Information processing system, information processing device, information processing method, and program

Abstract

Provided are an information processing system, an information processing device, an information processing method, and a program which, if a drone has crashed, enable easy recovery of the drone which has crashed. An information processing system according to the present disclosure comprises: an acquisition unit; an estimation unit; and an instruction unit. The acquisition unit acquires at least either: data of an image captured by a camera included in a flying body (such as a drone); or measurement data including data of the position of the flying body, the position having been measured by the flying body. The estimation unit determines whether the flying body is going to crash on the basis of the acquired data, and estimates a crash location of the flying body if it is determined that the flying body is going to crash. The instruction unit provides instructions to a prescribed mobile body (such as a UGV (unmanned ground vehicle)) with regard to the crash location of the flying body.

Description

Information processing system, information processing device, information processing method and program

[0001] The present disclosure relates to an information processing system, an information processing device, an information processing method, and a program.

[0002] The use of drones (UAVs (Unmanned Aerial Vehicles)) is expanding, and along with this, proposals are being made to smoothly utilize drones.

[0003] For example, Patent Document 1 discloses a technology in which a drone and a mobile body that can carry the drone and move and on which the drone can take off and land operate in cooperation with each other.

[0004] International Publication No. 2020 / 1116493

[0005] Drones can crash during flight due to some kind of impact, and the above-mentioned technology has the problem that it is difficult to recover the drone if it crashes.

[0006] In consideration of such issues, the present disclosure aims to provide an information processing system, an information processing device, an information processing method, and a program that can easily recover a crashed drone in the event of a crash.

[0007] The information processing system of the present disclosure includes an acquisition unit that acquires at least one of image data captured by a camera carried by the flying object and measurement data including position data of the flying object measured at the flying object; an estimation unit that determines whether the flying object will crash based on the acquired data and estimates the crash position of the flying object when it is determined that the flying object will crash; and an instruction unit that instructs a predetermined moving object on the crash position of the flying object.

[0008] The information processing device of the present disclosure includes an acquisition unit that acquires at least one of image data captured by a camera carried by the flying object and measurement data including position data of the flying object measured at the flying object; an estimation unit that determines whether the flying object will crash based on the acquired data and estimates the crash position of the flying object when it is determined that the flying object will crash; and an instruction unit that instructs a predetermined moving object on the crash position of the flying object.

[0009] In the information processing method disclosed herein, a computer acquires at least one of image data captured by a camera carried by a flying object and measurement data including position data of the flying object measured by the flying object, determines whether the flying object will crash based on the acquired data, estimates the crash position of the flying object if it is determined that the flying object will crash, and instructs a predetermined moving object of the crash position of the flying object.

[0010] The program disclosed herein acquires at least one of image data captured by a camera carried by a flying object and measurement data including position data of the flying object measured by the flying object, determines whether the flying object will crash based on the acquired data, estimates the crash position of the flying object if it is determined that the flying object will crash, and causes a computer to execute a process of instructing a predetermined moving object about the crash position of the flying object.

[0011] The present disclosure makes it possible to provide an information processing system, an information processing device, an information processing method, and a program that can easily recover a crashed drone in the event of a crash.

[0012] FIG. 1 is a block diagram showing an example of the configuration of an information processing system according to the present embodiment. FIG. 2 is a diagram showing an overview of the information processing system according to the present embodiment. FIG. 3 is a block diagram showing an example of the configuration of the information processing system according to the present embodiment. FIG. 4 is a block diagram showing an example of the operation of an information processing device according to the present embodiment. FIG. 5 is a block diagram showing an example of the configuration of an information processing system according to the present embodiment. FIG. 6 is a block diagram showing an example of the operation of an information processing device according to the present embodiment. FIG. 7 is a diagram showing an overview of the information processing system according to the present embodiment. FIG. 8 is a block diagram showing an example of the configuration of an information processing system according to the present embodiment. FIG. 9 is a block diagram showing an example of the configuration of a computer according to each embodiment.

