JP6864485B6 - Unmanned aircraft, control methods and control programs - Google Patents

Description

The present disclosure relates to an unmanned air vehicle flying in the air, a control method and a control program for the unmanned air vehicle.

Measures against suspicious unmanned aerial vehicles (drones) are required to prevent crimes such as terrorism and accidents. For example, on December 10, 2015, the Tokyo Metropolitan Police Department introduced a manually operated capture unmanned aerial vehicle (interception drone) equipped with a net for capturing suspicious drones.

Further, Patent Document 1 discloses a transportation method by an unmanned flying object. Specifically, it transports goods, documents, and other items quickly and safely, and has autopilot means that enable automatic flight of unmanned aircraft, autonomous flight control means that stabilize automatic flight, and global positioning. A positioning means for acquiring the position information and altitude information of an unmanned aircraft by the system, a storage means for storing the position information of the destination, and an unmanned means obtained by the position information of the destination and the positioning means input to the storage means. An unmanned air vehicle having a flight control means for controlling the flight of the unmanned air vehicle based on the position information of the air vehicle and a cargo accommodating unit for accommodating the cargo is disclosed. This unmanned flying object accommodates the transported object in the transported object accommodating portion, and based on the position information of the destination input in advance in the storage means, the unmanned flying object is flown to carry the transported object.

Japanese Patent No. 4222510

However, the above-mentioned unmanned air vehicle transportation method targets ordinary objects such as articles and documents, and no consideration has been given to the case of capturing other objects in the air such as suspicious unmanned air vehicles. However, further improvement was needed for the control method of the unmanned air vehicle when other objects in the air such as a suspicious unmanned air vehicle were captured.

The present disclosure has been made to solve the above problems, and an unmanned air vehicle, a control method, and a control capable of appropriately flying even when another object in the air such as a suspicious unmanned air vehicle is captured. The purpose is to provide a program.

The unmanned air vehicle according to one aspect of the present disclosure is an unmanned air vehicle flying in the air, and detects that a capture unit for capturing another object in the air and the capture unit have captured the object. The detection unit and the autonomous flight control unit that controls the flight state of the unmanned aircraft so that when the detection unit detects the capture of the object, the flight state becomes an autonomous flight state that does not depend on the control signal from the outside. Be prepared.

According to the present disclosure, it is possible to realize an unmanned air vehicle capable of flying appropriately even when another object in the air such as a suspicious unmanned air vehicle is captured.

It is a block diagram which shows an example of the structure of the capture drone in Embodiment 1 of this disclosure. It is an external view of the capture drone shown in FIG. 1 as seen from the upper surface. It is an external view of the capture drone shown in FIG. 1 as seen from the front. It is a figure which shows an example of the appearance that the capture drone shown in FIG. 1 is capturing a suspicious drone. It is a block diagram which shows an example of the structure of the radio shown in FIG. FIG. 5 is an external view of the radio shown in FIG. 5 as viewed from the front. It is a figure for demonstrating an example of the determination method of the weight capture determination part with respect to the output value of the net weight sensor shown in FIG. It is a figure which shows an example of the display screen of the radio for notifying that the capture drone is switched to autonomous flight after the capture of a suspicious drone. It is a figure for demonstrating an example of the method of determining the moving destination and the flight route of a suspicious drone by using the safe place map of the safe place map storage part shown in FIG. It is a figure which shows an example of the display screen of the radio for notifying that the capture drone has been moved to a safe place after the capture of a suspicious drone. It is a flowchart which shows an example of the capture process of a suspicious drone by the capture drone shown in FIG. It is a block diagram which shows an example of the structure of the capture drone in the modification 1 of Embodiment 1 of this disclosure. It is an external view of the capture drone shown in FIG. 12 as seen from the upper surface. It is a figure for demonstrating an example of the determination method of the current capture determination part with respect to the output value of the current sensor shown in FIG. It is a block diagram which shows an example of the structure of the capture drone in the modification 2 of Embodiment 1 of this disclosure. It is an external view of the capture drone shown in FIG. 15 as seen from the upper surface. It is a figure for demonstrating an example of the determination method of the rotation speed capture determination part with respect to the output value of the rotation speed sensor shown in FIG. It is a block diagram which shows an example of the structure of the capture drone in Embodiment 2 of this disclosure. FIG. 8 is an external view of the capture drone shown in FIG. 18 as viewed from above. It is a figure for demonstrating an example of the determination method of the wind speed consideration weight capture determination part with respect to the output value of the net weight sensor shown in FIG. It is a figure which shows an example of the relationship between a relative wind speed and a capture determination threshold. It is a block diagram which shows an example of the structure of the capture drone in Embodiment 3 of this disclosure. It is a figure for demonstrating an example of the drop determination method of the weight drop determination part with respect to the output value of the net weight sensor shown in FIG. It is a figure which shows an example of the display screen of the radio for notifying that the fall of the suspicious drone was detected after the capture of the suspicious drone. It is a block diagram which shows an example of the structure of the capture drone in Embodiment 4 of this disclosure. It is a figure for demonstrating an example of the method of determining the moving destination and the flight route of a suspicious drone by using the safe place map of the safe place map storage part shown in FIG. It is a figure which shows an example of the relationship between the maximum distance to the arrival target point, the net weight increase value, and the remaining battery level.

(Knowledge on which this disclosure was based)
As mentioned above, in order to prevent crimes such as terrorism and accidents, as a countermeasure against suspicious unmanned aircraft, a manually operated capture unmanned aircraft equipped with a net for capturing suspicious unmanned aircraft has been introduced. However, after capturing a suspicious unmanned aircraft, there is a risk of explosion and chemical spraying, so the suspicious unmanned aircraft must be moved to a safe place such as a plaza or river as soon as possible. It doesn't become.

However, the operator of the capture unmanned aircraft does not know about a safe location near the location where the suspicious unmanned aircraft was captured. In addition, if the operator captures a suspicious unmanned aircraft with a capture unmanned aircraft, sudden weight changes may make it difficult for the operator to manually control the aircraft, and in the worst case, the capture unmanned aircraft. There is a possibility of causing a maneuvering accident such as a crash.

In order to solve the above problems, in the present disclosure, for example, until the capture of a suspicious unmanned aircraft, the operator manually controls the capture unmanned aircraft, and the capture unmanned aircraft captures the suspicious unmanned aircraft. When it detects, the flight state of the capture unmanned aircraft is immediately switched to autonomous flight. In this autonomous flight, the capture unmanned aircraft is held by the capture unmanned aircraft from the place where the suspicious unmanned aircraft was captured. It is controlled to move to the nearest safe place on the map.

In this case, the capture unmanned aircraft can move to the fastest and safest place by autonomous flight after capturing the suspicious unmanned aircraft. In addition, after capturing a suspicious unmanned aircraft, it is possible to avoid a manual maneuvering accident due to a sudden weight change of the capture unmanned aircraft.

Based on the above findings, the inventors of the present application have diligently studied how to control an unmanned air vehicle when other objects in the air such as a suspicious unmanned air vehicle are captured. It is completed.

The unmanned air vehicle according to one aspect of the present disclosure is an unmanned air vehicle flying in the air, and detects that a capture unit for capturing another object in the air and the capture unit have captured the object. The detection unit and the autonomous flight control unit that controls the flight state of the unmanned aircraft so that when the detection unit detects the capture of the object, the flight state becomes an autonomous flight state that does not depend on the control signal from the outside. Be prepared.

According to this configuration, when it is detected that another object in the air has been captured, the flight state of the unmanned aircraft is controlled so that it becomes an autonomous flight state that does not depend on the control signal from the outside. It is possible to realize an unmanned air vehicle that can fly appropriately even when other objects in the air such as a suspicious unmanned air vehicle are captured.

The unmanned aircraft includes a communication unit that receives a control signal from the outside, a manual flight control unit that controls the flight state of the unmanned aircraft based on the control signal, and the detection unit that detects the capture of the object. In this case, a control switching unit for switching from manual flight by the manual flight control unit to autonomous flight by the autonomous flight control unit may be further provided.

According to this configuration, since the flight state of the unmanned vehicle is controlled based on the control signal by receiving the control signal from the outside, other objects in the air such as a suspicious unmanned vehicle can be manually controlled. Can be captured. In addition, when the capture of an object is detected, the manual flight by manual control is switched to autonomous flight, so that the unmanned aircraft suddenly changes in weight after capturing other objects in the air such as a suspicious unmanned aircraft. It is possible to avoid accidents caused by manual operation.

