Unmanned aerial vehicle, data processing device, path selection device, processing method and processing program

A control method of an unmanned aerial vehicle for controlling flight of the unmanned aerial vehicle, comprising:

• a landing position information receiving step in which a landing position of the unmanned aerial vehicle is received;
• a vehicle body position information receiving step in which a current position of the unmanned aerial vehicle is received;
• a scanned data receiving step in which three-dimensional scanned data on a scanned target acquired by scanning by a laser scanner provided in the unmanned aerial vehicle is received;
• a scan map creating step in which a three-dimensional map based on the three-dimensional scanned data received in the scanned data receiving step is created;
• a no-fly place extracting step in which a no-fly place forming a flight obstacle in the three-dimensional map is extracted;
• and
• a path selecting step in which a flight path of the unmanned aerial vehicle is selected from the three-dimensional map, wherein the flight path is from the current position to the landing position of the unmanned aerial vehicle and capable of bypassing the no-fly place.

A program for path selection, which is a program for controlling flight of an unmanned aerial vehicle that is read and executed by a computer,

• causing the computer to function as:
• a landing position information receiving portion that receives a landing position of the unmanned aerial vehicle;
• a vehicle body position information receiving portion that receives a current position of the unmanned aerial vehicle;
• a scanned data receiving portion capable of receiving three-dimensional scanned data on a scanned target acquired by scanning by a laser scanner comprised in the unmanned aerial vehicle;
• a scan map creating portion that creates a three-dimensional map based on the three-dimensional scanned data received by the scanned data receiving portion;
• a no-fly place extracting portion that extracts a no-fly place forming a flight obstacle in the three-dimensional map;
• and
• a path selecting portion that selects, in the three-dimensional map, a flight path of the unmanned aerial vehicle which is from the current position to the landing position of the unmanned aerial vehicle and in which the no-fly place can be avoided.