[0013] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In each drawing, the same or corresponding elements are designated by the same reference numerals, and for clarity of explanation, duplicate explanations will be omitted as necessary.

[0014] First Embodiment First, the configuration of an information processing system 1 according to a first embodiment will be described. Fig. 1 is a block diagram showing an example of the configuration of the information processing system 1 according to this embodiment. The information processing system 1 includes an acquisition unit 11, an estimation unit 12, and an instruction unit 13.

[0015] The acquisition unit 11 acquires at least one of image data captured by a camera carried by the flying object and measurement data including position data of the flying object measured by the flying object. The flying object is, for example, a drone. The estimation unit 12 determines whether the flying object will crash based on the acquired data, and estimates the crash position of the flying object if it is determined that the flying object will crash. The instruction unit 13 instructs a predetermined moving object of the crash position of the flying object. The predetermined moving object is a moving object such as an unmanned ground vehicle (UGV) that can move to the estimated crash position. The predetermined moving object may have a configuration such as a robot arm that can retrieve the flying object.

[0016] The information processing system 1 according to the first embodiment instructs a predetermined moving body to locate the location where the flying object is likely to crash, and causes the moving body to automatically retrieve the crashed flying object. Therefore, the information processing system 1 can easily retrieve the crashed flying object (e.g., a drone).

[0017] Second Embodiment Next, the configuration of an information processing system 2 according to a second embodiment will be described with reference to Fig. 2 and Fig. 3. Fig. 2 is a diagram showing an overview of the information processing system 2 according to this embodiment. Fig. 3 is a block diagram showing an example of the configuration of the information processing system 2 according to this embodiment.

[0018] As shown in Figures 2 and 3, the information processing system 2 includes a drone 100, a UGV 200, an information processing device 20, and a base station 300.

[0019] The drone 100 is an autonomous flying device for monitoring the situation at a site such as a disaster site. Autonomous flight means flying to a specified location while determining its current location without human intervention. The drone 100 monitors the site by capturing images of the site and storing the captured images in the UGV 200. Specifically, the drone 100 includes a communication unit 101, an imaging unit 102, and a measurement unit 103.

[0020] The communication unit 101 communicates with the UGV 200 and transmits and receives data. For communication with the UGV 200, wireless communication methods such as LPWA (Low Power, Wide Area), Bluetooth (registered trademark), L5G (Local 5G), and LTE (Long Term Evolution) are used, in addition to 5G (5th Generation). The communication unit 101 also communicates with the information processing device 20 and transmits and receives data. For communication with the information processing device 20, in addition to the above-mentioned wireless communication methods, a wired communication method is used. Note that the communication unit 101 may also communicate with the base station 300 and transmit and receive data. For communication with the base station 300, a wireless communication method is used.

[0021] The imaging unit 102 captures images of a disaster site or other site. The images include still images and videos. The measurement unit 103 measures various data of the drone 100 (hereinafter, measurement data). Specifically, the measurement unit 103 measures the current position of the drone 100 using a Global Navigation Satellite System (GNSS) or the like mounted on the drone 100. The measurement unit 103 also measures the angular velocity of the drone 100 using an angular velocity sensor mounted on the drone 100. The measurement unit 103 also measures the remaining battery charge of the drone 100 and the climate (wind speed, temperature, humidity, etc.) around the drone 100 using sensors mounted on the drone 100.

[0022] The UGV 200 is an autonomous traveling device that cooperates with the drone 100. Specifically, the UGV 200 includes a communication unit 201, a moving unit 202, a takeoff and landing unit 203, and a recovery unit 204.

[0023] The communication unit 201 communicates with the drone 100 and transmits and receives data. The communication unit 201 also communicates with the information processing device 20 and transmits and receives data. For communication with the information processing device 20, a wired communication method is used in addition to a wireless communication method. The communication unit 201 communicates with the base station 300 and transmits and receives data. For communication with the base station 300, a wireless communication method is used.