The unmanned vehicle further includes a weight measuring unit that measures the weight of the capturing unit, and the detecting unit determines that the weight measured by the weight measuring unit is equal to or greater than a predetermined value. The capture of an object may be detected.

According to this configuration, the capture of an object is detected by measuring the weight of the capture unit and determining that the measured weight is equal to or more than a predetermined value. Therefore, the capture of an object such as a suspicious unmanned flying object is captured. Can be detected with high accuracy.

The unmanned vehicle further includes a drive unit for flying the unmanned vehicle and a current measurement unit for measuring the drive current of the drive unit, and the detection unit is the detection unit measured by the current measurement unit. The capture of the object may be detected by determining that the drive current is equal to or greater than a predetermined value.

According to this configuration, the capture of an object is detected by measuring the drive current of the drive unit for flying an unmanned vehicle and determining that the measured drive current is equal to or higher than a predetermined value. Capturing objects such as suspicious unmanned flying objects can be detected with high accuracy.

The unmanned vehicle further includes a drive unit for flying the unmanned vehicle and a rotation speed measurement unit for measuring the rotation speed of the drive unit, and the detection unit is measured by the rotation speed measurement unit. The capture of the object may be detected by determining that the rotation speed is equal to or higher than a predetermined value.

According to this configuration, the capture of an object is detected by measuring the rotation speed of the drive unit for flying an unmanned vehicle and determining that the measured rotation speed is equal to or higher than a predetermined value. Capturing objects such as suspicious unmanned flying objects can be detected with high accuracy.

The unmanned vehicle further includes a wind speed measuring unit that measures the wind speed relative to the unmanned vehicle, and the detecting unit changes the predetermined value according to the wind speed measured by the wind speed measuring unit. It may be.

According to this configuration, the wind speed relative to the unmanned flying object is measured, and the predetermined value used for detecting the capture of the object is changed according to the measured wind speed. Therefore, the wind speed is also taken into consideration and the suspicious unmanned person is used. Capturing objects such as flying objects can be detected with high accuracy.

The unmanned flight vehicle further includes a storage unit that stores safe area position information indicating the position of a safe area that is safe even if the object is landed or landed, and the autonomous flight control unit has the detection unit. The flight state of the unmanned vehicle may be controlled so as to autonomously fly from the point where the capture of the object is detected to the safe area indicated by the safe area position information stored in the storage unit.

According to this configuration, the safe area position information indicating the position of the safe area that is safe even if a suspicious object is landed or landed is stored, and the safety area position information indicates the safety from the point where the capture of the object is detected. Since the flight state of the unmanned vehicle is controlled so as to fly autonomously to the ground, it is possible to reliably move to a safe place by autonomous flight after capturing an object such as a suspicious unmanned vehicle.

The communication unit may notify the outside of the safe area position information indicating the position of the safe area on which the unmanned vehicle autonomously flies.

According to this configuration, it is possible to notify the outside, for example, the operator of the unmanned aircraft, that is, the operator, of the safety area position information indicating the position of the safe area to which the unmanned vehicle autonomously flies. It is possible to inform the operator and the like of the destination of the body movement.

The communication unit may notify the outside that the detection unit has detected the capture of the object.

According to this configuration, it is possible to notify the outside, for example, the operator of an unmanned aircraft, that is, the operator that the capture of an object has been detected, and the operator or the like has captured an object such as a suspicious unmanned aircraft. Can be informed.

After detecting the capture of the object, the detection unit may detect the fall of the object by determining that the weight measured by the weight measuring unit is less than a predetermined value.

According to this configuration, after the capture of the object is detected, the weight of the capture unit is measured, and it is determined that the measured weight is less than a predetermined value to detect the fall of the object, so that it is suspicious and unmanned. It is possible to detect the fall of an object such as a flying object with high accuracy.

The communication unit may notify the outside that the detection unit has detected the fall of the object.

According to this configuration, it is possible to notify the outside, for example, the controller of an unmanned aircraft, that is, the operator that the fall of an object has been detected, and the operator or the like that an object such as a suspicious unmanned aircraft has fallen. Can be informed.

The communication unit may notify the outside of the drop position information indicating the place where the detection unit detects the fall of the object.

According to this configuration, the fall position information indicating the place where the fall of the object is detected can be notified to the outside, for example, the operator of the unmanned flying object, that is, the operator, and the falling position of the object such as a suspicious unmanned flying body can be notified. Can be notified to the operator and the like.

The unmanned air vehicle provides map information in which the safe area position information indicating the position of the safe area, which is safe even if the object is landed or landed, and the safety degree information indicating the safety degree of the safe area are associated with each other. With reference to the map information storage unit to be stored and the map information storage unit, the larger the increase in the weight measured by the weight measurement unit, the higher the safety level in the range closer to the current location. May be further provided with a target point management unit for setting the target point for the autonomous flight.

According to this configuration, map information that associates the safety area position information indicating the position of the safe area that is safe even if a suspicious object is landed or landed with the safety degree information indicating the safety degree of the safe area is provided. With reference to the map information storage unit to be stored, the larger the amount of increase in the measured weight, the more suspicious it is because the safe area with the highest degree of safety in the range closer to the current location is set as the destination point for autonomous flight. Depending on the weight of an object such as an unmanned flying object, it can be reliably moved to a safe place by autonomous flight.

The unmanned vehicle is a battery that supplies power to the unmanned vehicle, a remaining amount measuring unit that measures the remaining amount of the battery, and a position of a safe place where it is safe to land or land the object. The map information storage unit that stores the map information in which the safety area position information indicating the safety area and the safety degree information indicating the safety degree of the safety area are associated with each other, and the map information storage unit are referred to by the remaining amount measuring unit. The smaller the measured remaining amount, the more the target point management unit may be provided with the safe area having the highest degree of safety in a range closer to the current location as the target point for reaching the autonomous flight.

According to this configuration, the remaining amount of the battery is measured, and the safety area position information indicating the position of the safe area where it is safe to land or land a suspicious object and the safety degree indicating the safety degree of the safe area are shown. Refer to the map information storage unit that stores map information associated with information, and the smaller the measured battery level, the safer the safest area in the range closer to the current location as the target point for autonomous flight. Since it is set, it can be reliably moved to a safe place by autonomous flight according to the remaining battery level.

Further, the present disclosure can be realized not only as an unmanned aircraft having the above-mentioned characteristic configurations, but also an unmanned aircraft that executes characteristic processing corresponding to the characteristic configurations of the unmanned aircraft. It can also be realized as a control method of. Further, it is also possible to realize a computer program for causing a computer having a processor, a memory, or the like to execute the characteristic processing included in the control method of such an unmanned aircraft. Therefore, the same effect as that of the above-mentioned unmanned air vehicle can be obtained in the following other aspects as well.

The control method according to another aspect of the present disclosure is a control method for an unmanned vehicle flying in the air, and detects that a capture unit for capturing another object in the air has captured the object. When the capture of the object is detected, the flight state of the unmanned vehicle is controlled so as to be in an autonomous flight state that does not depend on the control signal from the outside.

The control program according to another aspect of the present disclosure is a control program for operating a computer as a control device for an unmanned vehicle flying in the air, in order for the computer to capture other objects in the air. When the capture unit of the above detects that the object has been captured and detects the capture of the object, the flight state of the unmanned vehicle is controlled so as to be in an autonomous flight state that does not depend on a control signal from the outside. Let the process be executed.

Needless to say, the computer program as described above can be distributed via a computer-readable non-temporary recording medium such as a CD-ROM or a communication network such as the Internet.

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. Each of the embodiments described below is a specific example of the present disclosure. The shapes, components, steps, order of steps, etc. shown in the following embodiments are examples, and are not intended to limit the present disclosure.

Further, among the components in the following embodiments, the components not described in the independent claims indicating the highest level concept are described as arbitrary components. Moreover, in all the embodiments, each content can be combined. Further, as long as the gist of the present disclosure is not deviated, various modifications in which each embodiment of the present disclosure is modified within the range conceived by those skilled in the art are also included in the present disclosure.

(Embodiment 1)
A capture drone, which is an example of an unmanned aerial vehicle in the present embodiment, will be described. FIG. 1 is a block diagram showing an example of the configuration of the capture drone according to the first embodiment of the present disclosure. The capture drone 100 shown in FIG. 1 is remotely controlled using a radio (operator) 300. Further, the capture drone 100 is an unmanned aerial vehicle capable of autonomous flight, and can perform autonomous flight without receiving a remote instruction from the radio 300.

