JP2017071292A - Unmanned flying body and flying noise cancelling method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an unmanned flying body which can cancel flying noise in a simple structure, and to provide a flying noise cancelling method.SOLUTION: An unmanned flying body 1a includes: a flying part 13 for flying into the air; an information acquisition part 101 acquiring information; a condition determination part 102 determining whether or not outputting cancel sound for cancelling flying noise of the flying part 13 on the basis of the information acquired by the information acquisition part 101; and a cancel sound control part 104 generating a cancel sound signal representing the cancel sound when a condition determination part 102 determines that the cancel sound is to be output.SELECTED DRAWING: Figure 2

Description

  The present disclosure relates to an unmanned air vehicle flying unattended, a flight sound canceling method in the unmanned air vehicle, and a flight sound canceling method in a server communicably connected to the unmanned air vehicle.

  In recent years, small unmanned aerial vehicles that are remotely controlled by a remote controller have become widespread. The unmanned aerial vehicle includes a plurality of propellers, and can move forward, backward, leftward, rightward, upward, and downward by controlling the number of rotations of the plurality of propellers.

  As described above, the unmanned air vehicle flies in the air by rotating a plurality of propellers with a motor. Therefore, in the conventional unmanned aerial vehicle, the loudness of the flight sound when flying by rotating a plurality of propellers has been a problem.

  Therefore, for example, in Patent Document 1, in a column support system for a ducted fan unmanned airplane, a joint between each of the first legs of the plurality of columns and the ducted fan fuselage is outside the highlight of the leading edge of the ducted fan fuselage. The technique of reducing the noise by interaction with a support | pillar and a fan by arrange | positioning to is disclosed.

JP 2010-105654 A

  However, in the ducted fan unmanned aerial vehicle disclosed in Patent Document 1, the position where a plurality of support columns are joined to the ducted fan fuselage is outside the highlight of the leading edge of the ducted fan fuselage, thereby reducing noise. Therefore, the structure becomes complicated and it is difficult to apply to various types of unmanned airplanes such as a multicopter having a plurality of propellers.

  The present disclosure has been made in order to solve the above-described problem, and an object thereof is to provide an unmanned air vehicle and a flight sound canceling method capable of canceling a flight sound with a simple configuration.

  An unmanned air vehicle according to one aspect of the present disclosure includes a flight unit for flying into the air, an information acquisition unit that acquires information, and a flight of the flight unit based on the information acquired by the information acquisition unit. A determination unit that determines whether or not to output a cancellation sound for canceling the sound, and a generation unit that generates a cancellation sound signal indicating the cancellation sound when the determination unit determines to output the cancellation sound; Is provided.

  According to the present disclosure, the flight sound can be canceled with a simple configuration by outputting the generated cancel sound. In addition, when it is determined that a cancel sound is output, a cancel sound signal indicating the cancel sound is generated, so that power consumption can be reduced and battery consumption is reduced compared to the case where a cancel sound is always output. It can be suppressed and the flight time can be lengthened.

It is a figure which shows the external appearance structure of the unmanned air vehicle in Embodiment 1 of this indication. It is a block diagram which shows the structure of the unmanned air vehicle in Embodiment 1 of this indication. 6 is a flowchart for explaining an operation of the unmanned air vehicle according to the first embodiment of the present disclosure. It is a block diagram which shows the structure of the unmanned air vehicle in Embodiment 2 of this indication. It is a block diagram which shows the structure of the unmanned air vehicle in Embodiment 3 of this indication. It is a block diagram which shows the structure of the unmanned air vehicle in the 1st modification of Embodiment 3 of this indication. It is a block diagram which shows the structure of the unmanned air vehicle in the 5th modification of Embodiment 3 of this indication. It is a block diagram which shows the structure of the unmanned air vehicle in the 6th modification of Embodiment 3 of this indication. It is a block diagram which shows the structure of the unmanned air vehicle in the 7th modification of Embodiment 3 of this indication. It is a block diagram which shows the structure of the unmanned air vehicle in the 8th modification of Embodiment 3 of this indication. It is a block diagram which shows the structure of the flight control system in Embodiment 4 of this indication. It is a block diagram which shows the structure of the flight control system in Embodiment 5 of this indication. It is a block diagram which shows the structure of the flight control system in Embodiment 6 of this indication.

  In order to solve the above problems, an unmanned air vehicle according to one aspect of the present disclosure is based on a flight unit for flying into the air, an information acquisition unit that acquires information, and the information acquired by the information acquisition unit. A determination unit that determines whether or not to output a cancellation sound that cancels the flight sound of the flying unit, and a cancellation sound signal that indicates the cancellation sound when the determination unit determines that the cancellation sound is to be output And a generating unit that generates

  According to this configuration, information is acquired, and based on the acquired information, it is determined whether or not to output a cancel sound for canceling the flight sound of the flying unit for flying into the air. When it is determined that a cancel sound is output, a cancel sound signal indicating the cancel sound is generated.

  Therefore, by outputting the generated canceling sound, the flying sound can be canceled with a simple configuration. In addition, when it is determined that a cancel sound is output, a cancel sound signal indicating the cancel sound is generated, so that power consumption can be reduced and battery consumption is reduced compared to the case where a cancel sound is always output. It can be suppressed and the flight time can be lengthened.

  The unmanned air vehicle may further include a sound output unit that converts the cancellation sound signal generated by the generation unit into the cancellation sound and outputs the converted cancellation sound to the outside.

  According to this configuration, since the cancel sound is output from the sound output unit included in the unmanned air vehicle, the flight sound heard around the unmanned air vehicle can be canceled.

  In the unmanned aerial vehicle, the flying unit includes a rotation driving unit that rotates a member that causes the unmanned airplane to fly, and a storage unit that stores the cancellation sound signal in advance in association with the number of rotations of the rotation driving unit. Further, the generation unit may read the cancellation sound signal from the storage unit according to the number of rotations of the rotation driving unit when the determination unit determines that the cancellation sound is output.

  According to this configuration, the canceling sound signal is stored in advance in the storage unit in association with the rotation speed of the rotation driving unit that rotates the member that causes the unmanned airplane to fly. When it is determined that a canceling sound is output, a canceling sound signal is read from the storage unit according to the number of rotations of the rotation driving unit.

  Therefore, since the cancel sound signal is read according to the rotation speed of the rotation drive unit, the cancel sound signal can be easily generated.

  The unmanned air vehicle further includes a sound acquisition unit that acquires the flight sound, and the generation unit is acquired by the sound acquisition unit when the determination unit determines that the cancellation sound is output. A signal having an opposite phase to the signal waveform of the flight sound may be generated as the cancellation sound signal.

  According to this configuration, the flight sound is acquired by the sound acquisition unit. When it is determined that a cancel sound is output, a signal having a phase opposite to the signal waveform of the flight sound acquired by the sound acquisition unit is generated as a cancel sound signal.

  Therefore, a signal having a phase opposite to that of the acquired flight sound signal waveform is generated as a cancel sound signal, so that the flight sound can be canceled in real time and reliably using the actual flight sound.

  The unmanned air vehicle may further include an observation unit that observes a situation around the unmanned air vehicle, and the information acquisition unit may acquire an output from the observation unit as the information.

  According to this configuration, the situation around the unmanned air vehicle is observed by the observation unit, and the output from the observation unit is acquired as information. Therefore, it is possible to determine whether or not to output a cancel sound based on the situation around the unmanned air vehicle.

  In the unmanned air vehicle, the observation unit includes an altitude sensor that acquires a value of a flight altitude of the unmanned air vehicle, and the information acquisition unit acquires the value of the flight altitude from the altitude sensor as the information. The determination unit may determine to output the cancellation sound when the value of the flight altitude is equal to or less than a predetermined threshold.

  According to this configuration, the value of the flight altitude of the unmanned air vehicle is acquired by the altitude sensor. Then, when the value of the flight altitude is acquired as information from the altitude sensor and the value of the flight altitude is equal to or less than a predetermined threshold, it is determined that a cancel sound is output.

  Therefore, when the flight altitude value of the unmanned aerial vehicle is below a predetermined threshold value, a canceling sound is output. Therefore, when the flight altitude of the unmanned aerial vehicle decreases, the person on the ground can hear the flight sound. Can be prevented.