[0024] The moving unit 202 works in cooperation with the drone 100 to move the UGV 200. Furthermore, if there is a risk that the drone 100 will crash, the moving unit 202 moves to the crash position of the drone 100 in order to recover the crashed drone 100, in accordance with instructions from the information processing device 20 (instructions on the crash position of the drone 100 and instructions on movement along the movement path of the UGV 200).

[0025] The takeoff and landing unit 203 functions as a port for the drone 100 to take off and land. The recovery unit 204 functions to recover a crashed drone 100 to the takeoff and landing unit 203. For example, when the recovery unit 204 finds a crashed drone 100, it recovers the crashed drone 100 using a recovery mechanism such as a robot arm mounted on the UGV 200.

[0026] The UGV 200 may have a function of supplying power to the drone 100 housed in the takeoff and landing section 203. The UGV 200 may also have a function of storing on-site monitoring data, such as image data of the site photographed by the drone 100. The UGV 200 may also cooperate with multiple drones 100. Although the UGV 200 has been used as an example of a predetermined moving body in the above description, the moving body is not limited to the UGV 200 and may be a manned vehicle.

[0027] The base station 300 is a device that relays wireless communications between the drone 100 and the UGV 200 and a terminal (not shown). For example, the terminal is used when a user monitors the drone 100 and the UGV 200 from a remote location. The base station 300 communicates with the drone 100, the UGV 200, and the information processing device 20 to transmit and receive data.

[0028] The information processing device 20 is a device that instructs the UGV 200 to move to recover the crashed drone 100 based on information acquired from the drone 100. The information processing device 20 is installed in, for example, the UGV 200. Specifically, the information processing device 20 includes an acquisition unit 11, an estimation unit 12, an instruction unit 13, a route creation unit 14, and a communication unit 15.

[0029] The communication unit 15 communicates with the drone 100, the UGV 200, and the base station 300 to send and receive data.

[0030] The acquisition unit 11 acquires at least one of image data of the site and measurement data of the drone 100 from the drone 100. As described above, the measurement data includes current position data, angular velocity data, and time data of the drone 100. Here, the acquisition unit 11 acquires the image data and measurement data from the drone 100 at predetermined intervals so that the data can be kept up to date. The predetermined interval is, for example, once per second.

[0031] The estimation unit 12 determines whether the drone 100 will crash based on at least one of the acquired image data and the measurement data. Specifically, the estimation unit 12 determines that the drone 100 will crash when it detects from the angular velocity data that the angular velocity of the drone 100 has exceeded a predetermined threshold, which is an abnormality in the angular velocity of the drone 100. Furthermore, the estimation unit 12 determines that the drone 100 will crash when it detects from the image data that the positional movement of the drone 100 per unit time has exceeded a predetermined threshold, which is an abnormality in the positional movement of the drone 100.

[0032] The estimation unit 12 then estimates the crash location of the drone 100 based on the data acquired when it is determined that the drone will crash. Specifically, the estimation unit 12 references map data stored in a storage unit (not shown) and estimates the crash location of the drone 100 from the scenery around the drone 100 shown in the image data and the current position data of the drone 100.

[0033] The path creation unit 14 creates a movement path for the UGV 200 to approach the crash location of the drone 100 from its current position. The path creation unit 14 acquires current position data of the UGV 200 by communicating with the UGV 200. Furthermore, if an information processing device 20 is installed on the UGV 200, the path creation unit 14 acquires the current position data of the UGV 200 by acquiring the current position data of the information processing device 20 itself. The path creation unit 14 then references map data stored in a memory unit (not shown) and creates a movement path for the UGV 200 to approach the crash location of the drone 100 from its current position, taking into account the terrain, travel time, and the like. Note that the path creation unit 14 may create a movement path by taking into account the weather around the crash location of the drone 100 from weather data included in the measurement data acquired from the drone 100.

[0034] The instruction unit 13 instructs the UGV 200 on the crash position of the drone 100. The instruction unit 13 also instructs the UGV 200 to move along the created movement route.

