone or tablet terminal device, and is paired with the smart tag 8 and communicates wirelessly to calculate the direction of the smart tag 8 and the distance to the smart tag 8. The terminal device 2 determines the position of the smart tag 8 as the landing point of the drone 1 based on its own position and the calculated direction and distance to the smart tag 8.

[0117] 14 is a block diagram showing the configuration of a terminal device 2 according to the second embodiment of the present disclosure. The terminal device 2 includes a communication unit 21, a camera 22, a touch panel 24, a speaker 25, a position identification unit 26, a storage unit 27, a control unit 28, and a bus 29. The following description will focus on differences from the configuration of the terminal device 2 shown in the first embodiment.

[0118] As in the first embodiment, the communication unit 21 connects the terminal device 2 to the network 7 and communicates with external devices wirelessly or via a wired connection. The communication unit 21 is further connected to the smart tag 8 according to Bluetooth (registered trademark).

[0119] The control unit 28 includes functional processing units realized by executing the computer program 27P stored in the memory unit 27, such as a drone information acquisition unit 30, a drone area display unit 41, a tag position calculation unit 42, a landing point determination unit 43, and an error notification unit 39.

[0120] The drone area display unit 41 superimposes the area that the drone 1 may occupy on the image captured by the camera 22 and displays it on the touch panel 24.

[0121] The tag position calculation unit 42 calculates the relative position of the smart tag 8 with respect to the terminal device 2 by calculating the relative direction and distance of the smart tag 8 with respect to the terminal device 2 based on communication with the smart tag 8 by the communication unit 21. For example, the communication unit 21 may receive signals transmitted from the smart tag 8 while switching between multiple antennas provided in the terminal device 2, and the tag position calculation unit 42 may calculate a phase difference from IQ samples of the received signals and calculate the relative position of the smart tag 8 from the phase difference. Alternatively, the communication unit 21 may receive signals transmitted by switching between multiple antennas provided in the smart tag 8 with one antenna, and the tag position calculation unit 42 may calculate a phase difference from IQ samples of the received signals and calculate the relative position of the smart tag 8 from the phase difference. Alternatively, when the communication unit 21 performs ultra-wideband (UWB) wireless communication with the smart tag 8, the tag position calculation unit 42 may calculate the relative position of the smart tag 8 by short-range searching using UWB.

[0122] The landing point determination unit 43 determines the position of the smart tag 8 as the landing point of the drone 1 based on the position of the terminal device 2 identified by the position identification unit 26 and the relative position of the smart tag 8 calculated by the tag position calculation unit 42. That is, the landing point determination unit 43 calculates the direction of the smart tag 8 relative to the terminal device 2 and the distance from the terminal device 2 to the smart tag 8 based on the relative position of the smart tag 8 with respect to the terminal device 2. The landing point determination unit 43 determines the position of the smart tag 8 as a position obtained by moving the position of the terminal device 2 by the calculated distance in the calculated direction, and determines the determined position of the smart tag 8 as the landing point of the drone 1. The landing point determination unit 43 transmits information indicating the determined landing point (e.g., latitude and longitude information) to the server 5 via the communication unit 21.

[0123] If the tag position calculation unit 42 has not been able to calculate the relative position of the smart tag 8, the error notification unit 39 notifies the user by displaying that fact on the touch panel 24 or by outputting a sound from the speaker 25. Furthermore, if the error notification unit 39 receives a notification from the server 5 or the drone 1 that an obstacle exists on the movement path of the drone 1 and the drone 1 has been unable to land at the landing point, the error notification unit 39 notifies the user by displaying the notification content on the touch panel 24 or by outputting the notification content as sound from the speaker 25.

[0124] 15 is a sequence diagram showing the processing procedure of the delivery system 10 according to the second embodiment of the present disclosure. Pairing is performed between the smart tag 8 and the terminal device 2, and the two are connected to each other (step S31).

[0125] The server 5 transmits drone information 52D as shown in FIG. 4 to the terminal device 2, and the terminal device 2 receives the drone information 52D (step S32).

[0126] The user places the smart tag 8 at the landing point of the drone 1 and operates the camera 22 of the terminal device 2 to photograph the area including the smart tag 8 (step S33).

[0127] The terminal device 2 superimposes the area that the drone 1 may occupy on the image captured by the camera 22 and displays it on the touch panel 24 (step S34).

[0128] 16 is a diagram showing an example of an image displayed on the touch panel 24. The touch panel 24 displays an image in which a rectangular frame 131 indicating an area that may be occupied by the drone 1 is superimposed on an image of an area including the smart tag 8 captured by the camera 22. The terminal device 2 identifies the position of the terminal device 2 using satellite navigation (step S35).