  In the above unmanned air vehicle, the observation unit includes an image acquisition unit that acquires an image around the unmanned air vehicle, and the information acquisition unit acquires the image from the image acquisition unit as the information, The determination unit may recognize a person included in the acquired image and determine to output the cancel sound when the person is recognized in the image.

  According to this configuration, an image around the unmanned air vehicle is acquired by the image acquisition unit. Then, an image is acquired as information from the image acquisition unit, a person included in the acquired image is recognized, and a cancel sound is output when a person is recognized in the image.

  Therefore, the flight sound can be canceled when a person is present around the unmanned air vehicle. In addition, a cancel sound is not always output, but a cancel sound is output when a person is detected around an unmanned air vehicle, so that power consumption can be reduced and battery consumption can be reduced. And the flight time can be lengthened.

  In the above unmanned air vehicle, the observation unit includes an image acquisition unit that acquires an image around the unmanned air vehicle, and the information acquisition unit acquires the image from the image acquisition unit as the information, The determination unit may recognize a person included in the acquired image and determine that the cancel sound is output when the predetermined number of persons or more are recognized in the image.

  According to this configuration, an image around the unmanned air vehicle is acquired by the image acquisition unit. Then, an image is acquired as information from the image acquisition unit, and when a person included in the acquired image is recognized and more than a predetermined number of persons are recognized in the image, it is determined to output a cancel sound. .

  Therefore, the flight sound can be canceled when there are more than a predetermined number of people around the unmanned air vehicle. In addition, a cancel sound is not always output, but a cancel sound is output when a predetermined number of persons are detected around the unmanned air vehicle, so that power consumption can be reduced and the battery Consumption can be suppressed and flight time can be lengthened.

  In the above unmanned air vehicle, the observation unit includes an image acquisition unit that acquires an image around the unmanned air vehicle, and the information acquisition unit acquires the image from the image acquisition unit as the information, The determination unit recognizes a predetermined gesture by a person included in the acquired image, and determines that the cancellation sound is output when the predetermined gesture by the person is recognized in the image. Also good.

  According to this configuration, an image around the unmanned air vehicle is acquired by the image acquisition unit. Then, an image is acquired as information from the image acquisition unit, and a predetermined gesture by a person included in the acquired image is recognized. When a predetermined gesture by a person is recognized in the image, it is determined that a cancel sound is output.

  Therefore, when a person existing around the unmanned air vehicle makes a gesture that dislikes the flying sound, for example, the flying sound can be canceled. In addition, a cancel sound is not always output, but a cancel sound is output when a predetermined gesture by a person is recognized in the image, so that power consumption can be reduced and battery consumption can be suppressed. Can increase the flight time.

  In the unmanned aerial vehicle, the observation unit includes an object detection sensor that detects whether or not an object is present within a predetermined range, and the information acquisition unit is within the predetermined range from the object detection sensor. Information indicating whether or not the object is present may be acquired, and the determination unit may determine that the cancel sound is output when the object exists within the predetermined range.

  According to this configuration, whether or not an object exists within a predetermined range is detected by the object detection sensor. Then, information indicating whether or not an object exists within a predetermined range is acquired from the object detection sensor. When an object exists within a predetermined range, it is determined that a cancel sound is output.

  Therefore, the flying sound can be canceled when the flying altitude of the unmanned air vehicle decreases and objects such as buildings exist around it. In addition, the cancel sound is not always output, and when the flying altitude of the unmanned air vehicle becomes high and there are no objects such as buildings around it, the cancel sound is not output, so the power consumption can be reduced. Battery consumption can be suppressed, and flight time can be lengthened.

  In the unmanned aerial vehicle, the observation unit includes a person detection sensor that detects whether or not a person is present within a predetermined range, and the information acquisition unit is within the predetermined range from the person detection sensor. Information indicating whether or not the person is present may be acquired, and the determination unit may determine that the cancel sound is output when the person exists within the predetermined range.

  According to this configuration, whether or not a person exists within a predetermined range is detected by the person detection sensor. And the information which shows whether a person exists in a predetermined range is acquired from a person detection sensor. When a person is present within a predetermined range, it is determined that a cancel sound is output.

  Therefore, the flight sound can be canceled when a person is present around the unmanned air vehicle. In addition, the cancel sound is not always output, and if there is no person around the unmanned air vehicle, the cancel sound is not output, so that power consumption can be reduced and battery consumption can be suppressed. And the flight time can be lengthened.

  In the unmanned aerial vehicle, the observation unit includes an illuminance sensor that acquires an illuminance value of light irradiated on the unmanned air vehicle, and the information acquisition unit obtains the illuminance value from the illuminance sensor. The determination unit determines that the cancellation sound is output when the illuminance value is greater than a predetermined threshold value, and the canceling sound is output when the illuminance value is equal to or lower than the predetermined threshold value. You may judge not to output.

  According to this configuration, the illuminance value of the light irradiated to the unmanned air vehicle is acquired by the illuminance sensor. Then, the illuminance value is acquired as information from the illuminance sensor. When the illuminance value is larger than the predetermined threshold value, it is determined that the cancel sound is output. When the illuminance value is equal to or less than the predetermined threshold value, it is determined that the cancel sound is not output.

  Therefore, when an unmanned aerial vehicle flies during the daytime when many people are active, the flight sound can be canceled. In addition, the cancel sound is not always output, but when the unmanned air vehicle flies at night when there is little traffic, the cancel sound is not output, so power consumption can be reduced and battery consumption is reduced. Can increase the flight time.

  In the unmanned air vehicle, the observation unit includes a volume sensor that acquires a volume level value of the flight sound, and the information acquisition unit acquires the volume level value of the flight sound as the information from the volume sensor. The determination unit may determine to output the cancel sound when the volume level value of the flight sound is equal to or higher than a predetermined level value.

  According to this configuration, the volume level value of the flying sound is acquired by the volume sensor. Then, the volume level value of the flying sound is acquired as information from the volume sensor. When the volume level value of the flying sound is equal to or higher than a predetermined level value, it is determined that a cancel sound is output.

  Therefore, when the flight sound is large enough to be recognized as noise, the flight sound can be canceled. In addition, the cancellation sound is not always output, but if the flight sound is not large enough to be recognized as noise, the cancellation sound is not output, so that power consumption can be reduced and battery consumption is reduced. It can be suppressed and the flight time can be lengthened.

  In the unmanned aerial vehicle, the information acquisition unit acquires the current time as the information, and the determination unit determines to output the cancel sound when the current time is within a predetermined time zone. May be.

  According to this configuration, when the current time is acquired as information and the current time is within a predetermined time zone, it is determined that a cancel sound is output.

  Therefore, the flight sound can be easily canceled using the current time. In addition, the cancel sound is not always output, and when the current time is not within the predetermined time zone, the cancel sound is not output, so that power consumption can be reduced and battery consumption is suppressed. Can increase the flight time.

  The unmanned air vehicle may further include a communication unit that communicates with an external device, and the information acquisition unit may acquire the information from the external device via the communication unit.

  According to this configuration, since information is acquired from an external device via the communication unit, it is possible to determine whether or not to output a cancel sound based on the information acquired by the external device.

  In the unmanned aerial vehicle, the external device includes a flight altitude detecting device that detects the unmanned aerial vehicle and detects a value of a detected flight altitude of the unmanned aerial vehicle. The value of the flight altitude detected by the altitude detection device may be acquired as the information, and the determination unit may determine to output the cancellation sound when the value of the flight altitude is equal to or less than a predetermined threshold. .

  According to this configuration, the unmanned aerial vehicle is detected by the flight altitude detecting device, and the value of the detected flight altitude of the unmanned aerial vehicle is detected. Then, the value of the flight altitude detected by the flight altitude detecting device is acquired as information. When the value of the flight altitude is equal to or less than a predetermined threshold, it is determined that a cancel sound is output.

  Therefore, it is not necessary to detect the flight altitude with an unmanned air vehicle, and power consumption can be reduced.

  In the unmanned aerial vehicle, the external device includes a person detection device that acquires a surrounding image and detects a person included in the acquired image, and the information acquisition unit detects whether the person is detected. The information indicating whether or not may be acquired from the person detection device, and the determination unit may determine to output the cancellation sound when the person is detected.

