JP7311143B2 - Remotely controlled flight device and remote controlled flight device - Google Patents

Description

The present invention relates to a remotely controlled flight device and a remotely controlled flight device.

In recent years, unmanned flying devices (remotely controlled flying devices) called drones have been used more and more. Drones connect to public radio waves such as LTE, and the pilot (user) can control the flight path, speed, etc. using a drone pilot (remote control device) for controlling the drone on the ground. .

Drone flight control is performed by controlling a plurality of propeller devices. By controlling the rotation speed and launch angle of each propeller, the flight direction and speed can be changed. Flight directions include horizontal and vertical directions. Also, by equipping the drone with a GPS sensor and an altitude sensor, it is possible to grasp the current position (latitude and longitude) and altitude of the drone.

JP 2018-112871 A JP 2018-093403 A

It should be noted that the disclosure of the prior art document mentioned above is incorporated herein by reference. The following analysis is made in light of the present invention.

Since drones and drone pilots use public radio networks, there is the problem of losing control, especially if the drone cannot receive public radio waves.

According to the method of Patent Literature 1, a method is disclosed in which the movement direction is controlled using the communication quality information at each flight point after investigating the state of public radio service in advance. For example, the direction in which the numerical value representing radio wave quality is equal to or greater than a threshold value is determined at each position and used as control information. However, there is a problem with accuracy because public radio wave conditions change daily and quality information for height is rarely provided.

According to the method of Patent Document 2, without using the communication quality information at each flight point, according to the communication situation, when the communication situation is bad, until the communication is accepted, the position is not changed and the system is hovered. It is However, it cannot be expected that the communication situation will improve, and there is a problem that it may become uncontrollable as it is.

SUMMARY OF THE INVENTION An object of the present invention is to effectively prevent a remotely controlled flight device from becoming uncontrollable.

According to a first aspect, a remotely operated flying device (drone) is provided. A remote-controlled flight device connected to a remote-controlled flight device via a public radio network, comprising: a movement control command receiving unit for receiving a movement control command from the remote-controlled flight device; a plurality of propeller devices for moving the remotely operated flying device according to the modified movement control command; and a radio wave reception condition specifying unit for specifying the radio wave reception level of each radio wave from the signal from the antenna device, wherein the movement execution control unit is configured to detect the radio wave reception condition specified by the radio wave reception condition specifying unit. A remote-controlled flight device is provided, characterized in that the movement control command is modified according to the radio wave reception strength in the direction of movement.

According to a second aspect, a remote control device (drone pilot) is provided. A remote-controlled flight device connected to a remote-controlled flight device via a public radio network, comprising: a radio wave reception condition receiving unit for receiving radio wave reception quality in each direction in the remote-controlled flight device; and a movement control instruction unit for transmitting a movement control command to the remote-controlled flight device, wherein the movement control instruction unit determines the radio wave reception quality in each direction of movement of the remote-controlled flight device. A remote control device is provided for modifying said movement control instructions in response to a request.

According to each aspect of the present invention, it is possible to perform movement control according to the radio wave conditions received by the drone. This contributes to effectively preventing the remotely operated flying device from becoming uncontrollable.

It is a figure showing the whole composition concerning one embodiment of the present invention. 1 is a diagram showing an example of an antenna 110, a GPS sensor 111, and an altitude sensor 112 installed on a drone 100, according to an embodiment of the present invention; FIG. FIG. 4 is a diagram showing an example of a radio monitor screen display displayed on the drone pilot 300 according to one embodiment of the present invention; 1 is a block diagram illustrating examples of a drone 100 and a drone pilot 300, in accordance with one embodiment of the present invention. FIG. FIG. 4 is a diagram illustrating a control example during movement according to an embodiment of the present invention; FIG. 10 is a diagram showing a flow chart of an example of the operation flow of the radio wave reception status identification unit 130 and the movement execution control unit 150 in the first embodiment. FIG. 4 is a diagram showing a flow chart and data used for an example of a detailed control scheme in the first example embodiment; FIG. 11 is a diagram showing a flow chart of an example of the flow of processing by a radio wave reception status specifying unit 130 and a movement control instructing unit 360 in the second embodiment. FIG. 10 is a diagram showing a flow chart and data used for an example of a detailed control scheme in the third example embodiment; FIG. 12 is a diagram showing an example of an alert mode determination table 500 in the third embodiment; FIG. FIG. 12 is a diagram showing an example of an alert mode decision table 500 in the fourth embodiment; FIG. FIG. 13 is a diagram showing an example of position/altitude history 600 in the fourth embodiment. FIG. 10 is a diagram showing a flow chart and data used for an example of a detailed control scheme in the fourth example embodiment;