[0035] Note that the information processing device 20 is not limited to being installed in the UGV 200 as in the present embodiment, but may be installed in the drone 100. Furthermore, the information processing device 20 may be mounted on the drone 100 or the UGV 200. Furthermore, the information processing device 20 may be realized as a server (not shown) that communicates with the drone 100 or the UGV 200 via the base station 300.

[0036] Next, the operation of the information processing system 2 according to the second embodiment will be described with reference to Fig. 4. The processing of the information processing device 20 will be described in detail below. Fig. 4 is a flowchart showing the operation of the information processing device 20 according to this embodiment.

[0037] First, the imaging unit 102 of the drone 100 captures image data of a site such as a disaster site. The measurement unit 103 acquires measurement data of the drone 100.

[0038] 4, the acquisition unit 11 of the information processing device 20 acquires at least one of image data and measurement data from the drone 100 (step S101). Next, the estimation unit 12 determines whether the drone 100 will crash based on at least one of the image data and measurement data (step S102). If it is determined that the drone will crash (YES in step S102), the estimation unit 12 estimates the crash position of the drone 100 based on the image data and measurement data (step S103). On the other hand, if it is determined that the drone will not crash (NO in step S102), the process returns to step S101.

[0039] After step S103, the route creation unit 14 creates a movement route for the UGV 200 to approach the crash position of the drone 100 from the current position (step S104). Next, the instruction unit 13 instructs the UGV 200 to move along the created movement route (step S105).

[0040] Next, the moving unit 202 of the UGV 200 moves to the crashed position of the drone 100 in accordance with instructions from the information processing device 20. Next, if the recovery unit 204 of the UGV 200 finds the crashed drone 100, it recovers the crashed drone 100.

[0041] In the information processing system 2 according to the second embodiment, when there is a risk of the drone 100 crashing, the information processing device 20 instructs the UGV 200 of the crash location of the drone 100, and causes the UGV 200 to automatically recover the crashed drone. Therefore, the information processing system 2 can easily recover the crashed drone 100. Furthermore, in the information processing system 2, the information processing device 20 instructs the UGV 200 of an efficient movement route. Therefore, the information processing system 2 can efficiently recover the crashed drone 100.

[0042] Third Embodiment Next, the configuration of an information processing system 3 according to a third embodiment will be described with reference to Fig. 5. Fig. 5 is a block diagram showing an example of the configuration of the information processing system 3 according to this embodiment.

[0043] 5, the information processing system 3 includes a plurality of drones 100 (drones 100a to 100n) in comparison with the information processing system 2 according to the second embodiment. The plurality of drones 100 cooperate with a single UGV 200. Furthermore, the information processing system 3 includes an information processing device 30 instead of the information processing device 20 in comparison with the information processing system 2. The information processing device 30 has the same configuration as the information processing device 20, but differs in the following functions.

[0044] The acquisition unit 11 of the information processing device 30 acquires at least one of image data and measurement data from each of the multiple drones 100.

[0045] The estimation unit 12 determines whether or not each of the multiple drones 100 will crash based on the image data and measurement data of each drone. The estimation unit 12 estimates the crash position of each drone 100 that has been determined to crash.

[0046] The path creation unit 14 determines the recovery priority of the drone 100 that is determined to crash. Specifically, when the remaining battery charge of the drone 100 falls below a predetermined threshold, the communication function of the drone 100 stops. In that case, the information processing device 30 will no longer be able to capture the position of the drone 100. Therefore, the path creation unit 14 sets a relatively high priority for recovering the drone 100 with a relatively low remaining battery charge.

[0047] Furthermore, the longer the travel distance of the UGV 200, the higher the travel costs, such as the power consumption and fuel consumption, of the UGV 200. Therefore, the path creation unit 14 sets a relatively high recovery priority for the drone 100 whose crash location is close to the current position of the UGV 200. Note that the path creation unit 14 may set in advance areas where the drone 100 cannot be recovered due to the influence of the terrain, etc., and set a relatively low recovery priority for the drone 100 whose crash location is within that area, or may not recover it at all.