  According to this configuration, a surrounding image is acquired by the person detection device, and a person included in the acquired image is detected. Information indicating whether or not a person has been detected is acquired from the person detection device. When a person is detected, it is determined that a cancel sound is output.

  Therefore, it is not necessary to detect a person with an unmanned air vehicle, and power consumption can be reduced.

  A flight sound canceling method according to another aspect of the present disclosure is a flight sound canceling method in an unmanned air vehicle including a flying unit for flying into the air, acquires information, and based on the acquired information, It is determined whether or not a cancel sound for canceling the flight sound of the flying unit is output, and when it is determined that the cancel sound is output, a cancel sound signal indicating the cancel sound is generated.

  According to this configuration, information is acquired, and based on the acquired information, it is determined whether or not to output a cancel sound for canceling the flight sound of the flying unit for flying into the air. When it is determined that a cancel sound is output, a cancel sound signal indicating the cancel sound is generated.

  Therefore, by outputting the generated canceling sound, the flying sound can be canceled with a simple configuration. In addition, since a cancel sound signal is generated when it is determined that a cancel sound is output, power consumption can be reduced and battery consumption can be suppressed compared to a case where a cancel sound is always output. , Can increase the flight time.

  A flight sound canceling method according to another aspect of the present disclosure is a flight sound canceling method in a server that is communicably connected to an unmanned air vehicle including a flying unit for flying into the air. Based on the received information, it is determined whether or not a cancel sound for canceling the flight sound of the flying unit is output, and information indicating whether or not the cancel sound is output is transmitted to the unmanned air vehicle.

  According to this configuration, information is acquired, and based on the acquired information, it is determined whether or not to output a cancel sound for canceling the flight sound of the flying unit for flying into the air. Then, information indicating whether or not to output a cancel sound is transmitted to the unmanned air vehicle.

  Therefore, the unmanned air vehicle can generate a cancel sound signal when it is determined to output a cancel sound, and can convert the generated cancel sound signal into a cancel sound and output the cancel sound signal with a simple configuration. The flight sound can be canceled. In addition, since a cancel sound signal is generated when it is determined that a cancel sound is output, power consumption can be reduced and battery consumption can be suppressed compared to a case where a cancel sound is always output. , Can increase the flight time.

  Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. Note that the following embodiment is an example in which the present disclosure is embodied, and does not limit the technical scope of the present disclosure.

(Embodiment 1)
FIG. 1 is a diagram illustrating an external configuration of an unmanned air vehicle according to the first embodiment of the present disclosure. The unmanned air vehicle 1a includes a main body 10, a plurality of propellers 11, and a noise canceller 12a.

  The main body 10 includes four legs. A propeller 11 is disposed on each of the four legs. The unmanned air vehicle 1a flies freely in the air by means of a plurality of propellers 11. Although the unmanned air vehicle 1a includes the four propellers 11 in the first embodiment, the present disclosure is not particularly limited thereto, and may include, for example, eight propellers, and the number of propellers is particularly limited. Not.

  The noise canceller 12a is disposed at the upper part of the main body 10 and cancels the flight sound of the unmanned air vehicle 1a. The noise canceller 12a may be disposed below the main body 10, and the position where the noise canceller 12a is disposed is not particularly limited.

  FIG. 2 is a block diagram illustrating a configuration of the unmanned air vehicle according to the first embodiment of the present disclosure. The unmanned air vehicle 1a includes a noise canceller 12a and a flying unit 13 for flying into the air.

  The flying unit 13 causes the main body 10 to fly into the air. The flying unit 13 includes an operation information receiving unit 131, a movement control unit 132, and a propeller driving unit 133.

  The operation information receiving unit 131 receives operation information for operating the unmanned air vehicle 1a transmitted by a remote controller (not shown) wirelessly. The unmanned air vehicle 1a and the remote controller are connected so as to be able to communicate with each other, and communicate with each other by, for example, specific low-power radio. The remote controller is held with both hands by the operator. The remote controller includes a left stick provided on the left hand side of the operator and a right stick provided on the right hand side of the operator. When the left stick and the right stick are tilted by the operator, the remote controller transmits angle information regarding the tilt angle to the unmanned air vehicle 1a. The movement of the unmanned air vehicle 1a is controlled according to the tilt angle. The operation information includes, for example, angle information indicating the tilt angle of the left stick and the right stick.

  The remote controller may be a smartphone, a tablet computer, or a personal computer, and may display an operation screen on a touch panel and accept an input operation by an operator. Further, the operation information receiving unit 131 may receive a flight route indicating a route for flying the unmanned air vehicle 1a as the operation information.

  The movement control unit 132 controls the movement of the unmanned air vehicle 1a, and moves the unmanned air vehicle 1a according to the operation of the operator. The movement control unit 132 generates a drive signal for driving each of the plurality of propellers 11 based on the operation information received by the operation information receiving unit 131, and outputs the generated drive signal to the propeller drive unit 133. The unmanned aerial vehicle 1a can move in the forward, backward, leftward, rightward, upward, and downward directions by controlling the rotational speed of each of the plurality of propellers 11. The movement control unit 132 detects a change in the flight attitude according to outputs from a 3-axis gyro sensor (not shown) and a 3-axis acceleration sensor (not shown), and automatically controls the flight attitude to be stable. May be.

  Further, when the flight route is received as the operation information by the operation information receiving unit 131, the movement control unit 132 may automatically move the unmanned air vehicle 1a along the flight route without remote operation by the operator. Good.

  The propeller drive unit 133 drives each of the plurality of propellers 11 based on the drive signal output by the movement control unit 132. The propeller drive unit 133 rotates a propeller that causes the unmanned air vehicle 1a to fly.

  The noise canceller 12 a includes an information acquisition unit 101, a condition determination unit 102, a storage unit 103, a cancellation sound control unit 104, and a sound output unit 105.

  The information acquisition unit 101 acquires information. Here, the information acquisition unit 101 acquires the current time as information, for example.

  Based on the information acquired by the information acquisition unit 101, the condition determination unit 102 determines whether or not to output a cancel sound for canceling the flight sound of the flight unit. The condition determination unit 102 determines to output a cancel sound when the current time acquired by the information acquisition unit 101 is within a predetermined time zone. In addition, the condition determination unit 102 determines not to output a cancel sound when the current time acquired by the information acquisition unit 101 is not within a predetermined time zone.

  The predetermined time zone is, for example, the daytime zone from 7:00 am to 7:00 pm, the night time zone from 7:00 pm to 7:00 am, or the time zone from the sunrise time of the day to the sunset time. May be included. By suppressing the flying sound in the daytime hours, the discomfort of many people who are active in the daytime can be eliminated. Further, by suppressing the flying sound in the night time zone, it is possible to eliminate the discomfort of the sleeping person.

  The storage unit 103 stores in advance a cancel sound signal indicating a cancel sound in association with the rotation speed of the propeller drive unit 133. Note that the flight sound is canceled by outputting a sound having an opposite phase to the sound waveform of the flight sound. Therefore, the cancellation sound signal is a signal having an opposite phase to the signal waveform of the flight sound. The storage unit 103 stores in advance the rotation speed of the propeller driving unit 133 and a signal (cancellation sound signal) having an opposite phase to the signal waveform of the flight sound when flying at the rotation speed.

  The cancellation sound control unit 104 generates a cancellation sound signal indicating the cancellation sound when the condition determination unit 102 determines to output a cancellation sound. The cancel sound control unit 104 reads the cancel sound signal from the storage unit 103 according to the rotation speed of the propeller drive unit 133 when the condition determination unit 102 determines to output the cancel sound. When the rotation speed of at least one propeller among the plurality of propellers is different from the rotation speed of the other propellers, the cancellation sound control unit 104 outputs a cancellation sound signal corresponding to the largest rotation speed among the plurality of propellers. You may read from the memory | storage part 103. FIG.

  The sound output unit 105 is, for example, a speaker, converts the cancellation sound signal generated by the cancellation sound control unit 104 into a cancellation sound, and outputs the converted cancellation sound to the outside.

  Note that the information acquisition unit 101, the condition determination unit 102, the cancellation sound control unit 104, and the movement control unit 132 may be realized by a processor, and the storage unit 103 may be realized by a memory.

  Next, the operation of the unmanned aerial vehicle 1a in the first embodiment will be described.