First, an overview of one embodiment will be described. It should be noted that the drawing reference numerals added to this outline are added to each element for convenience as an example to aid understanding, and the description of this outline does not intend any limitation. Also, connecting lines between blocks in each block diagram include both bi-directional and uni-directional. The unidirectional arrows schematically show the flow of main signals (data) and do not exclude bidirectionality.

As described above, it is desired that remotely operated flying devices such as drones can effectively prevent loss of control by keeping track of public radio networks.

FIG. 1 is a diagram showing the overall configuration according to one embodiment of the present invention. As shown here, drone 100 is connected to public radio network 200 and is under control. The user connects the drone pilot 300 to the public radio network 200 and sends movement control commands to the drone 100 to control it. The user operates the movement control indicator 340 , the movement control command is processed in the drone pilot 300 , and then transmitted to the public radio network 200 through the control radio wave transmitting/receiving section 330 . The movement control command is transmitted from the public radio network 200 to the drone 100 .

FIG. 2 shows an example configuration of an antenna and the like installed in the drone 100. As shown in FIG. Here, the antenna is an antenna having directivity, and the directional antenna is capable of grasping the transmission/reception quality (radio field strength in the figure) of radio waves directed in a specific direction. In the example shown in FIG. 2, two directional antennas 110a and 110b are installed in the horizontal direction, and one directional antenna 110c is installed in the vertical direction. As a result, it is possible to grasp the radio wave quality in four directions (front, back, right, and left) from the horizontal plane of the drone, and in two directions (upper and lower) from the vertical plane of the drone. It is also assumed that a GPS sensor 111 and an altitude sensor 112, which are normally installed in the drone 100, are also installed.

As radio wave quality, the signal-to-noise ratio should be considered in addition to the reception strength of the antenna. In this case, a value obtained by multiplying the radio wave intensity by the signal-to-noise ratio or a value obtained by subtracting noise from the radio wave intensity can be used as the radio wave quality value. However, in the following description, radio wave intensity is used as a representative of these values.

FIG. 3 shows an example of a radio wave monitor screen 310 displayed on the drone pilot 300. As shown in FIG. Here, by operating the monitor changeover switch 320, it is possible to switch between a radio wave monitor screen 310a displaying the plane radio wave condition and a radio wave monitor screen 310b displaying the vertical radio wave condition. Each monitor is enlarged and displayed on the left side of the figure. On the planar radio wave monitor screen 310a, the radio wave intensities in the four directions of front, back, left, and right as viewed from the drone 100 are displayed in five levels. Similarly, on the vertical radio wave monitor screen 310b, radio wave intensities in two vertical directions are displayed in five levels. The radio wave intensity ranges from level 0 to level 4, with level 4 being the best radio wave intensity and level 0 being zero radio wave reception. Also, an alert mode is determined by a control method to be described later, and the alert mode corresponding to each direction is displayed on the alert display portions 311a, 311b, 311c, 311d, 311e, and 311f. In this display example, the alert mode is unrestricted (normal) in the horizontal direction, "speed restricted" is displayed in the upward direction 311e, and "movement is restricted" is displayed in the downward direction 311f.