[0129] The terminal device 2 calculates the relative position of the smart tag 8 with respect to the terminal device 2 based on communication with the smart tag 8 via the communication unit 21 (step S36).

[0130] The terminal device 2 determines the absolute position of the smart tag 8 as the landing point of the drone 1 based on the position of the terminal device 2 and the relative position of the smart tag 8 (step S37). The landing point of the drone 1 is indicated by, for example, latitude and longitude.

[0131] The terminal device 2 transmits landing site information indicating the landing site of the drone 1 to the server 5, and the server 5 receives the landing site information (step S38).

[0132] The server 5 determines the movement route of the drone 1 from the delivery base of the package to the landing point indicated by the landing point information (step S39). The movement route can be determined using known technology.

[0133] The server 5 transmits movement route information indicating the movement route from the delivery base to the landing point to the drone 1, and the drone 1 receives the movement route information (step S40).

[0134] Drone 1 flies from the delivery center to the landing point according to the received travel route information, thereby delivering the package to the landing point (step S41).

[0135] If the drone 1 is unable to deliver the package due to an obstacle or the like during flight, it returns to the base and transmits error information including information about the point where it returned to the server 5. The server 5 receives the error information transmitted from the drone 1 (step S42).

[0136] Based on the received error information, if the drone 1 turns back near the landing point (for example, a point within a predetermined distance from the landing point), the server 5 transmits error information indicating this to the terminal device 2, and the terminal device 2 receives the error information (step S43).

[0137] Based on the error information, the terminal device 2 notifies the user that the drone 1 turned back near the landing point and was unable to land at the landing point (step S44).

[0138] As described above, the landing point of the drone 1 can be determined by placing the smart tag 8 at the landing point and acquiring the position of the terminal device 2. This makes it possible to determine the landing point of the drone 1 in a simple manner.

[0139] [Additional Notes] Some or all of the components constituting each of the above devices may be configured from one or more semiconductor devices such as system LSIs.

[0140] The computer programs 27P and 52P may be distributed by being recorded on a computer-readable non-transitory recording medium, such as a HDD, a CD-ROM, or a semiconductor memory. The computer programs 27P and 52P may also be distributed by being transmitted via a telecommunications line, a wireless or wired communication line, a network such as the Internet, or data broadcasting. Each of the above devices may be realized by a plurality of computers or a plurality of processors.

[0141] In addition, some or all of the functions of each of the above-described devices may be provided by cloud computing. That is, some or all of the functions of each device may be realized by a cloud server. Furthermore, at least some of the above-described embodiments may be combined in any manner.

[0142] The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present disclosure is defined by the claims, not by the above meaning, and is intended to include all modifications within the meaning and scope of the claims.

[0143] REFERENCE SIGNS LIST 1 Drone 2 Terminal device (landing point determination system, movement path determination device) 5 Server (drone control device) 7 Network 8 Smart tag 10 Delivery system (movement path determination system) 21 Communication unit 22 Camera 23 Sensor 24 Touch panel 25 Speaker 26 Position identification unit 27 Memory unit 27P Computer program 28 Control unit 29 Bus 30 Drone information acquisition unit 31 Spatial information acquisition unit 32 Entry opening determination unit 33 Landing point determination unit 34 Movement path determination unit (second movement path determination unit) 35 Possible entry opening display unit 36 ​​Selection information acquisition unit (first selection information acquisition unit, second selection information acquisition unit) 37 Possible landing point display unit 38 Movement path display unit 39 Error notification unit (first notification unit, second notification unit) 41 Drone area display unit 42 Tag position calculation unit 43 Landing point determination unit DESCRIPTION OF SYMBOLS 51 Communication unit 52 Memory unit 52D Drone information 52P Computer program 53 Control unit 54 Bus 55 Drone information providing unit 56 Landing point information acquisition unit (position information acquisition unit, second movement path acquisition unit) 57 Movement path determination unit (first movement path determination unit, movement instruction transmission unit) 58 Error notification unit 101 Floor 102A Opening 102B Opening 103 Wall surface 104 Window 105 Pillar 106 Fence 111 Frame 112 Frame 121 Surface 131 Rectangular frame 141 Movement path

Claims

1. A drone information acquisition unit that acquires drone information including the size of the drone; a spatial information acquisition unit that acquires spatial information including three-dimensional positions of objects existing around the candidate landing site of the drone; and an entry opening determination unit that determines an entry opening for the drone to enter a building including the candidate landing site based on the drone information and the spatial information; A landing point determination unit that determines a landing point of the drone based on the drone information and the spatial information; A first movement path determination unit that determines a first movement path of the drone from a base of the drone to the entrance opening; A movement path determination system comprising a second movement path determination unit that determines a second movement path of the drone from the access opening to the landing point based on the spatial information and the determined access opening and landing point.