[0048] The method for determining the recovery priority of the drones 100 in the path creation unit 14 is not limited to the above. It is desirable to postpone the recovery of drones 100 that have not captured images of the site and to recover drones 100 that have captured images of the site as much as possible. Therefore, the path creation unit 14 may set the recovery priority of drones 100 that have not captured images of the site to a relatively low level.

[0049] Then, the path creation unit 14 creates a movement path for the UGV 200 to sequentially approach the crash locations of the drones 100 from the current position according to the recovery priority. Specifically, the path creation unit 14 creates a movement path for the UGV 200 to sequentially approach the crash locations of the drones 100 in descending order of recovery priority.

[0050] The instruction unit 13 instructs the UGV 200 on the crash position of the drone 100. The instruction unit 13 also instructs the UGV 200 to move along the created movement route.

[0051] Next, the operation of the information processing system 3 according to the third embodiment will be described with reference to Fig. 6. The processing of the information processing device 30 will be described in detail below. Fig. 6 is a flowchart showing the operation of the information processing device 30 according to this embodiment.

[0052] The imaging unit 102 of the drone 100 captures image data of a site such as a disaster site. The measurement unit 103 acquires measurement data of the drone 100.

[0053] Next, as shown in FIG. 6, the acquisition unit 11 of the information processing device 30 acquires at least one of image data and measurement data from each of the multiple drones 100 (step S201).

[0054] Next, the estimation unit 12 determines whether at least one drone 100 among the multiple drones 100 will crash based on at least one of the image data and the measurement data (step S202). If it is determined that at least one drone 100 will crash (YES in step S202), the estimation unit 12 estimates the crash position of each drone 100 determined to crash (the drone 100 that will crash) based on the image data and the measurement data (step S203). On the other hand, if it is determined that none of the drones 100 will crash (NO in step S202), the processing returns to step S201.

[0055] After step S203, the path generation unit 14 determines the recovery priority of the crashing drone 100 (step S204). If only one drone 100 crashes, it is not necessary to determine the recovery priority.

[0056] Next, the route creation unit 14 creates a movement route for the UGV 200 to sequentially approach the crash locations of the respective drones 100 from the current position according to the recovery priority (step S205). Next, the instruction unit 13 instructs the UGV 200 to move along the created movement route (step S206).

[0057] Next, the movement unit 202 of the UGV 200 moves the UGV 200 to the crash location of each of the crashed drones 100 in accordance with instructions from the information processing device 30. Next, the recovery unit 204 of the UGV 200 recovers the crashed drone 100 when it finds the crashed drone 100.

[0058] As described above, in the information processing system 3 according to the third embodiment, in addition to the effects of the information processing system 2 according to the second embodiment, the UGV 200 can more efficiently recover crashed drones 100 even if multiple drones 100 crash.

[0059] (Fourth embodiment) Next, the configuration of an information processing system 4 according to a fourth embodiment will be described with reference to Fig. 7 and Fig. 8. Fig. 7 is a diagram showing an overview of the information processing system 4 according to this embodiment. Fig. 8 is a block diagram showing an example of the configuration of the information processing system 4 according to this embodiment.

[0060] 8, compared to the information processing system 2 according to the second embodiment, the information processing system 4 includes an information processing device 40 instead of the information processing device 20, and further includes a display device 400 (also referred to as a display unit 400). The information processing device 40 further includes a display control unit 16 in addition to the configuration of the information processing device 20.

[0061] The information processing device 40 communicates with the display device 400 using a wireless communication method or a wired communication method to transmit and receive data. For example, the display device 400 is mounted on a monitoring terminal that enables a user to monitor the drone 100 or the UGV 200 from a remote location. In this case, the information processing device 40 communicates with the display device 400 via the base station 300 to transmit and receive data.

[0062] As described above, the path creation unit 14 creates a movement path for the UGV 200 to approach from the current position to the crash position of the drone 100. The display control unit 16 displays the created movement path on the display device 400.