FIG. 4 shows an example of a block diagram in which the drone 100 and the drone pilot 300 are combined. The drone 100 has radio wave reception units 120a, 120b, and 120c of three directional antennas, a radio wave reception condition identification unit 130, a movement control reception unit 140, and a movement execution control unit 150 as body control functions. The drone 100 is provided with a plurality of (four in this figure) propeller devices 160 for giving actual thrust. In this embodiment, propeller device (1) 160a, propeller device (2) 160b, propeller device (3) 160c, and propeller device (4) 160d provide thrust to drone 100, as with many drones 100. The number of propeller devices is irrelevant to the present invention and can be similarly set to three, five or six. The drone 100 is provided with a GPS sensor 111 and an altitude sensor 112, and position and altitude information from each is recorded as a position/altitude recording unit 170 every hour. Characteristic elements of this embodiment are a direction-specific control status table 400 a and an alert mode determination table 500 . By combining these table data with the functions of the radio wave reception status identification unit 130 and the movement execution control unit 150, movement control of the drone 100 is performed so as not to reduce the radio wave reception intensity. These specific processing contents will be described in respective embodiments. Next, the drone pilot 300 will be described. A movement control indicator 340 is provided as a control instruction input by the user, and the movement direction (horizontal, vertical direction) and speed (thrust force intensity) of the drone 100 can be indicated here. The movement control command is transmitted from the control radio wave transmission/reception unit 330 to the drone 100 via the public radio network 200 through the movement control instruction unit 360 and received by the movement control reception unit 140 of the drone 100 . The received control command is sent to the movement execution control unit 150 to control the thrust of the propeller device 160 . In addition, the user uses the monitor changeover switch 320 to switch the display of the radio monitor screen 310 (310a in the horizontal direction and 310b in the vertical direction). The radio wave reception condition receiving unit 350 of the drone pilot 300 receives the radio wave intensity in each direction and the alert mode from the radio wave reception condition specifying unit 130 from the drone 100 via the control radio wave transmitting/receiving unit 330 . Also, the position/altitude receiving unit 370 receives information from the position/altitude recording unit 170 of the drone 100 and displays it on the radio wave monitor screen 310 .

Here, for each direction, the radio wave reception status identification unit 130 determines the alert mode determination table 500, the alert mode at one point in time (hereinafter referred to as T-1), and the radio wave intensity at the present time (hereinafter referred to as T). Based on this, the alert mode at the current time (T) is determined. Specifically, the time interval from time T-1 to time T may be 3 seconds, 5 seconds, or 10 seconds. The movement execution controller 150 modifies the movement control instructions based on the alert mode of each direction. For example, if the alert mode is "upward speed regulation", even if the movement control instruction instructs an upward speed increase, this is corrected so that the movement speed is not changed. Also, for example, if the alert mode is "downward movement restricted", even if the movement control command is for downward movement, this is corrected so as not to be executed. In this manner, speed/movement control is realized according to the radio wave reception intensity in each direction.

FIG. 5 is a diagram illustrating a typical example of control cases according to one embodiment of the present invention (point positions are indicated by circle numbers in the figure, but are indicated by (numbers) in the text). The drone 100 is initially connected to the public radio network A (200a). The drone pilot 300 is connected to the public radio network C (200c), but due to the characteristics of the public radio network, both can communicate correctly. It is assumed that when the drone 100 starts flying and moves from point (1) to point (2), the coverage area is changed and the drone 100 is actually connected to the public radio network B (200b). At this time, in the present invention, it is irrelevant whether the directional antenna 110 installed on the drone 100 is connected to either A or B public radio network. Only the condition of radio waves that can be connected from the drone 100 is used as control information.

Assume that the drone 100 is going from point (2) to point (4) via point (3). Assume that the position control command is at point (3) and attempts to move to point (4). However, at this time, at the point (3), the radio wave intensity in the direction of (4) is assumed to be small. At this time, the "movement suppression" alert mode in the (4) direction is set. Specifically, the movement execution control unit 150 of the drone 100 restricts movement in the specified direction (limits the angle and thrust of the propeller device 160 in this direction). Therefore, the drone 100 operates so as not to leave the range of the public radio network B (200b). At this time, it is possible to move in a direction different from (4) and in a direction in which the radio wave intensity is high in the public radio network B (200b). This realizes so-called "FOOL PROOF" control (a device that prevents human beings from doing wrong actions even if they try to do so). , which makes this impossible.