The capture drone 100 includes a control unit 101, a safe area map storage unit 102, a net weight sensor 103, a gyro sensor 104, a GPS (Global Positioning System) unit 105, a drive unit 106, and a communication unit 107. The control unit 101 is composed of a processor and the like, and includes a flight control unit 108, a weight capture determination unit 109, a control switching unit 110, and an autonomous flight control unit 111.

FIG. 2 is an external view of the capture drone 100 shown in FIG. 1 as viewed from above, and FIG. 3 is an external view of the capture drone shown in FIG. 1 as viewed from the front. As shown in FIGS. 2 and 3, in addition to the above configuration, the capture drone 100 further includes a main body portion A1, a support portion A2, and a capture net 112.

Each drive unit 106 is attached to the tip of a support portion A2 extending from the main body portion A1 in all directions to generate a propulsive force for the capture drone 100. A GPS unit 105 is attached to the upper side of the main body A1, and a net weight sensor 103 is attached to the lower side of the main body A1. A control unit 101, an anzenchitai map storage unit 102, a gyro sensor 104, and a communication unit 107 are provided inside the main body unit A1. The capture net 112 is composed of, for example, a net having a length of 3 meters and a width of 2 meters, and is attached to the lower side of the main body A1. In FIG. 2, the capture drone 100 has four drive units 106, but the drone 100 is not limited to this. For example, the number may be five or more.

FIG. 4 is a diagram showing an example of how the capture drone 100 shown in FIG. 1 is capturing a suspicious drone. As shown in FIG. 4, the capture drone 100 receives an operation from the radio 300 and moves itself to capture the suspicious drone 200 by the capture net 112. The suspicious drone 200 is entangled in the air and captured by the capture net 112.

The other objects in the air captured by the capture drone 100 by the capture net 112 are not only the suspicious drone 200, but also other objects as long as they are flying objects of a size that can be captured by the capture net 112. Good. Further, the capture unit that captures other objects in the air is not particularly limited to the above-mentioned capture net, and for example, a plurality of arms that grip other objects in the air and other objects in the air are adsorbed. Uses various capture parts such as a suction device, an adhesive member that attaches other objects in the air, a rope that entangles other objects in the air, and a spear like a harpoon cannon that is driven into other objects in the air. be able to.

Again, referring to FIG. 1, the control unit 101 controls the net weight sensor 103, the gyro sensor 104, the GPS unit 105, the drive unit 106, and the communication unit 107.

The communication unit 107 communicates with the radio 300 by using a communication technology such as a 2.4 GHz band ISM (Industry Science Medical) band, and transmits / receives information.

The gyro sensor 104 detects the angle and angular velocity of the capture drone 100, and outputs the angle information and the angular velocity information to the control unit 101. The GPS unit 105 detects the current position of the capture drone 100 and outputs the current position information indicating the detected current position to the control unit 101. The control unit 101 controls the drive unit 106 using the detected angle information, angular velocity information, current position information, and the like.

The drive unit 106 receives an instruction from the control unit 101 and controls the movement of the capture drone 100 itself. Specifically, the drive unit 106 includes a propeller (see FIG. 2), a motor for rotating the propeller (not shown), and the like. The control unit 101 controls the movement direction and flight state of the capture drone 100 by appropriately controlling the rotation speed of the propeller of the drive unit 106.

The flight control unit 108 is an example of a manual flight control unit that controls the flight state of the capture drone 100 based on a maneuvering signal, and controls the drive unit 106 in response to an operation signal from the radio 300 received by the communication unit 107. To do.

The net weight sensor 103 is a sensor that measures the weight of the capture net 112. When the suspicious drone 200 is captured by the capture net 112, the weight of the capture net 112 will include the weight of the suspicious drone 200, in which case the net weight sensor 103 will capture the suspicious drone 200 including the weight. The weight of the net 112 is measured.

The weight capture determination unit 109 determines whether or not the suspicious drone 200 has been captured based on the weight measured by the net weight sensor 103. The weight capture determination unit 109 includes a low-pass filter and filters an output value indicating the weight measured by the net weight sensor 103. When the weight capture determination unit 109 determines that the suspicious drone 200 has been captured, the weight capture determination unit 109 notifies the control switching unit 110 of the determination result.

When the control switching unit 110 receives the input of the determination result, it does not accept the operation from the radio 300 and switches the flight control from the manual flight by the flight control unit 108 to the autonomous flight by the autonomous flight control unit 111. That is, when the weight capture determination unit 109 detects the capture of the suspicious drone 200, the control switching unit 110 switches from the manual flight by the flight control unit 108 to the autonomous flight by the autonomous flight control unit 111.

When the control switching unit 110 switches to autonomous flight, the autonomous flight control unit 111 controls the drive unit 106 by autonomous flight, which will be described later. Further, the autonomous flight control unit 111 notifies the radio 300 that the suspicious drone 200 has been captured, the capture drone 100 has been switched to autonomous flight, and the like via the communication unit 107.

The safe area map storage unit 102 is composed of a memory or the like, and indicates the safe area position information indicating the position of the safe area where it is safe even if a suspicious object is landed or landed, and the safety degree indicating the safety degree of the safe area. A safe area map is stored in advance as map information associated with information (for example, information on safe areas, semi-safe areas, etc.).

The autonomous flight control unit 111 determines the nearest safe area from the safe area map storage unit 102 based on the current position information of the capture drone 100 from the GPS unit 105, and generates a flight route to the nearest safe area. The autonomous flight control unit 111 controls the drive unit 106 based on the generated flight route, moves from the position where the suspicious drone 200 was captured to the nearest safe place, and lands or lands the capture drone 100, or , Drop the suspicious drone 200 and land or land.

Next, the radio 300 for operating the capture drone 100 shown in FIG. 1 will be described. FIG. 5 is a block diagram showing an example of the configuration of the radio 300 shown in FIG. 1, and FIG. 6 is an external view of the radio 300 shown in FIG. 5 as viewed from the front. As shown in FIGS. 5 and 6, the radio 300 includes a control unit 301, a display unit 302, an input unit 303, and a communication unit 304.

The control unit 301 controls the display unit 302, the input unit 303, and the communication unit 304.

The display unit 302 displays various operation screens, notification screens, and the like. For example, the display unit 302 has a notification screen for notifying that the capture drone 100 has captured the suspicious drone 200, and a notification screen for notifying that the capture drone 100 has started autonomous flight and does not accept instructions from the radio 300. Etc. are displayed and used to notify the operator.

The input unit 303 receives an input instruction from the operator of the capture drone 100. For example, the input unit 303 is composed of the two sticks shown in FIG. 6, and each stick is movable up, down, left and right.

The communication unit 304 communicates with the capture drone 100 by using a communication technology such as a 2.4 GHz band ISM band, transmits instruction information such as an operator's operation instruction from the input unit 303, and also for capture. Receive various notification information from the drone 100.

Next, the weight capture determination unit 109 will be described in detail. FIG. 7 is a diagram for explaining an example of a determination method of the weight capture determination unit 109 with respect to the output value of the net weight sensor 103 shown in FIG. In FIG. 7, the horizontal axis represents time, and the vertical axis represents the output value of the net weight sensor 103.

When the operator of the capture drone 100 discovers the suspicious drone 200, he operates the radio 300 to raise and capture the capture drone 100. At this time, as shown in FIG. 7, the ascent of the capture drone 100 is completed from the start of ascent (time 0) of the capture drone 100 to the ascent completion time T1, and then the capture drone 100 uses the suspicious drone 200. When captured, the output value WO of the net weight sensor 103 increases at the capture detection time T2.

Here, noise and the like are superimposed on the output value WO of the net weight sensor 103, and the fluctuation range is large, but the output value WL after the low-pass filter of the weight capture determination unit 109 is smooth because noise and the like are removed. It accurately represents the total weight of the capture net 112.

The weight capture determination unit 109 presets a predetermined capture detection threshold value Tw (for example, an output value indicating the weight obtained by adding the weight of the capture net 112 and the weight of the suspicious drone 200) with respect to the weight. The weight capture determination unit 109 determines that the ascent is completed at the ascent completion time T1, and then determines that the output value WL after the low-pass filter is equal to or more than the capture detection threshold Tw at the capture detection time T2, thereby causing the suspicious drone. It is determined that 200 has been captured.