  FIG. 3 is a flowchart for explaining the operation of the unmanned air vehicle according to the first embodiment of the present disclosure.

  First, in step S1, the movement control unit 132 determines whether or not the operation information receiving unit 131 has received the operation information transmitted by the remote controller. If it is determined that the operation information receiving unit 131 has not received the operation information (NO in step S1), the process proceeds to step S3.

  On the other hand, when it is determined that the operation information receiving unit 131 has received the operation information (YES in step S1), in step S2, the movement control unit 132 is unmanned according to the operation information received by the operation information receiving unit 131. The movement of the flying object 1a is controlled.

  Next, in step S3, the information acquisition unit 101 acquires information indicating the current time.

  Next, in step S <b> 4, the condition determination unit 102 determines whether to output a cancel sound for canceling the flight sound of the flight unit based on the information acquired by the information acquisition unit 101. The condition determination unit 102 determines whether or not the current time acquired by the information acquisition unit 101 is within a predetermined time zone, and when the current time is determined to be within the predetermined time zone When it is determined that the cancel sound is output and it is determined that the current time is not within the predetermined time zone, it is determined that the cancel sound is not output. If it is determined that no cancel sound is output (NO in step S4), the process returns to step S1.

  On the other hand, when it is determined that a canceling sound is output (YES in step S4), in step S5, the canceling sound control unit 104 generates a canceling sound signal. At this time, the cancel sound control unit 104 reads the cancel sound signal from the storage unit 103 in accordance with the rotation speed of the propeller drive unit 133. The rotation speed of the propeller drive unit 133 is acquired from the movement control unit 132.

  Next, in step S6, the sound output unit 105 converts the cancellation sound signal generated by the cancellation sound control unit 104 into a cancellation sound, and outputs the converted cancellation sound to the outside. Then, it returns to the process of step S1, and the process of step S1-step S6 is performed until the unmanned air vehicle 1a stops or until the power supply of the unmanned air vehicle 1a is turned off.

  Thus, by outputting the generated canceling sound, the flying sound can be canceled with a simple configuration. In addition, since a cancel sound signal is generated when it is determined that a cancel sound is output, power consumption can be reduced and battery consumption can be suppressed compared to a case where a cancel sound is always output. , Can increase the flight time.

  In the present disclosure, the basic configuration is that the unmanned air vehicle 1a includes the noise canceller 12a, but the present invention is not limited thereto. For example, when a predetermined condition is satisfied, the sound generated by the unmanned air vehicle 1a may be suppressed by changing the flight mode. The change of the flight mode includes, for example, a change of the flight speed or a change of the rotation speed of the propeller unit. The same applies to the second to sixth embodiments described below.

(Embodiment 2)
Next, the unmanned aerial vehicle in the second embodiment will be described. The unmanned aerial vehicle in the first embodiment reads a canceling sound signal corresponding to the rotation speed of the propeller drive unit from the storage unit. However, the unmanned air vehicle in the second embodiment acquires the flight sound and acquires the acquired flight. A signal having a phase opposite to that of the sound signal waveform is generated as a cancel sound signal.

  FIG. 4 is a block diagram illustrating a configuration of the unmanned air vehicle according to the second embodiment of the present disclosure. The unmanned air vehicle 1b shown in FIG. 4 includes a noise canceller 12b and a flying unit 13. In the second embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, and description thereof is omitted.

  The noise canceller 12 b includes an information acquisition unit 101, a condition determination unit 102, a sound acquisition unit 106, a cancellation sound control unit 107, and a sound output unit 105.

  The sound acquisition unit 106 is, for example, a microphone and acquires a flight sound.

  When the condition determination unit 102 determines that the cancellation sound is output by the condition determination unit 102, the cancellation sound control unit 107 generates a signal having a phase opposite to the signal waveform of the flight sound acquired by the sound acquisition unit 106 as a cancellation sound signal.

  Next, the operation of the unmanned air vehicle 1b in the second embodiment will be described. Since the operation of the unmanned air vehicle 1b in the second embodiment is substantially the same as the operation of the unmanned air vehicle 1a in the first embodiment shown in FIG. 3, operations different from those in the first embodiment will be described with reference to FIG. .

  If it is determined that a cancel sound is output (YES in step S4), in step S5, the cancel sound control unit 107 generates a cancel sound signal. At this time, the cancellation sound control unit 107 generates a signal having an opposite phase to the signal waveform of the flight sound acquired by the sound acquisition unit 106 as a cancellation sound signal.

  As described above, a signal having an opposite phase to the signal waveform of the flight sound acquired by the sound acquisition unit 106 is generated as a cancellation sound signal, and the generated cancellation sound signal is converted into a cancellation sound and output. The flight sound can be canceled reliably in real time using the flight sound.

(Embodiment 3)
Next, the unmanned aerial vehicle in the third embodiment will be described. Although the unmanned air vehicle in the first and second embodiments has acquired information indicating the current time, the unmanned air vehicle in the third embodiment includes an observation unit that observes the situation around the unmanned air vehicle, The output from the observation unit is acquired as information.

  FIG. 5 is a block diagram illustrating a configuration of the unmanned air vehicle according to the third embodiment of the present disclosure. An unmanned air vehicle 1c shown in FIG. 5 includes a noise canceller 12c and a flying unit 13. In the third embodiment, the same components as those in the first and second embodiments are denoted by the same reference numerals, and description thereof is omitted.

  The noise canceller 12 c includes an altitude sensor 109, an information acquisition unit 110, a condition determination unit 111, a storage unit 103, a cancellation sound control unit 104, and a sound output unit 105.

  The altitude sensor 109 measures the flight altitude of the unmanned air vehicle 1c and acquires the value of the flight altitude of the unmanned air vehicle 1c. The altitude sensor 109 measures the atmospheric pressure, for example, and calculates the altitude from the measured atmospheric pressure. The information acquisition unit 110 acquires the value of the flight altitude from the altitude sensor 109 as information.

  The condition determination unit 111 determines to output a cancel sound when the value of the flight altitude is equal to or less than a predetermined threshold value. In other words, the condition determination unit 111 determines whether or not the value of the flight altitude is equal to or less than a predetermined threshold, and determines that a cancellation sound is output when the value of the flight altitude is equal to or less than the predetermined threshold. When the value of is higher than a predetermined threshold value, it is determined that no cancel sound is output.

  In the third embodiment, the noise canceller 12c includes the altitude sensor 109. However, the present disclosure is not particularly limited thereto, and may include an observation unit that observes the situation around the unmanned air vehicle 1c. . In this case, the information acquisition unit 110 acquires the output from the observation unit as information.

  In the third embodiment, the noise canceller 12c includes the storage unit 103 and the cancel sound control unit 104. However, the present disclosure is not particularly limited thereto, and the noise canceller 12c includes the storage unit 103 and the cancel sound control unit 104. Instead of this, the sound acquisition unit 106 and the cancellation sound control unit 107 in the second embodiment may be provided.

  In this way, when the flight altitude value of the unmanned air vehicle is less than or equal to a predetermined threshold value, a canceling sound is output. Can be prevented from being heard.

  Subsequently, the unmanned aerial vehicle in the first modification of the third embodiment will be described. The unmanned air vehicle in the third embodiment includes an altitude sensor. However, the unmanned air vehicle in the first modification of the third embodiment includes an image acquisition unit that acquires an image around the unmanned air vehicle. Prepare.

  FIG. 6 is a block diagram illustrating a configuration of the unmanned air vehicle in the first modification example of the third embodiment of the present disclosure. An unmanned air vehicle 1d shown in FIG. 6 includes a noise canceller 12d and a flying unit 13. Note that in the first modification example of the third embodiment, the same components as those in the first and second embodiments are denoted by the same reference numerals, and description thereof is omitted.

  The noise canceller 12 d includes an image acquisition unit 112, an information acquisition unit 113, a condition determination unit 114, a storage unit 103, a cancellation sound control unit 104, and a sound output unit 105.

  The image acquisition unit 112 is, for example, a camera, and acquires an image around the unmanned air vehicle 1d. In addition, it is preferable that the image acquisition part 112 images the ground direction from the unmanned air vehicle 1d in flight. The information acquisition unit 113 acquires an image as information from the image acquisition unit.

