Where does Daedalus get the idea for his escape?

Daedalus was imprisoned in the Labyrinth on Crete by King Minos. He wanted to escape but Minos' navy patrolled all the coast.

Daedalus knew that the King did not rule the sky so, he came up with the idea of building wings for himself and his son, Icarus to fly out.

Where did he get the idea … realizing the Minos did not rule the sky.