In the above determination, when the output value WL after the low-pass filter of the weight capture determination unit 109 is equal to or greater than the capture detection threshold Tw, the capture of the suspicious drone 200 is detected, but the present invention is not particularly limited to this example. , The amount of increase in weight measured by the net weight sensor 103, that is, the amount of increase in the output value after the low-pass filter of the weight capture determination unit 109 (for example, from the average output value from the ascent completion time T1 to the capture detection time T2). By determining that the amount of increase) is equal to or greater than a predetermined value, various changes such as detecting the capture of the suspicious drone 200 can be made.

Next, the autonomous flight control unit 111 will be described in detail. The autonomous flight control unit 111 notifies the radio 300 that the suspicious drone 200 has been captured and that the capture drone 100 is switched to autonomous flight via the communication unit 107. When the radio 300 receives the notification of the capture drone 100 via the communication unit 304, the control unit 301 displays a message indicating that the suspicious drone 200 has been captured and that the capture drone 100 is switched to autonomous flight. The display unit 302 is controlled so as to do so.

FIG. 8 is a diagram showing an example of a display screen of the radio 300 for notifying that the capture drone 100 is switched to autonomous flight after the capture of the suspicious drone 200. As shown in FIG. 8, the message "Capture of an object has been detected. A safe place" indicating that the suspicious drone 200 has been captured and that the capture drone 100 has been switched to autonomous flight is displayed on the display unit 302 of the radio 300. Will fly autonomously. "Is displayed. By displaying such a display screen on the display unit 302, the operator can know that the suspicious drone 200 has been captured and the capture drone 100 has been switched to autonomous flight.

Further, the autonomous flight control unit 111 of the capture drone 100 determines the nearest safe area from the current position with reference to the safe area map storage unit 102, and generates a flight route to the nearest safe area. At this time, the autonomous flight control unit 111 notifies the destination of the suspicious drone 200 via the communication unit 107.

When the radio 300 receives the notification of the capture drone 100 via the communication unit 304, the control unit 301 controls the display unit 302 so as to display the destination of the capture drone 100. In this case, as shown in FIG. 8, the message “Target landing position is x, y” indicating the destination of the suspicious drone 200 is displayed on the display unit 302 of the radio 300. By displaying such a display screen on the display unit 302, the operator can know the destination of the suspicious drone 200 and the flight route until the movement, and can evacuate from the flight route.

Information on the destination of the suspicious drone 200 is not limited to the radio 300, and may be notified to other devices used by other workers who capture the suspicious drone 200 together with the operator. Further, the message displayed on the display unit 302 is not particularly limited to the above example, and for example, the destination of the suspicious drone 200 may be shown on a map, and the flight route including the destination of the suspicious drone 200 may also be displayed. You may try to do it.

FIG. 9 is a diagram for explaining an example of a method of determining a destination and a flight route of a suspicious drone by using the safety area map of the safety area map storage unit 102 shown in FIG. As shown in FIG. 9, the safe area map storage unit 102 stores, for example, information on a safe area map SM in which the hatched portion indicates a safe area SA such as a river, a coast, a forest, a river, a lake, or an ocean. In the example shown in FIG. 9, the flight route FR connecting the current position CP of the capture drone 100 and the destination DP is shown on the safe area map SM.

The autonomous flight control unit 111 detects the position information indicating the current position CP of the capture drone 100 from the GPS unit 105. The autonomous flight control unit 111 determines the safe area SA closest to the safe area map SM as the destination DP from the position information indicating the current position CP, and generates a route connecting the current position CP and the destination DP as the flight route FR. To do. In this way, the destination DP is set to the safest area closest to the current position CP.

The autonomous flight control unit 111 controls the drive unit 106 based on the generated flight route FR, moves the suspicious drone 200 from the captured position (for example, the current position CP) to the nearest safe place, and captures the drone 100. Land or land, or drop a suspicious drone 200.

Further, the autonomous flight control unit 111 notifies via the communication unit 107 that the capture drone 100 has moved the suspicious drone 200 to the destination DP. When the radio 300 receives the notification of the capture drone 100 via the communication unit 304, the control unit 301 displays a message indicating that the capture drone 100 has completed the movement of the suspicious drone 200 to the destination DP. Controls the display unit 302.

FIG. 10 is a diagram showing an example of a display screen of a radio for notifying that the capture drone 100 has completed moving to a safe area after the capture of the suspicious drone 200. As shown in FIG. 10, a message indicating that the capture drone 100 has completed moving the suspicious drone 200 to the destination DP on the display unit 302 of the radio 300 "The captured object has landed in a safe place. The position is x, y. "Is displayed. By displaying such a display screen on the display unit 302, the operator can know that the capture drone 100 has moved the suspicious drone 200 to the destination DP.

The capture drone 100 has been described as having a safe area map, but the present invention is not limited to this. The capture drone 100 may acquire a safe area map from the outside, if necessary. For example, various changes can be made such that the safe area map storage unit 102 is omitted and the safe area map is acquired from an external server or the like that stores the safe area map via the communication unit 107.

Further, the capture drone 100 has been described as determining the destination of the suspicious drone 200, but the present invention is not limited to this. For example, when the capture drone 100 captures the suspicious drone 200, the position information of the capture drone 100 is notified to an external device such as a server, and the destination of the suspicious drone 200 is determined and determined by the external device. You may try to acquire the moved destination.

Further, when the autonomous flight control unit 111 cannot determine the safe area closest to the current position by referring to the safe area map storage unit 102, the autonomous flight control unit 111 uses the communication unit 107 to determine the safety closest to the current position. Notifying the radio 300 that the ground cannot be determined, the control switching unit 110 switches the flight control from the autonomous flight by the autonomous flight control unit 111 to the manual flight by the flight control unit 108, and the subsequent flight is manually controlled by the operator. May be done. The same applies to other embodiments in this regard.

Next, the capture process of the suspicious drone 200 by the capture drone 100 will be described. FIG. 11 is a flowchart showing an example of capture processing of the suspicious drone 200 by the capture drone 100 shown in FIG.

First, the communication unit 107 of the capture drone 100 receives an operation instruction (capture instruction of the suspicious drone 200) from the radio 300 (step S11).

Next, the flight control unit 108 controls the drive unit 106 in response to an operation instruction from the radio 300 to capture the suspicious drone 200 (step S12).

Next, the weight capture determination unit 109 determines whether or not the suspicious drone 200 has been captured based on the weight of the capture net 112 measured by the net weight sensor 103 (step S13). When the weight capture determination unit 109 determines that the suspicious drone 200 has not been captured (in the case of NG in step S13), the weight capture determination unit 109 returns to step S11 and continues the subsequent processing.

On the other hand, when it is determined that the suspicious drone 200 has been captured (when OK in step S13), the weight capture determination unit 109 notifies the control switching unit 110 of the determination result, and the control switching unit 110 inputs the determination result. The reception and flight control are switched from manual flight by the flight control unit 108 to autonomous flight by the autonomous flight control unit 111 (step S14). At this time, the autonomous flight control unit 111 notifies the radio 300 that the capture drone 100 will switch to autonomous flight via the communication unit 107.

Next, the autonomous flight control unit 111 determines the nearest safe area based on the position information from the GPS unit 105 with reference to the safe area map storage unit 102, and generates a flight route to the nearest safe area. (Step S15).

Next, the autonomous flight control unit 111 controls the drive unit 106 based on the generated flight route, moves to the nearest safe place from the position where the suspicious drone 200 was captured, and lands or lands the capture drone 100. Or drop the suspicious drone 200 (step S16).

As described above, the capture drone 100 according to the present embodiment is driven based on the communication unit 107 that receives the operation instruction of the capture drone 100, the drive unit 106 for flying the capture drone 100, and the operation instruction. The control unit 101 includes a control unit 101 that controls the unit 106, a capture net 112 for capturing an object in the air, and a net weight sensor 103 that detects the weight of the capture net 112, and the weight of the control unit 101 increases. If it exceeds the specified value, switch to autonomous flight. As a result, the capture drone 100 can avoid a manual maneuvering accident due to a sudden weight change after capturing the suspicious drone 200, which is an object in the air.

Further, the capture drone 100 in the present embodiment further has a GPS unit 105 that detects the position information of the capture drone and a safety area map storage unit that stores a safety area map for moving the suspicious drone 200. In autonomous flight, the control unit 101 determines a moving destination that is the closest safe area from the position information of the safe area map, and moves the capture drone 100 toward the moving destination. As a result, the capture drone 100 can move to the fastest and safest place by autonomous flight after capturing the suspicious drone 200.