  The condition determination unit 114 recognizes a person included in the acquired image, and determines that a cancel sound is output when the person is recognized in the image. In addition, the condition determination unit 114 determines that no cancel sound is output when no person is recognized in the image. Note that the image recognition process for recognizing a person is a general technique, and thus the description thereof is omitted.

  In this way, when an image is acquired from the image acquisition unit, a person included in the acquired image is recognized, and a cancellation sound is output when the person is recognized in the image, the surroundings of the unmanned air vehicle The flight sound can be canceled when a person is present in In addition, a cancel sound is not always output, but a cancel sound is output when a person is detected around an unmanned air vehicle, so that power consumption can be reduced and battery consumption can be reduced. And the flight time can be lengthened.

  Subsequently, an unmanned aerial vehicle in the second modification of the third embodiment will be described. The unmanned aerial vehicle in the first modification of the third embodiment determines that a canceling sound is output when a person is detected in the image, but the unmanned flight in the second modification of the third embodiment. The body outputs a cancel sound when more than a predetermined number of persons are recognized in the image.

  The configuration of the unmanned aerial vehicle in the second modification example of the third embodiment is the same as the configuration of the unmanned aerial vehicle in the first modification example of the third embodiment. Therefore, the unmanned aerial vehicle in the second modification of the third embodiment will be described with reference to FIG.

  The condition determination unit 114 recognizes a person included in the acquired image, and determines that a cancellation sound is output when a predetermined number of persons or more are recognized in the image. In addition, the condition determination unit 114 determines not to output a cancel sound when no more than a predetermined number of persons are recognized in the image.

  Note that the predetermined number of people as a criterion for determining whether or not to output a cancel sound is a predetermined number of people, but may be determined by learning. For example, the image acquisition unit acquires a ground image taken from the sky, and the condition determination unit 114 recognizes a person's face from the acquired image. If a person's face is recognized from the sky, it can be estimated that the person is aware of the flying sound of the unmanned air vehicle and looks up at the unmanned air vehicle with his face raised. Therefore, the condition determination unit 114 counts the number of persons who are looking up at an unmanned flying object with their faces raised (persons whose faces are recognized), and store the counted number. Then, the condition determining unit 114 repeatedly performs the process of counting the number of persons whose faces are recognized, and stores the average of the counted numbers as a predetermined number.

  In this way, when an image is acquired from the image acquisition unit, a person included in the acquired image is recognized, and a cancellation sound is output when more than a predetermined number of persons are recognized in the image, When there are more than a predetermined number of persons around the unmanned air vehicle, the flight sound can be canceled. In addition, a cancel sound is not always output, but a cancel sound is output when a predetermined number of persons are detected around the unmanned air vehicle, so that power consumption can be reduced and the battery Consumption can be suppressed and flight time can be lengthened.

  Subsequently, an unmanned aerial vehicle according to a third modification of the third embodiment will be described. The unmanned aerial vehicle in the first modification of the third embodiment determines that a canceling sound is output when a person is detected in the image, but the unmanned flight in the third modification of the third embodiment. The body recognizes a predetermined gesture by a person included in the image, and outputs a cancel sound when the predetermined gesture by the person is recognized in the image.

  The configuration of the unmanned air vehicle in the third modification of the third embodiment is the same as the configuration of the unmanned air vehicle in the first modification of the third embodiment. Therefore, the unmanned aerial vehicle in the third modification of the third embodiment will be described with reference to FIG.

  The condition determination unit 114 recognizes a predetermined gesture by a person included in the acquired image, and determines that a cancellation sound is output when the predetermined gesture by the person is recognized in the image. In addition, the condition determination unit 114 determines not to output a cancel sound when a predetermined gesture by a person is not recognized in the image. The predetermined gesture is, for example, a gesture in which a person crosses both hands in front of the body, or a gesture in which a person covers his ears with both hands. Further, the predetermined gesture may be a gesture in which a person dislikes a flying sound.

  In this way, an image is acquired from the image acquisition unit, and when a predetermined gesture by a person included in the acquired image is recognized and a predetermined gesture by a person is recognized in the image, a cancel sound is output. Therefore, when a person present around the unmanned air vehicle makes a gesture that dislikes the flying sound, the flying sound can be canceled. In addition, a cancel sound is not always output, but a cancel sound is output when a predetermined gesture by a person is recognized in the image, so that power consumption can be reduced and battery consumption can be suppressed. Can increase the flight time.

  Subsequently, an unmanned aerial vehicle in a fourth modification of the third embodiment will be described. The unmanned aerial vehicle in the first modification of the third embodiment determines that a canceling sound is output when a person is detected in the image, but the unmanned flight in the fourth modification of the third embodiment. The body recognizes a facial expression of a person included in the image, and outputs a cancel sound when a predetermined facial expression by the person is recognized in the image.

  The configuration of the unmanned air vehicle in the fourth modification example of the third embodiment is the same as the configuration of the unmanned air vehicle in the first modification example of the third embodiment. Therefore, the unmanned aerial vehicle in the fourth modification of the third embodiment will be described with reference to FIG.

  The condition determining unit 114 recognizes the facial expression of the person included in the acquired image, and determines that the cancel sound is output when a predetermined facial expression by the person is recognized in the image. In addition, the condition determining unit 114 determines not to output a cancel sound when a predetermined facial expression by a person is not recognized in the image. The predetermined facial expression is, for example, an expression that expresses the feeling of anger by a person.

  As described above, when the image is acquired from the image acquisition unit, the facial expression of the person included in the acquired image is recognized, and a predetermined facial expression by the person is recognized in the image, a cancel sound is output. Therefore, when a person existing around the unmanned air vehicle makes a facial expression that dislikes the flying sound, the flying sound can be canceled. In addition, a cancel sound is not always output, but a cancel sound is output when a predetermined facial expression is recognized by a person in the image, so that power consumption can be reduced and battery consumption can be reduced. Can increase the flight time.

  Subsequently, an unmanned aerial vehicle in the fifth modification of the third embodiment will be described. The unmanned aerial vehicle in the first to fourth modified examples of the third embodiment acquires information indicating an image, but the unmanned air vehicle in the fifth modified example of the third embodiment is an unmanned air vehicle. Information indicating whether or not an object exists within a predetermined range is acquired.

  FIG. 7 is a block diagram illustrating a configuration of an unmanned aerial vehicle in the fifth modification example of the third embodiment of the present disclosure. An unmanned air vehicle 1e shown in FIG. 7 includes a noise canceller 12e and a flying unit 13. Note that, in the fifth modification example of the third embodiment, the same components as those in the first and second embodiments are denoted by the same reference numerals, and description thereof is omitted.

  The noise canceller 12 e includes an object detection sensor 115, an information acquisition unit 116, a condition determination unit 117, a storage unit 103, a cancellation sound control unit 104, and a sound output unit 105.

  The object detection sensor 115 is, for example, an ultrasonic sensor, an infrared sensor, a laser sensor, or the like, and detects whether an object exists within a predetermined range.

  The information acquisition unit 116 acquires information indicating whether an object exists within a predetermined range from the object detection sensor 115.

  The condition determination unit 117 determines that a cancel sound is output when an object exists within a predetermined range. In addition, the condition determination unit 117 determines that no cancellation sound is output when no object exists within a predetermined range.

  In this way, it is detected whether or not an object is present within a predetermined range, and when an object is present within the predetermined range, a canceling sound is output, so the flight altitude of the unmanned air vehicle decreases. When there is an object such as a building around, the flight sound can be canceled. In addition, the cancel sound is not always output, and when the flying altitude of the unmanned air vehicle becomes high and there are no objects such as buildings around it, the cancel sound is not output, so the power consumption can be reduced. Battery consumption can be suppressed, and flight time can be lengthened.

  Subsequently, an unmanned aerial vehicle according to a sixth modification of the third embodiment will be described. The unmanned aerial vehicle in the fifth modification of the third embodiment acquires information indicating whether or not an object exists within a predetermined range from the unmanned air vehicle. The unmanned air vehicle in the modified example acquires information indicating whether or not a person exists within a predetermined range from the unmanned air vehicle.