Even if the drone 100 receives "movement suppression" in (4), it does not mean that it cannot reach the destination. Assume that the destination is (5). At this time, (4) is the route for the user to reach (5), and even if there is a restriction in (4), there is a route to reach (5) using another route. FIG. 5 shows an example of passing through a curve (route) from (4) to (5). This route passes through the public radio network B (200b) and the range covered by the public radio network (200c). By stopping the direction toward (4) once and taking another route in the range covered by the public radio network C (200c), the destination (5) is reached under control conditions with high radio wave intensity. making it possible.

[First embodiment example]
Next, the first embodiment of the invention will be described in detail.

FIG. 6 shows a flow chart of the radio wave reception condition identification unit 130 and the movement execution control unit 150 for controlling the drone flight direction according to the radio wave intensity condition. The two execution control units share the directional control status table 400a.

The radio wave reception condition identification unit 130 is always executed during flight. In step S130-1, the radio waves from the directional antennas 110a to 110c are received, and the radio wave intensity in each direction is received via the radio wave receiving units 120a to 120c (current time: radio wave intensity at time T). Here, the radio wave intensities in four horizontal directions and two vertical directions are quantified as values from level 0 to level 4. FIG.

In step S130-2, the direction-specific control status table 400a at time T is determined and updated based on the radio wave intensity at time T and the alert mode at time T-1 (in the immediately preceding unit time interval). Here, refer to the alert mode decision table 500 as a decision criterion. The radio wave intensity and the alert mode at time T are written in the direction-specific control status table 400a to be updated. In step S 130 - 3 , the direction-specific radio wave intensity and the alert mode at time T are transmitted to the drone pilot 300 . Radio wave reception status identifying section 130 repeatedly executes steps S130-1 to S130-3.

The movement execution control unit 150 is always executed during flight. At step S150-1, a movement control command from the drone pilot 300 is received. The movement control command is intended to convey the direction of movement in the horizontal and vertical directions, and the increase or decrease in thrust according to the user's intention.

In step S150-2, the direction-by-direction control status table 400a shared by the radio wave reception status identification unit 130 is referred to, and the movement control command received in S150-1 is changed to the movement control command according to the numerical value recorded in this table. fix it.

In step S150-3, the modified movement control instructions are executed. As a result, the directions and thrusts of the propeller devices 160a to 160d are controlled, and movement control of the drone 100 is performed. For example, if the alert mode is "suppress upward speed," even if the movement control instruction to be executed is "increase upward speed," its execution is suppressed. Since this execution control command is not transmitted to the propeller unit 160, "upward speed increase" cannot be realized in this case. Movement execution control unit 150 repeatedly executes steps S150-1 to S150-3.

In the first embodiment, the movement control command from the drone pilot 300 is modified according to the radio wave conditions in each direction. Actually, this is realized by updating the direction-specific control status table 400a in step S130-2. The details of this process will be described with reference to FIG.

In step S001 of FIG. 7, the radio wave intensity for each direction at time T is acquired. Here, as the radio wave level at time T, it is assumed that quantitative values such as "left: 3", "right: 3", "front: 1", "back: 1", "upper: 2", "lower: 3", etc. are obtained. do.

In S002, a direction-specific alert is determined based on the alert mode decision table 500 and the direction-specific alert level of the direction-specific control status table 400a at the previous decision point (time T-1). Here, an example of numerical values of the direction-specific control status table 400a at time T-1 is shown in the upper right of FIG. A numerical example of the alert mode decision table 500 is the decision criteria table shown in the right part of FIG.

Referring to the direction-specific control status table 400a at time T-1, the alert mode is "left: normal", "right: normal", "front: normal", "back: normal", "up: speed suppression", and "down: movement suppression". It has become. With reference to this mode and the radio wave intensity value obtained in step S001, and based on the alert mode determination table 500, the alert mode at time T is determined. For example, the alert mode at time T-1 in the left direction is "normal" and the acquired radio wave intensity is 3 (3 or more), so the alert mode at time T is determined to be "normal". Since the upward direction alert mode at time T-1 is "speed restraint" and the acquired radio wave intensity is 2, the alert mode at time T is determined to be "speed restraint". Since the downward alert mode at time T-1 is "movement suppression" and the acquired radio wave intensity is 2, the alert mode at time T is "speed suppression".