In the present embodiment, after it is determined that the capture drone 100 has captured the suspicious drone 200, the capture drone 100 is controlled to switch to autonomous flight, but the present invention is not limited to this. For example, the capture drone 100 is notified by notifying the radio 300 that the capture drone 100 has captured the suspicious drone 200, and the operator switches the capture drone 100 from the radio 300 to autonomous flight. You may switch to autonomous flight.

Further, it may be determined whether or not the capture drone 100 has captured the suspicious drone 200 by using a means other than the net weight sensor 103. For example, as described below, a current sensor, a rotation speed sensor, or the like may be used instead of the net weight sensor 103.

(Modification example 1)
As a modification 1 of the present embodiment, an example in which a current sensor is used instead of the net weight sensor will be described. FIG. 12 is a block diagram showing an example of the configuration of the capture drone according to the first modification of the first embodiment of the present disclosure, and FIG. 13 is an external view of the capture drone shown in FIG. 12 as viewed from above. .. In FIG. 12, the four current sensors 113 shown in FIG. 13 are shown as one current sensor 113 in order to facilitate the illustration.

The capture drone 100a shown in FIGS. 12 and 13 differs from the capture drone 100 shown in FIGS. 1 and 2 in that the current sensor 113 is provided instead of the net weight sensor 103, and the control unit 101 is changed to the control unit 101a. The weight capture determination unit 109 of the control unit 101 has been changed to the current capture determination unit 114 of the control unit 101a, and the other points are the same. The explanation is omitted.

The control unit 101a controls the current sensor 113, the gyro sensor 104, the GPS unit 105, the drive unit 106, and the communication unit 107.

The four current sensors 113 are sensors that measure the drive currents flowing through the four motors (not shown) included in the drive unit 106 of the capture drone 100a. When the suspicious drone 200 is captured by the capture net 112, the current flowing through the drive unit 106 of the capture drone 100a increases, and the current sensor 113 measures the increased drive current. The current capture determination unit 114 makes a determination to be described later using the average value of the drive currents of the four motors measured by the four current sensors 113, but the configuration of the current sensor is not particularly limited to this example. Various changes are possible, such as measuring the total value of the drive currents of the four motors and measuring the drive currents of one motor as a representative value.

The current capture determination unit 114 determines whether or not the suspicious drone 200 has been captured based on the average value of the current values measured by the four current sensors 113. The current capture determination unit 114 includes a low-pass filter and filters the current value measured by the current sensor 113. When the current capture determination unit 114 determines that the suspicious drone 200 has been captured, the current capture determination unit 114 notifies the control switching unit 110 of the determination result.

Next, the current capture determination unit 114 will be described in detail. FIG. 14 is a diagram for explaining an example of a determination method of the current capture determination unit 114 with respect to the output value of the current sensor 113 shown in FIG. In FIG. 14, the horizontal axis represents time, and the vertical axis represents the average value of the output values of the four current sensors 113.

When the operator of the capture drone 100a discovers the suspicious drone 200, he operates the radio 300 to raise and capture the capture drone 100a. At this time, as shown in FIG. 14, the ascent of the capture drone 100a is completed from the start of ascent (time 0) of the capture drone 100a to the ascent completion time T1, and then the capture drone 100a uses the suspicious drone 200. When captured, the output value CO of the current sensor 113 increases at the capture detection time T2.

Here, noise or the like is superimposed on the average value CO of the output values of the four current sensors 113, and the fluctuation range is large, but the output value CL after the low-pass filter of the current capture determination unit 114 has noise or the like. It is removed and changes smoothly, and accurately represents the average value of the drive current of the drive unit 106.

The current capture determination unit 114 presets a predetermined capture detection threshold value Tc (for example, an output value indicating an average value of the drive current for flying the capture drone 100a after capturing the suspicious drone 200) with respect to the drive current. There is. Since a large current flows through the drive unit 106 at the start of flight, the current capture determination unit 114 has a capture detection time after a predetermined time has elapsed after the start of flight, for example, after the ascent completion time T1 when it is determined that the ascent has been completed. By determining at T2 that the output value CL after the low-pass filter is equal to or greater than the capture detection threshold Tc, it is determined that the suspicious drone 200 has been captured.

In the above determination, the capture of the suspicious drone 200 is detected when the output value CL of the current capture determination unit 114 after the low-pass filter is equal to or higher than the capture detection threshold Tc, but the present invention is not particularly limited to this example. , The amount of increase in the drive current measured by the current sensor 113, that is, the amount of increase in the output value of the current capture determination unit 114 after the low-pass filter (for example, from the average output value from the ascent completion time T1 to the capture detection time T2). By determining that the amount of increase) is equal to or greater than a predetermined value, various changes such as detecting the capture of the suspicious drone 200 can be made.

(Modification 2)
As a modification 2 of the present embodiment, an example in which a rotation speed sensor is used instead of the net weight sensor will be described. FIG. 15 is a block diagram showing an example of the configuration of the capture drone according to the second modification of the first embodiment of the present disclosure, and FIG. 16 is an external view of the capture drone shown in FIG. 15 as viewed from above. .. In FIG. 15, the four rotation speed sensors 115 shown in FIG. 16 are shown as one rotation speed sensor 115 in order to facilitate the illustration.

The capture drone 100b shown in FIGS. 15 and 16 differs from the capture drone 100 shown in FIGS. 1 and 2 in that the rotation speed sensor 115 is provided instead of the net weight sensor 103, and the control unit 101 is attached to the control unit 101b. The point is that the weight capture determination unit 109 of the control unit 101 is changed to the rotation speed capture determination unit 116 of the control unit 101b, and the other points are the same. Therefore, the same parts are designated by the same reference numerals. A detailed description will be omitted.

The control unit 101b controls the rotation speed sensor 115, the gyro sensor 104, the GPS unit 105, the drive unit 106, and the communication unit 107.

The four rotation speed sensors 115 are sensors that are connected to four motors (not shown) included in the drive unit 106 of the capture drone 100b and measure the rotation speed of each motor. When the suspicious drone 200 is captured by the capture net 112, the rotation speed of the motor of the drive unit 106 of the capture drone 100b increases, and the rotation speed sensor 115 measures the increased rotation speed. The rotation speed capture determination unit 116 makes a determination described later using the average value of the rotation speeds of the four motors measured by the four rotation speed sensors 115, and the configuration of the rotation speed sensor is particularly applicable to this example. It is not limited, and various changes such as making a determination using the rotation speed of one motor measured by one rotation speed sensor 115 as a representative value are possible.

The rotation speed capture determination unit 116 determines whether or not the suspicious drone 200 has been captured based on the average value of the rotation speeds measured by the four rotation speed sensors 115. The rotation speed capture determination unit 116 includes a low-pass filter and filters the rotation speed measured by the rotation speed sensor 115. When the rotation speed capture determination unit 116 determines that the suspicious drone 200 has been captured, the rotation speed capture determination unit 116 notifies the control switching unit 110 of the determination result.

Next, the rotation speed capture determination unit 116 will be described in detail. FIG. 17 is a diagram for explaining an example of a determination method of the rotation speed capture determination unit 116 with respect to the output value of the rotation speed sensor 115 shown in FIG. In FIG. 17, the horizontal axis represents time, and the vertical axis represents the average value of the output values of the four rotation speed sensors 115.

When the operator of the capture drone 100b discovers the suspicious drone 200, he operates the radio 300 to raise and capture the capture drone 100b. At this time, as shown in FIG. 17, the ascent of the capture drone 100b is completed from the start of ascent (time 0) of the capture drone 100b to the ascent completion time T1, and then the capture drone 100b uses the suspicious drone 200. When captured, the average value RO of the output values of the four rotation speed sensors 115 increases at the capture detection time T2.

Here, noise and the like are superimposed on the average value RO of the output values of the four rotation speed sensors 115, and the fluctuation range is large, but the output value RL after the low-pass filter of the rotation speed capture determination unit 116 is noise. Etc. are removed and the noise changes smoothly, and the average value of the rotation speed of the motor of the drive unit 106 is accurately represented.

The rotation speed capture determination unit 116 presets a predetermined capture detection threshold Tr (for example, an output value indicating an average value of the rotation speeds for flying the capture drone 100b after capturing the suspicious drone 200) with respect to the rotation speed. ing. Since the rotation speed of the motor increases at the start of flight, the rotation speed capture determination unit 116 detects the capture after a predetermined time has elapsed after the start of flight, for example, after the ascent completion time T1 when it is determined that the ascent is completed. By determining at T2 that the output value RL after the low-pass filter is equal to or greater than the capture detection threshold Tr, it is determined that the suspicious drone 200 has been captured.