  FIG. 8 is a block diagram illustrating a configuration of an unmanned aerial vehicle in the sixth modification example of the third embodiment of the present disclosure. An unmanned air vehicle 1f shown in FIG. 8 includes a noise canceller 12f and a flying unit 13. Note that, in the sixth modification example of the third embodiment, the same components as those in the first and second embodiments are denoted by the same reference numerals, and description thereof is omitted.

  The noise canceller 12f includes a person detection sensor 118, an information acquisition unit 119, a condition determination unit 120, a storage unit 103, a cancellation sound control unit 104, and a sound output unit 105.

  The person detection sensor 118 is an infrared sensor, for example, and detects whether or not a person exists within a predetermined range.

  The information acquisition unit 119 acquires information indicating whether or not a person exists within a predetermined range from the person detection sensor 118.

  The condition determination unit 120 determines that a cancel sound is output when a person exists within a predetermined range. In addition, the condition determination unit 120 determines that no cancellation sound is output when no person is present within the predetermined range.

  In this way, it is detected whether or not a person is present within a predetermined range, and when a person is present within the predetermined range, a cancel sound is output, so that there is a person around the unmanned air vehicle. In case, the flight sound can be canceled. In addition, the cancel sound is not always output, and if there is no person around the unmanned air vehicle, the cancel sound is not output, so that power consumption can be reduced and battery consumption can be suppressed. And the flight time can be lengthened.

  Subsequently, an unmanned aerial vehicle according to a seventh modification of the third embodiment will be described. The unmanned aerial vehicle in the sixth modification of the third embodiment acquires information indicating whether or not there is a person within a predetermined range from the unmanned air vehicle. The unmanned aerial vehicle in the modified example acquires the value of the illuminance of light irradiated on the unmanned aerial vehicle.

  FIG. 9 is a block diagram illustrating a configuration of an unmanned aerial vehicle according to the seventh modification example of the third embodiment of the present disclosure. An unmanned air vehicle 1g shown in FIG. 9 includes a noise canceller 12g and a flying unit 13. Note that, in the seventh modification example of the third embodiment, the same components as those in the first and second embodiments are denoted by the same reference numerals, and description thereof is omitted.

  The noise canceller 12g includes an illuminance sensor 121, an information acquisition unit 122, a condition determination unit 123, a storage unit 103, a cancellation sound control unit 104, and a sound output unit 105.

  The illuminance sensor 121 acquires the value of the illuminance of light irradiated on the unmanned aerial vehicle 1g.

  The information acquisition unit 122 acquires the illuminance value from the illuminance sensor 121 as information.

  The condition determination unit 123 determines that the cancel sound is output when the illuminance value is greater than the predetermined threshold value, and determines that the cancel sound is not output when the illuminance value is equal to or less than the predetermined threshold value. The predetermined threshold value represents the illuminance at the boundary between day and night. When the illuminance value is greater than the predetermined threshold value, it is determined to be daytime, and when the illuminance value is less than or equal to the predetermined threshold value, it is nighttime. It is judged that there is.

  In this way, the value of the illuminance of the light irradiating the unmanned air vehicle 1g is acquired, and when the illuminance value is larger than the predetermined threshold value, a cancellation sound is output. When the flying object flies, the flight sound can be canceled. In addition, the cancel sound is not always output, but when the unmanned air vehicle flies at night when there is little traffic, the cancel sound is not output, so power consumption can be reduced and battery consumption is reduced. Can increase the flight time.

  In the seventh modification of the third embodiment, the condition determination unit 123 determines that a cancellation sound is output when the illuminance value is greater than a predetermined threshold, and the illuminance value is equal to or less than the predetermined threshold. In some cases, it is determined that no cancellation sound is output. However, the present disclosure is not particularly limited to this, and the condition determination unit 123 does not output a cancellation sound when the illuminance value is greater than a predetermined threshold value. It may be determined that the cancellation sound is output when the illuminance value is equal to or less than a predetermined threshold value. That is, the noise at night can be suppressed by canceling the flight sound when the unmanned air vehicle flies at night.

  Subsequently, an unmanned air vehicle according to an eighth modification of the third embodiment will be described. The unmanned aerial vehicle in the seventh modification of the third embodiment acquires the value of the illuminance of light irradiated on the unmanned aerial vehicle, but the unmanned air vehicle in the eighth modification of the third embodiment is Get the volume level value of the flying sound.

  FIG. 10 is a block diagram illustrating a configuration of an unmanned aerial vehicle in the eighth modification example of the third embodiment of the present disclosure. An unmanned air vehicle 1h illustrated in FIG. 10 includes a noise canceller 12h and a flying unit 13. Note that, in the eighth modification example of the third embodiment, the same components as in the first and second embodiments are denoted by the same reference numerals, and description thereof is omitted.

  The noise canceller 12 h includes a sound acquisition unit 124, a volume sensor 125, an information acquisition unit 126, a condition determination unit 127, a storage unit 103, a cancellation sound control unit 104, and a sound output unit 105.

  The sound acquisition unit 124 is a microphone, for example, and acquires a flight sound. The volume sensor 125 acquires the volume level value of the flying sound. The information acquisition unit 126 acquires the volume level value of the flying sound from the volume sensor 125 as information.

  The condition determination unit 127 determines that the cancel sound is output when the volume level value of the flight sound is equal to or higher than a predetermined level value. In addition, the condition determination unit 127 determines that the cancel sound is not output when the volume level value of the flying sound is smaller than the predetermined level value.

  As described above, when the volume level value of the flying sound is acquired and the volume level value of the flying sound is equal to or higher than the predetermined level value, the cancellation sound is output, so that the flying sound is recognized as noise. If this is the case, the flight sound can be canceled. In addition, the cancellation sound is not always output, but if the flight sound is not large enough to be recognized as noise, the cancellation sound is not output, so that power consumption can be reduced and battery consumption is reduced. It can be suppressed and the flight time can be lengthened.

  In the first to eighth modifications of the third embodiment, the noise cancellers 12d to 12h include the storage unit 103 and the cancellation sound control unit 104, but the present disclosure is not particularly limited thereto, and the noise canceller is not limited thereto. 12d to 12h may include the sound acquisition unit 106 and the cancellation sound control unit 107 in the second embodiment instead of the storage unit 103 and the cancellation sound control unit 104.

  Further, in the eighth modification of the third embodiment, as in the second embodiment, the cancel sound control unit 107 cancels the signal having the opposite phase of the flight sound signal waveform acquired by the sound acquisition unit 106. When generating as a sound signal, the noise canceller 12 h does not need to include the sound acquisition unit 124, and only the sound acquisition unit 106 may be included. In this case, the volume sensor 125 acquires the flight sound acquired by the sound acquisition unit 106.

(Embodiment 4)
Subsequently, the flight control system in the fourth embodiment will be described. The unmanned aerial vehicle in the third embodiment includes an observation unit that observes the situation around the unmanned air vehicle, and obtains the output from the observation unit as information. A communication unit that communicates with the other device, and acquires information from the external device via the communication unit.

  FIG. 11 is a block diagram illustrating a configuration of a flight control system according to the fourth embodiment of the present disclosure. The flight control system shown in FIG. 11 includes an unmanned air vehicle 1 i and a flight altitude detection device 2.

  The flight altitude detecting device 2 is connected to the unmanned air vehicle 1i through a network so as to be communicable. The network is, for example, a wireless LAN (Local Area Network) or the Internet.

  The flight altitude detecting device 2 detects the unmanned air vehicle 1i and detects the value of the detected flight altitude of the unmanned air vehicle 1i. The flight altitude detection device 2 acquires, for example, a surrounding image, detects the unmanned air vehicle 1i included in the acquired image, and based on the size of the image indicating the detected unmanned air vehicle 1i, etc. The value of the flight altitude of 1i is detected. The flight altitude detection device 2 transmits the value of the detected flight altitude to the unmanned aerial vehicle 1i. The flight altitude detection device 2 is an example of an external device.

  The unmanned air vehicle 1 i includes a noise canceller 12 i and a flying unit 13. In the fourth embodiment, the same components as those in the first to third embodiments are denoted by the same reference numerals and description thereof is omitted.

  The noise canceller 12 i includes a communication unit 128, an information acquisition unit 129, a condition determination unit 111, a storage unit 103, a cancellation sound control unit 104, and a sound output unit 105.