[0063] In addition, when the information processing system 4 includes a manned vehicle instead of the UGV 200, the display device 400 may be mounted in the driver's seat of the manned vehicle.

[0064] In addition, the display control unit 16 may display on the display device 400 the current position of the UGV 200, the current position of the drone 100, the power ON / OFF status of the drone 100, the crash status of the drone 100, the remaining battery of the drone 100, etc., in addition to the movement route of the UGV 200.

[0065] In addition, compared to the information processing system 3 according to the third embodiment, the information processing system 4 may include an information processing device 40 that further includes a display control unit 16 instead of the information processing device 30 .

[0066] As described above, in the information processing system 4 according to the fourth embodiment, in addition to the effects of the information processing system 2 according to the second embodiment and the information processing system 3 according to the third embodiment, by displaying the movement route of the UGV 200, the user can understand where the drone 100 is at risk of crashing and how the UGV 200 will recover the crashed drone 100.

[0067] The present disclosure is not limited to the above-described embodiment, and can be modified as appropriate within the scope of the present disclosure.

[0068] Each component in the above-described embodiments may be configured with hardware or software, or both, and may be configured with a single piece of hardware or software, or may be configured with multiple pieces of hardware or software. Each device and each function (processing) may be realized by a computer 1000 having a processor 1001 such as a CPU (Central Processing Unit) and a memory 1002 serving as a storage device, as shown in FIG. 9. For example, a program for performing the method (video processing method) in the embodiment may be stored in the memory 1002, and each function may be realized by the processor 1001 executing the program stored in the memory 1002.

[0069] These programs include instructions (or software code) that, when loaded into a computer, cause the computer to perform one or more functions described in the embodiments. The programs may be stored on a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, computer-readable media or tangible storage media include random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technology, CD-ROM, digital versatile disc (DVD), Blu-ray disc or other optical disk storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device. The programs may also be transmitted on a transitory computer-readable medium or communication medium. By way of example and not limitation, transitory computer-readable media or communication media include electrical, optical, acoustic, or other forms of propagated signals.

[0070] Although the present invention has been described above with reference to the embodiments, the present invention is not limited to the above. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the invention.

[0071] This application claims priority based on Japanese Patent Application No. 2023-056747, filed on March 30, 2023, the disclosure of which is incorporated herein by reference in its entirety.