In the above determination, the capture of the suspicious drone 200 is detected when the output value RL after the low-pass filter of the rotation speed capture determination unit 116 is equal to or higher than the capture detection threshold Tr, but the capture is particularly limited to this example. Instead, the amount of increase in rotation speed measured by the rotation speed sensor 115, that is, the amount of increase in the output value after the low-pass filter of the rotation speed capture determination unit 116 (for example, the average output from the ascent completion time T1 to the capture detection time T2). By determining that the amount of increase from the value) is equal to or greater than a predetermined value, various changes such as detecting the capture of the suspicious drone 200 can be made.

(Embodiment 2)
The capture drone 100 of the above embodiment 1 determines whether or not the suspicious drone 200 has been captured based on the weight detected by the net weight sensor 103. However, in the present embodiment, the net weight sensor 103 is used. It is determined whether or not the capture drone has captured a suspicious drone by considering the weight detected by using and the wind speed measured by using an anemometer. In this embodiment as well, as in the first embodiment, a current sensor or a rotation speed sensor may be used instead of the net weight sensor.

FIG. 18 is a block diagram showing an example of the configuration of the capture drone according to the second embodiment of the present disclosure, and FIG. 19 is an external view of the capture drone shown in FIG. 18 as viewed from above.

The capture drone 100c shown in FIGS. 18 and 19 differs from the capture drone 100 shown in FIGS. 1 and 2 in that an anemometer 121 is added, the control unit 101 is changed to the control unit 101c, and the control unit 101 The weight capture determination unit 109 has been changed to the wind speed-considered weight capture determination unit 122 of the control unit 101c, and the other points are the same. Therefore, the same parts are designated by the same reference numerals and detailed description thereof will be omitted. ..

The control unit 101c controls the anemometer 121, the net weight sensor 103, the gyro sensor 104, the GPS unit 105, the drive unit 106, and the communication unit 107.

The anemometer 121 is fixed to the main body A1 and measures the wind speed in the vicinity of the capture drone 100c relative to the capture drone 100c. For example, when the capture drone 100c is moving at speed A and the wind speed of the head wind is wind speed B, the relative wind speed with respect to the capture drone 100c is the wind speed (A + B), and the wind speed of the tail wind is wind speed C. The wind speed relative to the capture drone 100c is the wind speed (AC).

The wind speed-considered weight capture determination unit 122 determines whether or not the suspicious drone 200 has been captured based on the weight measured by the net weight sensor 103 and the wind speed measured by the anemometer 121. The wind speed-considered weight capture determination unit 122 includes a low-pass filter and filters the weight measured by the net weight sensor 103. When it is determined that the suspicious drone 200 has been captured, the wind speed-considered weight capture determination unit 122 notifies the control switching unit 110 of the determination result.

Next, the wind speed-considered weight capture determination unit 122 will be described in detail. FIG. 20 is a diagram illustrating an example of a determination method of the wind speed-considered weight capture determination unit 122 with respect to the output value of the net weight sensor 103 shown in FIG. In FIG. 20, the horizontal axis represents time and the vertical axis represents the output value of the net weight sensor 103.

When the operator of the capture drone 100c discovers the suspicious drone 200, he operates the radio 300 to raise and capture the capture drone 100c. At this time, as shown in FIG. 20, the ascent of the capture drone 100c is completed from the start of ascent (time 0) of the capture drone 100c to the ascent completion time T1, and then the capture drone 100c uses the suspicious drone 200. When captured, at the capture detection time T2, the output value WO1 of the net weight sensor 103 when the wind speed is low and the output value WO2 of the net weight sensor 103 when the wind speed is high increase.

Here, noise and the like are superimposed on the output value WO1 of the net weight sensor 103 when the wind speed is low and the output value WO2 of the net weight sensor 103 when the wind speed is high, and the fluctuation range is large, but the wind speed is small. The output value WL1 after the low-pass filter of the weight capture determination unit 122 considering the wind speed in the case and the output value WL2 after the low-pass filter of the weight capture determination unit 122 considering the wind speed when the wind speed is large change smoothly after noise and the like are removed. It accurately represents the total weight of the capture net 112.

The wind speed-considered weight capture determination unit 122 sets in advance a predetermined capture detection threshold value Tw1 for the weight when the wind speed relative to the capture drone 100c is small and a predetermined capture detection threshold value Tw2 (Tw1 <Tw2) for the weight when the wind speed is large. It is set.

When the relative wind speed is small, the wind speed-considered weight capture determination unit 122 determines that the ascent is completed at the ascent completion time T1, and then the output value WL1 after the low-pass filter is at the capture detection threshold Tw1 or more at the capture detection time T2. By determining that there is, it is determined that the suspicious drone 200 has been captured. Further, when the relative wind speed is large, the wind speed-considered weight capture determination unit 122 determines that the ascent is completed at the ascent completion time T1, and then the output value WL2 after the low-pass filter is the capture detection threshold Tw2 at the capture detection time T2. By determining that the above, it is determined that the suspicious drone 200 has been captured.

The capture detection threshold value used by the wind speed-considered weight capture determination unit 122 does not have to be two values, that is, when the relative wind speed is small and when the relative wind speed is large, and the capture detection threshold value is set according to the wind speed. You may decide. FIG. 21 is a diagram showing an example of the relationship between the relative wind speed and the capture determination threshold value. In FIG. 21, the horizontal axis represents the wind speed and the vertical axis represents the capture detection threshold.

As shown in FIG. 21, the capture detection threshold increases in proportion to the relative wind speed. The wind speed-considered weight capture determination unit 122 stores in advance a linear function showing the relationship between the relative wind speed and the capture determination threshold value shown in FIG. 21, and increases the capture detection threshold value as the relative wind speed increases. The capture detection threshold value is determined, and the capture of the suspicious drone 200 is determined using the determined capture detection threshold value. In this case, the capture of the suspicious drone 200 can be determined more accurately in consideration of the relative wind speed. The relationship between the relative wind speed and the capture determination threshold is not particularly limited to the above example, and other relationships such as a quadratic function and an exponential function may be used.

As described above, the capture drone 100c in the present embodiment is driven based on the communication unit 107 that receives the operation instruction of the capture drone 100c, the drive unit 106 for flying the capture drone 100c, and the operation instruction. A control unit 101c that controls unit 106, a capture net 112 for capturing an object in the air, a net weight sensor 103 that detects the weight of the capture net 112, and an anemometer that measures the wind speed near the capture drone. The control unit 101c sets a predetermined value (capture determination threshold value) that increases as the wind speed increases, and switches to autonomous flight when the weight increase is equal to or greater than the predetermined value. As a result, the capture drone 100c can avoid a manual maneuvering accident due to a sudden weight change after capturing the suspicious drone 200, which is an object in the air.

Further, the capture drone 100c in the present embodiment further stores a GPS unit 105 that detects the position information of the capture drone 100c and a safety zone map for moving the suspicious drone 200. In autonomous flight, the control unit 101c includes the unit 102, determines the closest safe area to the destination from the position information on the safe area map, and moves the capture drone 100c toward the destination. As a result, the capture drone 100c can move to the fastest and safest place by autonomous flight after capturing the suspicious drone 200.

(Embodiment 3)
In the present embodiment, similarly to the capture drone 100 of the first embodiment, after capturing the suspicious drone 200, the suspicious drone 200 is suspicious based on the weight detected by the net weight sensor 103 while moving to the destination by autonomous flight. Determine if the drone 200 has fallen. In this embodiment as well, as in the first embodiment, a current sensor or a rotation speed sensor may be used instead of the net weight sensor.

FIG. 22 is a block diagram showing an example of the configuration of the capture drone according to the third embodiment of the present disclosure. The capture drone 100d shown in FIG. 22 differs from the capture drone 100 shown in FIG. 1 in that the control unit 101 has been changed to the control unit 101d and the weight drop determination unit 131 has been added to the control unit 101d. Since the other points are the same, the same parts are designated by the same reference numerals, and detailed description thereof will be omitted.

The control unit 101d controls the net weight sensor 103, the gyro sensor 104, the GPS unit 105, the drive unit 106, and the communication unit 107.

The weight drop determination unit 131 determines whether or not the suspicious drone 200 has been dropped while moving to the destination, based on the weight measured by the net weight sensor 103. The weight drop determination unit 131 includes a low-pass filter and filters the weight measured by the net weight sensor 103. Further, when the weight drop determination unit 131 determines that the suspicious drone 200 has fallen, the GPS unit 105 indicates the current position of the capture drone 100 as the drop position information indicating the location where the suspicious drone 200 has been detected. Get location information.