  The communication unit 128 communicates with an external device. The communication unit 128 receives the value of the flight altitude transmitted by the flight altitude detection device 2.

  The information acquisition unit 129 acquires information from an external device via the communication unit 128. The information acquisition unit 129 acquires the value of the flight altitude detected by the flight altitude detection device 2 as information.

  The condition determination unit 111 determines to output a cancel sound when the value of the flight altitude is equal to or less than a predetermined threshold value. In addition, the condition determination unit 111 determines that no cancel sound is output when the value of the flight altitude is greater than a predetermined threshold.

  In this way, the value of the flight altitude detected by the flight altitude detecting device is acquired as information, and when the value of the flight altitude is equal to or less than a predetermined threshold, a canceling sound is output. It is not necessary to detect the power consumption, and the power consumption can be reduced.

  In the fourth embodiment, the noise canceller 12i includes the storage unit 103 and the cancel sound control unit 104. However, the present disclosure is not particularly limited thereto, and the noise canceller 12i includes the storage unit 103 and the cancel sound control unit 104. Instead of this, the sound acquisition unit 106 and the cancellation sound control unit 107 in the second embodiment may be provided.

(Embodiment 5)
Next, the flight control system in the fifth embodiment will be described. The flight control system according to the fourth embodiment includes a flight altitude detection device, but the flight control system according to the fifth embodiment includes a person detection device.

  FIG. 12 is a block diagram illustrating a configuration of a flight control system according to the fifth embodiment of the present disclosure. The flight control system shown in FIG. 12 includes an unmanned air vehicle 1j and a person detection device 3.

  The person detection device 3 is connected to be able to communicate with the unmanned air vehicle 1j via a network. The network is, for example, a wireless LAN or the Internet.

  The person detection device 3 acquires a surrounding image and detects a person included in the acquired image. The image is acquired by, for example, a monitoring camera disposed within a predetermined range from the position of the unmanned air vehicle 1j. The person detection device 3 transmits information indicating whether or not a person has been detected to the unmanned air vehicle 1j.

  The unmanned air vehicle 1j includes a noise canceller 12j and a flying unit 13. In the fifth embodiment, the same components as those in the first to third embodiments are denoted by the same reference numerals and description thereof is omitted.

  The noise canceller 12j includes a communication unit 141, an information acquisition unit 142, a condition determination unit 143, a storage unit 103, a cancellation sound control unit 104, and a sound output unit 105.

  The communication unit 141 communicates with an external device. The communication unit 141 receives information indicating whether or not a person transmitted by the person detection device 3 has been detected.

  The information acquisition unit 142 acquires information from an external device via the communication unit 141. The information acquisition unit 142 acquires information indicating whether or not a person has been detected from the person detection device 3.

  The condition determination unit 143 determines that a cancel sound is output when a person is detected. In addition, the condition determination unit 143 determines that no cancellation sound is output when no person is detected.

  Thus, information indicating whether or not a person has been detected is acquired from the person detection device, and when a person is detected, a cancellation sound is output, so there is no need to detect a person with an unmanned air vehicle, Power consumption can be reduced.

  In the fifth embodiment, the noise canceller 12j includes the storage unit 103 and the cancellation sound control unit 104. However, the present disclosure is not particularly limited thereto, and the noise canceller 12j includes the storage unit 103 and the cancellation sound control unit 104. Instead of this, the sound acquisition unit 106 and the cancellation sound control unit 107 in the second embodiment may be provided.

  In the fifth embodiment, the person detection device 3 may transmit information indicating the number of detected persons to the unmanned air vehicle 1j. In this case, the condition determination unit 143 may determine to output a cancel sound when more than a predetermined number of persons are detected.

  Moreover, although the flight control system of Embodiment 5 includes the person detection device as an external device, the present disclosure is not particularly limited thereto. The flight control system may include an illuminance acquisition device that acquires an outdoor illuminance value. In this case, the condition determination unit determines that the cancellation sound is output when the illuminance value is larger than the predetermined threshold value, and determines that the cancellation sound is not output when the illuminance value is equal to or lower than the predetermined threshold value. Also good. Further, the flight control system may include a volume acquisition device that acquires a volume level value of the flight sound on the ground. In this case, the condition determination unit may determine that the cancel sound is output when the volume level value of the flight sound is equal to or higher than a predetermined level value.

(Embodiment 6)
Subsequently, a flight control system in the sixth embodiment will be described. The flight control system in the fourth and fifth embodiments includes a flight altitude detection device and a person detection device, but the flight control system in the sixth embodiment includes a server.

  FIG. 13 is a block diagram illustrating a configuration of a flight control system according to the sixth embodiment of the present disclosure. The flight control system shown in FIG. 13 includes an unmanned air vehicle 1k and a server 4.

  The server 4 is communicably connected to the unmanned air vehicle 1k via a network. The network is, for example, a wireless LAN or the Internet.

  The server 4 includes an information acquisition unit 151, a condition determination unit 152, and a communication unit 153.

  The information acquisition unit 151 and the condition determination unit 152 have the same configurations as the information acquisition unit 101 and the condition determination unit 102 shown in FIG.

  The communication unit 153 transmits information indicating whether or not to output the cancellation sound determined by the condition determination unit 152 to the unmanned air vehicle 1k.

  The unmanned air vehicle 1k includes a noise canceller 12k and a flying unit 13. Note that in the sixth embodiment, the same components as those in the first to third embodiments are denoted by the same reference numerals, and description thereof is omitted.

  The noise canceller 12k includes a communication unit 161, a storage unit 162, a cancellation sound control unit 163, and a sound output unit 164.

  The communication unit 161 receives information indicating whether or not to output a cancellation sound transmitted by the server 4.

  The cancel sound control unit 163 generates a cancel sound signal when the communication unit 161 receives information indicating that a cancel sound is output. The method for generating the cancel sound signal is the same as the method for generating the cancel sound signal by the cancel sound control unit 104 shown in FIG. In addition, the cancellation sound control unit 163 does not generate a cancellation sound signal when the communication unit 161 receives information indicating that no cancellation sound is output.

  The sound output unit 164 converts the cancellation sound signal generated by the cancellation sound control unit 163 into a cancellation sound, and outputs the converted cancellation sound to the outside.

  In this way, since processing is performed by the server after information is acquired until it is determined whether or not to generate a cancellation sound signal, processing in an unmanned air vehicle can be simplified and power consumption can be reduced. can do.

  In the sixth embodiment, the noise canceller 12k includes the storage unit 162 and the cancel sound control unit 163. However, the present disclosure is not particularly limited thereto, and the noise canceller 12k includes the storage unit 162 and the cancel sound control unit 163. Instead of this, the sound acquisition unit 106 and the cancellation sound control unit 107 in the second embodiment may be provided.

  The noise canceller 12k of the unmanned air vehicle 1k includes an observation unit, an information acquisition unit, a communication unit, a storage unit, a cancellation sound control unit, and a sound output unit. The server 4 includes a condition determination unit, And a communication unit.

  In this case, the information acquisition unit of the unmanned air vehicle 1k acquires information from the observation unit, and the communication unit of the unmanned air vehicle 1k transmits the acquired information to the server 4. The observation unit is the above-described altitude sensor, image acquisition unit, object detection sensor, person detection sensor, illuminance sensor, volume sensor, or the like. Then, the communication unit of the server 4 receives information transmitted by the unmanned air vehicle 1k, and the condition determination unit of the server 4 determines whether or not to output a cancel sound based on the received information. The communication unit of the server 4 transmits information indicating whether or not to output the cancel sound determined by the condition determination unit to the unmanned air vehicle 1k. The communication unit of the unmanned air vehicle 1k receives information indicating whether or not the cancel sound transmitted by the server 4 is output. The canceling sound control unit of the unmanned air vehicle 1k generates a canceling sound signal when receiving information indicating that the canceling sound is output by the communication unit. The sound output unit of the unmanned air vehicle 1k converts the cancellation sound signal generated by the cancellation sound control unit into a cancellation sound, and outputs the converted cancellation sound to the outside.

  The server 4 includes an information acquisition unit, a condition determination unit, a storage unit, a cancellation sound control unit, and a communication unit, and the noise canceller 12k of the unmanned air vehicle 1k includes a communication unit and a sound output unit. You may prepare.