2. The travel path determination system according to claim 1 , wherein the drone information further includes flight accuracy of the drone.

3. The entry opening determination unit determines an entry opening through which the drone can enter, based on the drone information and the spatial information, The travel route determination system includes: an access opening display unit that displays the access opening on a screen; A first selection information acquisition unit that acquires selection information of the access opening by a user, The travel path determination system according to claim 1 or 2, wherein the entrance opening determination unit further determines the entrance opening based on selection information of the enterable opening.

4. The entry opening determination unit further determines an inaccessible opening through which the drone cannot enter, based on the drone information and the spatial information; The travel route determination system according to claim 3 , wherein the accessible opening display unit displays the accessible opening and the non-accessible opening in a distinguishable manner.

5. The landing point determination unit determines a possible landing point at which the drone can land, based on the drone information and the spatial information, The travel route determination system includes: a possible landing site display unit that displays the possible landing sites on a screen; A second selection information acquisition unit that acquires selection information of the possible landing point by a user, The movement route determination system according to claim 1 or 2, wherein the landing point determination unit further determines the landing point based on selection information of the possible landing points.

6. The travel route determination system according to claim 5 , wherein the possible landing point display unit further causes an outline of the drone to be displayed on the screen based on the drone information.

7. The travel route determination system according to claim 1 or 2, further comprising a travel route display unit that displays the second travel route on a screen.

8. 3. The movement route determination system according to claim 1, further comprising a first notification unit that notifies a user that the second movement route has not been determined when the second movement route determination unit has not determined the second movement route.

9. The movement path determination system of claim 1 or claim 2, further comprising a second notification unit that notifies a user that the drone is unable to move along the second movement path when the drone is unable to move along the second movement path.

10. A location identification unit that identifies a location of the terminal device; A communication unit that communicates with the wireless tag; a tag position calculation unit that calculates a relative position of the wireless tag with respect to the terminal device based on communication with the wireless tag by the communication unit; A landing point determination system comprising: a landing point determination unit that determines the position of the wireless tag as the landing point for the drone based on the position of the terminal device and the relative position of the wireless tag.

11. A drone information acquisition unit that acquires drone information including the size of the drone; A spatial information acquisition unit that acquires spatial information including three-dimensional positions of objects present around the candidate landing points of the drone; an entrance opening determination unit that determines an entrance opening for the drone to enter a building including the candidate landing site based on the drone information and the spatial information; A landing point determination unit that determines a landing point of the drone based on the drone information and the spatial information; A movement path determination device comprising: a movement path determination unit that determines a movement path of the drone from the access opening to the landing point based on the spatial information and the determined access opening and landing point.

12. A drone information providing unit that provides drone information including the size of the drone to the terminal device; a location information acquisition unit that acquires, from the terminal device, location information of an entrance opening through which the drone enters a building including a landing point, the location information being determined based on the drone information; A first movement path determination unit that determines a first movement path of the drone from a base of the drone to the entrance opening; A second movement path acquisition unit that acquires a second movement path of the drone from the entrance opening to the landing point from the terminal device; A drone control device comprising: a movement instruction sending unit that sends a movement instruction to the drone based on the first movement route and the second movement route.

13. Computer, a drone information acquisition unit that acquires drone information including the size of the drone; A spatial information acquisition unit that acquires spatial information including three-dimensional positions of objects present around the candidate landing points of the drone; an entrance opening determination unit that determines an entrance opening for the drone to enter a building including the candidate landing site based on the drone information and the spatial information; A landing point determination unit that determines a landing point of the drone based on the drone information and the spatial information; and A computer program for functioning as a movement path determination unit that determines a movement path of the drone from the access opening to the landing point based on the spatial information and the determined access opening and landing point.

14. Computer, a location identification unit that identifies the location of the terminal device; a tag position calculation unit that calculates a relative position of the wireless tag with respect to the terminal device based on communication with the wireless tag by a communication unit; and A computer program for functioning as a landing point determination unit that determines the position of the wireless tag as a landing point for a drone based on the position of the terminal device and the relative position of the wireless tag.