Next, the weight drop determination unit 131 will be described in detail. FIG. 23 is a diagram for explaining an example of a drop determination method of the weight drop determination unit 131 with respect to the output value of the net weight sensor shown in FIG. In FIG. 23, the horizontal axis represents time and the vertical axis represents the output value of the net weight sensor 103.

The capture drone 100d moves to a safe place by autonomous flight after capturing the suspicious drone 200, but the suspicious drone 200 may fall during the movement. At this time, as shown in FIG. 23, if the suspicious drone 200 falls after the capture detection time T2 when the suspicious drone 200 is captured, the output value WO of the net weight sensor 103 decreases at the fall detection time T3.

Here, noise and the like are superimposed on the output value WO of the net weight sensor 103, and the fluctuation range is large, but the output value WF after the low-pass filter of the weight drop determination unit 131 is smooth because noise and the like are removed. It accurately represents the total weight of the capture net 112.

Similar to the weight capture determination unit 109, the weight drop determination unit 131 sets a predetermined capture detection threshold value Tw for the weight in advance. The weight drop determination unit 131 determines that the suspicious drone 200 has fallen by determining that the output value WF after the low-pass filter is below the capture detection threshold value Tw after the capture detection time T2.

In the above determination, when the output value WF of the weight drop determination unit 131 after the low-pass filter is less than the capture detection threshold Tw, the suspicious drone 200 is detected to fall, but the present invention is not particularly limited to this example. , The amount of decrease in weight measured by the net weight sensor 103, that is, the amount of decrease in the output value of the weight drop determination unit 131 after the low-pass filter (for example, the amount of decrease from the average output value after the capture detection time T2) is predetermined. By determining that the value is equal to or higher than the value, various changes such as detecting the fall of the suspicious drone 200 can be made.

Further, the weight drop determination unit 131 makes a determination using the capture detection threshold value Tw as in the weight capture determination unit 109, but the determination is not particularly limited to this example, and a drop detection threshold value different from the capture detection threshold value Tw is set. Various changes such as use are possible.

Further, when the weight drop determination unit 131 determines that the suspicious drone 200 has fallen, the weight drop determination unit 131 notifies the control switching unit 110 of the determination result, and the control switching unit 110 controls the flight from the autonomous flight by the autonomous flight control unit 111. The flight control unit 108 may switch to manual flight, and after the fall, the operator may manually operate the capture drone 100d.

Further, the weight drop determination unit 131 determines the location where the capture drone 100d has fallen on the radio 300 while the suspicious drone 200 is moving to the destination and the place where the suspicious drone 200 has been dropped is detected via the communication unit 107. Notify the fall position information to be shown. When the radio 300 receives the notification of the capture drone 100d via the communication unit 304, the control unit 301 detects that the suspicious drone 200 has fallen while moving to the destination and that the suspicious drone 200 has fallen. The display unit 302 is controlled so as to display a message indicating the drop position information indicating the location.

FIG. 24 is a diagram showing an example of a display screen of the radio 300 for notifying that the fall of the suspicious drone 200 has been detected after the capture of the suspicious drone 200. As shown in FIG. 24, the drop position information indicating that the capture drone 100d has fallen while the suspicious drone 200 is moving to the destination and the place where the fall of the suspicious drone 200 is detected is shown on the display unit 302 of the radio 300. The message "The fall of the captured object has been detected. The fall positions are a and b." Is displayed. By displaying such a display screen on the display unit 302, the operator can know that the suspicious drone 200 has fallen during movement and the position where the suspicious drone 200 has fallen.

As described above, the capture drone 100d in the present embodiment is driven based on the communication unit 107 that receives the operation instruction of the capture drone 100d, the drive unit 106 for flying the capture drone 100d, and the operation instruction. A control unit 101d that controls unit 106, a capture net 112 for capturing an object in the air, a net weight sensor 103 that detects the weight of the capture net 112, and a GPS that detects the position information of the capture drone 100d. The control unit 101d includes a unit 105 and a safety area map storage unit 102 that stores a safety area map for moving the suspicious drone 200, and the control unit 101d switches to autonomous flight when the weight increase is equal to or more than a predetermined value. , The nearest safe place is determined from the position information of the safe place map, the capture drone 100d is moved toward the move destination, and when the weight loss is larger than the predetermined value, the suspicious drone 200 Judge that it has fallen. As a result, the capture drone 100d starts flying to the fastest and safest place by autonomous flight after capturing the suspicious drone 200, and further determines whether or not the suspicious drone 200 has fallen during movement. Can be done.

(Embodiment 4)
In the present embodiment, similarly to the capture drone 100 of the first embodiment, the suspicious drone 200 is captured, and after the suspicious drone 200 is captured, the suspicious drone 200 is determined when the destination is determined by autonomous flight. Determine the destination in consideration of the weight of the vehicle and the remaining battery level of the vehicle.

FIG. 25 is a block diagram showing an example of the configuration of the capture drone according to the fourth embodiment of the present disclosure. The capture drone 100e shown in FIG. 25 is different from the capture drone 100 shown in FIG. 1 in that the battery 142 and the remaining amount measuring unit 141 are added, the control unit 101 is changed to the control unit 101e, and the target is the control unit 101e. Since the point management unit 143 is added and the other points are the same, the same parts are designated by the same reference numerals and detailed description thereof will be omitted. The battery 142 is also provided in a capture drone other than the present embodiment.

The control unit 101e controls the net weight sensor 103, the gyro sensor 104, the GPS unit 105, the drive unit 106, the communication unit 107, and the remaining amount measurement unit 141.

The battery 142 supplies necessary electric power to the drive unit 106 and the like of the capture drone 100e. The remaining amount measuring unit 141 measures the remaining amount of the battery 142 and outputs the measurement result to the target point management unit 143.

The target point management unit 143 determines the destination in consideration of the weight of the suspicious drone 200 and the remaining amount of the battery 142. Specifically, the target point management unit 143 refers to the safe area map storage unit 102, and the smaller the remaining amount measured by the remaining amount measuring unit 141, the higher the degree of safety in the range closer to the current location. Set the ground as the destination for autonomous flight.

FIG. 26 is a diagram for explaining an example of a method of determining a destination and a flight route of a suspicious drone by using the safety zone map of the safety zone map storage unit 102 shown in FIG. 25. As shown in FIG. 26, in the safe area map storage unit 102, the hatched portion of the diagonal line from the upper right to the lower left indicates the safe area SA such as riverbanks, coasts, forests, rivers, lakes, and oceans, and from upper left to lower right. The hatched part of the diagonal line is the information of the safety area map SM indicating the semi-safe area SS (safe area with a lower degree of safety than the safety area SA) such as a plaza and a park.

In the example shown in FIG. 26, the flight route F1 connecting the current position CP of the capture drone 100e and the destination D1 in the safe area SA, the current position CP of the capture drone 100e and the destination D2 in the semi-safe area SS. The flight route F2 connecting with is shown on the safe area map SM. In this case, the destination D2 is not the destination in the safe area SA closest to the current position CP of the capture drone 100e, but the destination in the semi-safe area SS closest to the current position CP of the capture drone 100e. ..

In addition, as the safety degree information indicating the safety degree of the safe area of the safe area map stored in the safe area map storage unit 102, two levels of information of the safe area and the quasi-safe area were used. It is not limited, and various changes such as storing safety degree information indicating a safety degree of three or more stages are possible.

The target point management unit 143 increases the remaining amount of the battery 142 measured by the remaining amount measuring unit 141 and the weight increase of the capturing net 112 measured by the net weight sensor 103 (capturing net by capturing the suspicious drone 200). The maximum distance that can be flown (maximum distance to the target point to be reached) is calculated based on the net weight increase value indicating the amount of increase in the weight of 112.

FIG. 27 is a diagram showing an example of the relationship between the maximum distance to the arrival target point, the net weight increase value, and the remaining battery level. The example shown in FIG. 27 shows the relationship between the maximum distance to the three types of arrival target points and the net weight increase value when the remaining amount of the battery 142 is large, intermediate, and low. The maximum distance to the arrival target point becomes shorter as the net weight increase value becomes larger, and becomes shorter in the order of when the remaining amount of the battery 142 is large, in the middle, and when it is small. For example, the target point management unit 143 determines the maximum distance to the reaching target point having a relationship as shown in FIG. 27.