  In this case, the information acquisition unit of the server 4 acquires information (for example, current time). The condition determination unit of the server 4 determines whether to output a cancel sound based on the acquired information. The cancellation sound control unit of the server 4 generates a cancellation sound signal when it is determined by the condition determination unit to output a cancellation sound. At this time, the communication unit of the server 4 receives information indicating the rotation speed of the propeller drive unit from the unmanned air vehicle 1k. The cancel sound control unit of the server 4 reads the cancel sound signal from the storage unit according to the received rotation speed of the propeller drive unit. And the communication part of the server 4 transmits the cancellation sound signal produced | generated by the cancellation sound control part to the unmanned air vehicle 1k. The communication unit of the unmanned air vehicle 1k receives the cancel sound signal transmitted by the server 4. The sound output unit of the unmanned air vehicle 1k converts the cancel sound signal received by the communication unit into a cancel sound, and outputs the converted cancel sound to the outside.

  In the first to sixth embodiments, the unmanned air vehicle includes a sound output unit. However, the present disclosure is not particularly limited thereto, and the unmanned air vehicle does not include the sound output unit, and is outside the unmanned air vehicle. A sound output device may be arranged. The sound output device is disposed on the ground, for example. The unmanned air vehicle transmits the generated cancellation sound signal to the sound output device. The sound output device receives the cancel sound signal transmitted by the unmanned air vehicle, converts the received cancel sound signal into a cancel sound, and outputs the converted cancel sound to the outside.

  The unmanned air vehicle and the flight sound canceling method according to the present disclosure can cancel the flying sound with a simple configuration, and are useful for an unmanned air vehicle and a flight sound canceling method for flying unattended.

1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h, 1i, 1j, 1k Unmanned aerial vehicle 2 Flight altitude detection device 3 Human detection device 4 Server 11 Propeller 12a, 12b, 12c, 12d, 12e, 12f, 12g , 12h, 12i, 12j, 12k Noise canceller 13 Flight unit 101, 110, 113, 116, 119, 122, 126, 129, 142, 151 Information acquisition unit 102, 111, 114, 117, 120, 123, 127, 143 152 Condition determination unit 103, 162 Storage unit 104, 107, 163 Cancel sound control unit 105, 164 Sound output unit 106, 124 Sound acquisition unit 109 Altitude sensor 112 Image acquisition unit 115 Object detection sensor 118 Person detection sensor 121 Illuminance sensor 125 Volume Sensor 128, 141, 153, 1 1 communication unit 131 operation information receiving unit 132 movement control unit 133 propeller drive unit

Claims (19)

A flying part for flying into the air,
An information acquisition unit for acquiring information;
A determination unit that determines whether or not to output a cancel sound for canceling the flight sound of the flight unit based on the information acquired by the information acquisition unit;
A generation unit that generates a cancellation sound signal indicating the cancellation sound when the determination unit determines to output the cancellation sound;
An unmanned air vehicle with Further comprising a sound output unit that converts the cancellation sound signal generated by the generation unit into the cancellation sound and outputs the converted cancellation sound to the outside.
The unmanned aerial vehicle according to claim 1. The flying unit includes a rotation driving unit that rotates a member that causes the unmanned airplane to fly,
A storage unit that stores the cancellation sound signal in advance in association with the rotation speed of the rotation drive unit;
The generation unit reads the cancellation sound signal from the storage unit according to the number of rotations of the rotation driving unit when the determination unit determines that the cancellation sound is output.
The unmanned aerial vehicle according to claim 1 or 2. A sound acquisition unit for acquiring the flight sound;
When the generation unit determines that the cancellation sound is output by the determination unit, the generation unit generates a signal having a phase opposite to the signal waveform of the flight sound acquired by the sound acquisition unit as the cancellation sound signal.
The unmanned aerial vehicle according to claim 1 or 2. An observation unit for observing the situation around the unmanned air vehicle;
The information acquisition unit acquires an output from the observation unit as the information.
The unmanned aerial vehicle according to any one of claims 1 to 4. The observation unit includes an altitude sensor that acquires a flight altitude value of the unmanned air vehicle,
The information acquisition unit acquires the flight altitude value from the altitude sensor as the information,
The determination unit determines to output the cancellation sound when the value of the flight altitude is equal to or less than a predetermined threshold;
The unmanned aerial vehicle according to claim 5. The observation unit includes an image acquisition unit that acquires an image around the unmanned air vehicle,
The information acquisition unit acquires the image as the information from the image acquisition unit,
The determination unit recognizes a person included in the acquired image, and determines that the cancel sound is output when the person is recognized in the image;
The unmanned aerial vehicle according to claim 5. The observation unit includes an image acquisition unit that acquires an image around the unmanned air vehicle,
The information acquisition unit acquires the image as the information from the image acquisition unit,
The determination unit recognizes a person included in the acquired image, and determines that the cancel sound is output when the person of a predetermined number or more is recognized in the image.
The unmanned aerial vehicle according to claim 5. The observation unit includes an image acquisition unit that acquires an image around the unmanned air vehicle,
The information acquisition unit acquires the image as the information from the image acquisition unit,
The determination unit recognizes a predetermined gesture by a person included in the acquired image, and determines that the cancel sound is output when the predetermined gesture by the person is recognized in the image. ,
The unmanned aerial vehicle according to claim 5. The observation unit includes an object detection sensor that detects whether an object exists within a predetermined range,
The information acquisition unit acquires information indicating whether or not the object exists within the predetermined range from the object detection sensor,
The determination unit determines to output the cancellation sound when the object exists within the predetermined range;
The unmanned aerial vehicle according to claim 5. The observation unit includes a person detection sensor that detects whether or not a person exists within a predetermined range,
The information acquisition unit acquires information indicating whether the person exists within the predetermined range from the person detection sensor,
The determination unit determines to output the cancellation sound when the person exists within the predetermined range;
The unmanned aerial vehicle according to claim 5. The observation unit includes an illuminance sensor that acquires a value of illuminance of light irradiated on the unmanned air vehicle,
The information acquisition unit acquires the value of the illuminance as the information from the illuminance sensor,
The determination unit determines that the cancellation sound is output when the illuminance value is greater than a predetermined threshold value, and determines that the cancellation sound is not output when the illuminance value is equal to or lower than the predetermined threshold value. To
The unmanned aerial vehicle according to claim 5. The observation unit includes a volume sensor that acquires a volume level value of the flight sound,
The information acquisition unit acquires the volume level value of the flight sound from the volume sensor as the information,
The determination unit determines to output the cancellation sound when the volume level value of the flight sound is equal to or higher than a predetermined level value;
The unmanned aerial vehicle according to claim 5. The information acquisition unit acquires the current time as the information,
The determination unit determines to output the cancellation sound when the current time is within a predetermined time zone.
The unmanned aerial vehicle according to any one of claims 1 to 4. It further includes a communication unit that communicates with an external device,
The information acquisition unit acquires the information from the external device via the communication unit;
The unmanned aerial vehicle according to any one of claims 1 to 4. The external device includes a flight altitude detecting device that detects the unmanned air vehicle and detects a value of the detected flight altitude of the unmanned air vehicle,
The information acquisition unit acquires the value of the flight altitude detected by the flight altitude detection device as the information,
The determination unit determines to output the cancellation sound when the value of the flight altitude is equal to or less than a predetermined threshold;
The unmanned aerial vehicle according to claim 15. The external device includes a person detection device that acquires a surrounding image and detects a person included in the acquired image.
The information acquisition unit acquires information indicating whether or not the person has been detected from the person detection device,
The determination unit determines to output the cancellation sound when the person is detected;
The unmanned aerial vehicle according to claim 15. A flight sound canceling method for an unmanned air vehicle equipped with a flying part for flying into the air,
Get information,
Based on the acquired information, it is determined whether to output a cancel sound for canceling the flight sound of the flight unit,
When it is determined that the cancel sound is output, a cancel sound signal indicating the cancel sound is generated.
Flight sound cancellation method. A flight sound canceling method in a server communicably connected to an unmanned air vehicle including a flying unit for flying into the air,
Get information,
Based on the acquired information, it is determined whether to output a cancel sound for canceling the flight sound of the flight unit,
Transmitting information indicating whether to output the cancellation sound to the unmanned air vehicle,
Flight sound cancellation method.

Images