[0072] Some or all of the above embodiments can be described as in the following supplementary notes, but are not limited to them. (Supplementary Note 1) An information processing system comprising: an acquisition means for acquiring at least one of image data captured by a camera carried by a flying object and measurement data including position data of the flying object measured by the flying object; an estimation means for determining whether the flying object will crash based on the acquired data and estimating a crash position of the flying object when it is determined that the flying object will crash; and an instruction means for instructing a predetermined moving object to the crash position of the flying object. (Supplementary Note 2) The information processing system according to Supplementary Note 1 further comprises path creation means for creating a movement path for the moving object to approach the crash position from a current position, and the instruction means instructs the moving object to move along the movement path. (Supplementary Note 3) The information processing system according to Supplementary Note 2, wherein the acquisition means acquires at least one of the image data and the measurement data for each of a plurality of flying objects, the estimation means determines whether each of the plurality of flying objects will crash based on the acquired data and estimates the crash location of each of the flying objects determined to crash, and the path creation means determines a priority of the flying objects determined to crash, and creates the movement path for the moving object to sequentially approach each of the crash locations from its current location in accordance with the priority. (Supplementary Note 4) The information processing system according to Supplementary Note 3, wherein the measurement data includes data on remaining battery levels of the flying objects, and the path creation means determines a priority of the flying objects determined to crash based on the remaining battery level of each of the flying objects determined to crash. (Supplementary Note 5) The information processing system according to Supplementary Note 3, wherein the path creation means determines the priority based on the distance between the crash location of each of the flying objects determined to crash and the current location of the moving object. (Supplementary Note 6) The information processing system according to Supplementary Note 2, further comprising a display control means for displaying a movement route of the moving object on a display means.(Supplementary Note 7) An information processing device comprising: an acquisition means for acquiring at least one of image data captured by a camera carried by a flying object and measurement data including position data of the flying object measured by the flying object, an estimation means for determining whether the flying object will crash based on the acquired data and estimating a crash position of the flying object when it is determined that the flying object will crash, and an instruction means for instructing a predetermined moving object to the crash position of the flying object. (Supplementary Note 8) The information processing device according to Supplementary Note 7 further comprises a path creation means for creating a movement path for the moving object to approach the crash position from a current position, and the instruction means instructs the moving object to move along the movement path. (Supplementary Note 9) The information processing device according to Supplementary Note 8, wherein the acquisition means acquires at least one of the image data and the measurement data for each of a plurality of flying objects, the estimation means determines whether each of the plurality of flying objects will crash based on the acquired data and estimates the crash position of each of the flying objects determined to crash, and the path creation means determines a priority of the flying objects determined to crash, and creates the movement path for the moving object to sequentially approach each of the crash positions from its current position in accordance with the priority. (Supplementary Note 10) The information processing device according to Supplementary Note 9, wherein the measurement data includes data on remaining battery capacity of the flying objects, and the path creation means determines a priority of the flying objects determined to crash based on the remaining battery capacity of each of the flying objects determined to crash. (Supplementary Note 11) The information processing device according to Supplementary Note 9, wherein the path creation means determines the priority based on the distance between the crash position of each of the flying objects determined to crash and the current position of the moving object. (Supplementary Note 12) The information processing device according to Supplementary Note 8, further comprising a display control means for displaying a movement path of the moving object on a display means.(Supplementary Note 13) An information processing method in which a computer acquires at least one of image data captured by a camera carried by a flying object and measurement data including position data of the flying object measured by the flying object, determines whether the flying object will crash based on the acquired data, estimates a crash position of the flying object if it is determined that the flying object will crash, and instructs a predetermined moving object to move along the crash position of the flying object. (Supplementary Note 14) The information processing method described in Supplementary Note 13, in which the computer further creates a movement path for the moving object to approach the crash position from its current position, and instructs the moving object to move along the movement path. (Supplementary Note 15) The information processing method according to Supplementary Note 14, wherein the computer further acquires at least one of the image data and the measurement data for each of a plurality of flying objects, determines whether each of the plurality of flying objects will crash based on the acquired data, estimates the crash location for each of the flying objects determined to crash, determines a priority for the flying objects determined to crash, and creates the movement path for the moving object to sequentially approach each of the crash locations from its current location according to the priority. (Supplementary Note 16) The information processing method according to Supplementary Note 15, wherein the measurement data includes data on remaining battery capacity of the flying objects, and determines a priority for the flying objects determined to crash based on the remaining battery capacity for each of the flying objects determined to crash. (Supplementary Note 17) The information processing method according to Supplementary Note 15, wherein the computer further determines the priority based on the distance between the crash location for each of the flying objects determined to crash and the current location of the moving object. (Supplementary Note 18) The information processing method according to Supplementary Note 14, wherein the computer further causes a display means to display the movement route of the moving object.(Supplementary Note 19) A program that causes a computer to execute the following processes: acquire at least one of image data captured by a camera carried by a flying object and measurement data including position data of the flying object measured by the flying object, determine whether the flying object will crash based on the acquired data, estimate a crash position of the flying object if it is determined that the flying object will crash, and instruct a predetermined moving object to move along the crash position of the flying object. (Supplementary Note 20) The program according to Supplementary Note 19, that causes a computer to further execute the processes of creating a movement path for the moving object to approach the crash position from its current position, and instructing the moving object to move along the movement path. (Supplementary Note 21) The program according to Supplementary Note 20, further causing a computer to execute the processes of acquiring at least one of the image data and the measurement data for each of a plurality of flying objects, determining whether each of the plurality of flying objects will crash based on the acquired data, estimating the crash locations for each of the flying objects determined to crash, determining priorities for the flying objects determined to crash, and creating the movement path for the moving object to sequentially approach each of the crash locations from its current position in accordance with the priorities. (Supplementary Note 22) The program according to Supplementary Note 21, wherein the measurement data includes data on remaining battery levels for the flying objects, and further causing a computer to execute the process of determining priorities for the flying objects determined to crash based on the remaining battery levels for each of the flying objects determined to crash. (Supplementary Note 23) The program according to Supplementary Note 21, further causing a computer to execute the process of determining the priority based on the distance between the crash location for each of the flying objects determined to crash and the current position of the moving object. (Supplementary Note 24) The program according to Supplementary Note 20, further causing a computer to execute a process of displaying a movement path of the moving object on a display means.