Further, the target point management unit 143 detects the position information indicating the current position CP of the capture drone 100e from the GPS unit 105. The target point management unit 143 determines the nearest safe area SA of the safe area map SM as the destination D1 from the position information indicating the current position CP within the range of the maximum flight distance, and the current position CP and the destination D1. The route connecting with is generated as the flight route F1.

On the other hand, if there is no safe area SA within the range of the maximum flight distance, the target point management unit 143 will use the position information indicating the current position CP within the range of the maximum flight distance to obtain the most safe area map SM. The near quasi-safety area SS is determined as the destination D2, and the route connecting the current position CP and the destination D2 is generated as the flight route F2.

In this way, the target point management unit 143 sets the closer quasi-safety area as the target point, not the nearest safe area, depending on the magnitude of the weight increase due to the capture of the suspicious drone 200. Further, when the remaining amount of the battery 142 decreases on the way to the arrival target point, the target point management unit 143 sets the closer quasi-safety area as the arrival target point instead of the nearest safe area.

If the target point management unit 143 cannot determine the nearest safe area and quasi-safe area from the current position by referring to the safe area map storage unit 102, the target point management unit 143 uses the communication unit 107 to determine the current position. Notifying the radio 300 that the nearest safe area and quasi-safe area cannot be determined, the control switching unit 110 switches the flight control from the autonomous flight by the autonomous flight control unit 111 to the manual flight by the flight control unit 108, and controls the flight. Subsequent flights may be carried out by manual control of the person.

As described above, the capture drone 100e in the present embodiment is driven based on the communication unit 107 that receives the operation instruction of the capture drone 100e, the drive unit 106 for flying the capture drone 100e, and the operation instruction. A control unit 101e that controls the unit 106, a capture net 112 for capturing an object in the air, a net weight sensor 103 that detects the weight of the capture net 112, and a GPS that detects the position information of the capture drone 100e. The control unit 101e includes a unit 105, a safety area map storage unit 102 that stores a safety area map in which the safety area position information indicating the position of the safety area and the safety degree information indicating the safety degree of the safety area are associated with each other. With reference to the safe area map storage unit 102, the larger the increase value of the weight of the capture net 112 measured by the net weight sensor 103, the more autonomously the safe area has the highest degree of safety in the range closer to the current position. Set as the destination. As a result, the capture drone 100e can be reliably moved to a safe place by autonomous flight according to the weight of the suspicious drone 200.

Further, the capture drone 100e according to the present embodiment further includes a battery 142 for supplying power to the capture drone 100e and a remaining amount measuring unit 141 for measuring the remaining amount of the battery 142, and the control unit 101e is a control unit 101e. The smaller the remaining amount measured by the remaining amount measuring unit 141, the closer to the current position the safe area with the highest degree of safety is set as the destination point for autonomous flight. As a result, the capture drone 100e can be reliably moved to a safe place by autonomous flight according to the remaining amount of the battery 142.

The unmanned air vehicle, control method, and control program according to the present disclosure can fly appropriately even when other objects in the air such as a suspicious unmanned air vehicle are captured. It is useful as an unmanned air vehicle, a control method, and a control program that captures other objects in the air such as an unmanned air vehicle.

100, 100a to 100e Capture drone 101, 101a-101e Control unit 102 Safe area map storage unit 103 Net weight sensor 104 Gyro sensor 105 GPS unit 106 Drive unit 107 Communication unit 108 Flight control unit 109 Weight capture determination unit 110 Control switching unit 111 Autonomous flight control unit 112 Capture net 113 Current sensor 114 Current capture judgment unit 115 Rotation speed sensor 116 Rotation speed capture judgment unit 121 Anemometer 122 Wind speed consideration weight capture judgment unit 131 Weight drop judgment unit 141 Remaining amount measurement unit 142 Battery 143 Target point management unit 300 radio 301 control unit 302 display unit 303 input unit 304 communication unit

Claims (15)

An unmanned flying object that flies in the air
A communication unit that receives control signals from the outside,
A manual flight control unit that controls the flight state of the unmanned aircraft based on the control signal,
An autonomous flight control unit that controls the flight state of the unmanned vehicle so that it can fly autonomously without depending on the control signal.
A capture unit for capturing other objects in the air,
A detection unit that detects that the capture unit has captured the object,
The detection unit includes a control switching unit that switches from manual flight by the manual flight control unit to the autonomous flight by the autonomous flight control unit when the detection unit detects the capture of the object .
Unmanned flying object. A weight measuring unit for measuring the weight of the capturing unit is further provided.
The detection unit detects the capture of the object by determining that the weight measured by the weight measurement unit is equal to or greater than a predetermined value.
The unmanned aircraft according to claim 1. A drive unit for flying the unmanned vehicle and
Further provided with a current measuring unit for measuring the driving current of the driving unit,
The detection unit detects the capture of the object by determining that the drive current measured by the current measurement unit is equal to or greater than a predetermined value.
The unmanned aircraft according to claim 1. A drive unit for flying the unmanned vehicle and
A rotation speed measuring unit for measuring the rotation speed of the driving unit is further provided.
The detection unit detects the capture of the object by determining that the rotation speed measured by the rotation speed measurement unit is equal to or higher than a predetermined value.
The unmanned aircraft according to claim 1. Further provided with a wind speed measuring unit for measuring the wind speed relative to the unmanned aircraft.
The detection unit changes the predetermined value according to the wind speed measured by the wind speed measurement unit.
The unmanned aircraft according to any one of claims 2 to 4. Further provided with a storage unit for storing safe area position information indicating the position of the safe area where the object is safe even if it is landed or landed.
The autonomous flight control unit flies the unmanned vehicle so that the detection unit autonomously flies from the point where the capture of the object is detected to the safe area indicated by the safe area position information stored in the storage unit. Control the state,
The unmanned aircraft according to any one of claims 1 to 5. The communication unit notifies the outside of the safe area position information indicating the position of the safe area on which the unmanned vehicle autonomously flies.
The unmanned aircraft according to claim 6. The communication unit notifies the outside that the detection unit has detected the capture of the object.
The unmanned aircraft according to any one of claims 1 to 7. After detecting the capture of the object, the detection unit detects the fall of the object by determining that the weight measured by the weight measuring unit is less than a predetermined value.
The unmanned aircraft according to claim 2. The communication unit notifies the outside that the detection unit has detected the fall of the object.
The unmanned aircraft according to claim 9. The communication unit notifies the outside of the drop position information indicating the place where the detection unit detects the fall of the object.
The unmanned aircraft according to claim 9 or 10. A map information storage unit that stores map information that associates the safe area position information indicating the position of a safe area that is safe even if the object is landed or landed with the safety degree information indicating the safety degree of the safe area. When,
With reference to the map information storage unit, the larger the increase in the weight measured by the weight measuring unit, the higher the safety level in the range closer to the current location, and the destination point of the autonomous flight. Further equipped with a target point management department set as
The unmanned aircraft according to claim 2. A battery that supplies power to the unmanned aircraft and
The remaining amount measuring unit that measures the remaining amount of the battery and
A map information storage unit that stores map information that associates the safe area position information indicating the position of a safe area that is safe even if the object is landed or landed with the safety degree information indicating the safety degree of the safe area. When,
With reference to the map information storage unit, the smaller the remaining amount measured by the remaining amount measuring unit, the safer place having the highest degree of safety in a range closer to the current location is set as the arrival target point of the autonomous flight. Further equipped with a target point management department to set
The unmanned aircraft according to claim 1. It is a control method for unmanned aircraft flying in the air.
Receives the control signal from the outside and
The flight state of the unmanned vehicle is controlled based on the control signal, and the flight state is controlled.
The flight state of the unmanned vehicle is controlled so as to be autonomous flight that does not depend on the control signal.
Detecting that the capture unit for capturing other objects in the air has captured the object,
When the capture of the object is detected, the manual flight that controls the flight state of the unmanned vehicle based on the control signal is switched to the autonomous flight.
Control method. A control program for operating a computer as a control device for an unmanned aircraft flying in the air.
On the computer
Receives the control signal from the outside and
The flight state of the unmanned vehicle is controlled based on the control signal, and the flight state is controlled.
The flight state of the unmanned vehicle is controlled so as to be autonomous flight that does not depend on the control signal.
Detecting that the capture unit for capturing other objects in the air has captured the object,
When the capture of the object is detected, the manual flight that controls the flight state of the unmanned vehicle based on the control signal is switched to the autonomous flight.
A control program that executes processing.

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