[0073] 1, 2, 3, 4 Information processing system 11 Acquisition unit 12 Estimation unit 13 Instruction unit 14 Route creation unit 15 Communication unit 16 Display control unit 20, 30, 40 Information processing device 100 Drone (flying object) 101 Communication unit 102 Imaging unit 103 Measurement unit 200 UGV (mobile object) 201 Communication unit 202 Mobile unit 203 Takeoff and landing unit 204 Recovery unit 300 Base station 400 Display device (display unit) 1000 Computer 1001 Processor 1002 Memory

Claims

1. an acquisition means for acquiring at least one of image data captured by a camera provided on the flying object and measurement data including position data of the flying object measured by the flying object; an estimation means for determining whether the flying object will crash based on the acquired data, and estimating a crash position of the flying object when it is determined that the flying object will crash; and an indicating means for indicating the crash position of the flying object to a predetermined moving body. Information processing system.

2. a route creation means for creating a route for the moving body to approach the crash location from its current position; The instruction means Instructing the moving body to move along the movement path The information processing system according to claim 1 .

3. an acquisition means for acquiring at least one of image data captured by a camera provided on the flying object and measurement data including position data of the flying object measured by the flying object; an estimation means for determining whether the flying object will crash based on the acquired data, and estimating a crash position of the flying object when it is determined that the flying object will crash; and an indicating means for indicating the crash position of the flying object to a predetermined moving body. Information processing device.

4. a route creation means for creating a route for the moving body to approach the crash location from its current position; The instruction means Instructing the moving body to move along the movement path The information processing device according to claim 3 .

5. The acquisition means acquiring at least one of the image data and the measurement data for each of a plurality of flying objects; The estimation means Based on the acquired data, it is determined whether each of the plurality of flying objects will crash, and the crash position of each of the flying objects determined to crash is estimated; The route creation means determining a priority of the flying object determined to be about to crash; A movement path for the moving body to approach each of the crash locations sequentially from the current location is created according to the priority. The information processing device according to claim 4 .

6. the measurement data includes data on the remaining battery charge of the flying object; The route creation means determining a priority of the flying object determined to crash based on the remaining battery power of each flying object determined to crash; The information processing device according to claim 5 .

7. The route creation means The priority is determined based on a distance between the crash position of each of the flying objects determined to crash and the current position of the moving object. The information processing device according to claim 5 .

8. The moving object further includes a display control means for displaying the moving path of the moving object on a display means. The information processing device according to claim 4 .

9. The computer Acquire at least one of image data captured by a camera provided in the flying object and measurement data including position data of the flying object measured by the flying object; determining whether the flying object will crash based on the acquired data, and estimating a crash position of the flying object when it is determined that the flying object will crash; Instructing a predetermined moving body on the crash location of the flying object Information processing methods.

10. Acquire at least one of image data captured by a camera provided in the flying object and measurement data including position data of the flying object measured by the flying object; determining whether the flying object will crash based on the acquired data, and estimating a crash position of the flying object when it is determined that the flying object will crash; The computer is caused to execute a process of instructing a predetermined moving body on the crash position of the flying object. program.

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