In step S003, the acquired/determined direction control status table 400a at time T is updated. In this case, the numerical example shown in the lower right of FIG. 7 is obtained. Here, the radio wave intensity at time T and the determined alert mode are recorded.

In FIG. 6, it has been described that in step S150-2 of the movement execution control unit 150, the movement control command is modified according to the direction-specific control status command. According to the numerical example in the lower right of FIG. 7, the movement control instructions are modified as follows. That is, no modifications are made to the left and right movement control instructions. Movement restraint correction is performed in the forward and backward directions. That is, the execution control of the propeller device 160 that accompanies forward and backward movement is suppressed. Upward and downward speed control corrections are added. That is, the execution control for increasing the speed in the upward and downward directions is suppressed. In this manner, execution control is performed according to the radio wave conditions for each direction.

[Second embodiment example]
Next, a second embodiment of the invention will be described with reference to FIG.

In the second embodiment, unlike the first embodiment, control within the drone pilot 300 is performed. That is, what was autonomously controlled within the drone 100 in the first embodiment is controlled by the operator's hand device. FIG. 8 shows a flow chart combining the radio wave reception status receiving unit 350 and the movement control instructing unit 360 in the drone pilot 300 . Here, the direction-specific control status table 400b and the alert mode decision table 500 used in the first embodiment are managed as data in the drone pilot 300. FIG. The meaning of each numerical value is the same as in the first embodiment.

The operation of the radio wave reception status receiving section 350 will be described. In step S350-1, the antenna reception strength at time T is received from the drone 100, and based on the alert mode at time T-1 and the alert mode determination table 500, the direction-by-direction control status table 400b at time T ( data in the drone pilot). The details of the processing are the same as the control method in the first embodiment, and are the same as the method described with reference to FIG.

In step S350-2, the radio wave monitor screen is switched according to the state of the monitor changeover switch 320 (horizontal direction or vertical direction). At step 350-3, the radio wave monitor screen 310 is displayed. At this time, the contents of the direction-specific control status table 400b at time T are referred to for the radio wave intensity and the alert mode to be displayed. Thereby, the user can grasp the alert mode for each direction on the radio wave monitor screens 310 a and 310 b in the drone pilot 300 . However, in the first embodiment, a similar display can be obtained by using the direction-specific control status table 400a at time T in the drone 100 as the information source for displaying the radio wave monitor screen. It is.

The action of the movement control instructing section 360 will be explained in the right part of FIG. In step S360-1, a movement control command corresponding to the operation of movement control indicator 340 is created. In step 360-2, the direction-specific control status table 400b at time T is referenced to correct the movement control command. The correction method is the same as in the first embodiment. At step S360-3, the modified movement control commands are emitted toward the drone 100. FIG. Here, the movement execution control unit 150 in the drone 100 does not necessarily need to correct the movement control command.

Thus, in the second embodiment, movement control instructions are controlled within the drone pilot 300 . An advantage of the present embodiment is that the processing in the drone pilot 300 is performed in advance, so that a desirable movement control command can be transmitted with high real-time performance. It can also be considered as a complementary relationship with the first embodiment using autonomous control. That is, by performing the control of the second embodiment in addition to the control of the first embodiment, it is possible to perform preferable control in duplicate.

[Third Embodiment]
As a third embodiment example, improvement of the control logic will be described. As an embodiment here, the control logic is implemented so as to refer to the history of radio wave conditions for each direction including before T-1.

FIG. 9 shows an improved version of the updating process (S130-2, S350-1) of the direction-specific control status table 400. As shown in FIG. In the first and second embodiments, the directional control status table 400 at time T-1 is read, and the directional control status table 400 at time T is updated using the alert mode determination table 500 . Here, in addition to the time T-1, improvements are made so that the time before T-2 and the time TN for an arbitrary N are also referred to.

FIG. 10 shows, as an example, an alert mode determination table 500c that refers to the alert mode at time T-2 in addition to time T-1 as a method of referring to history 2 generations. The decision table is dimensionalized from two to three. The alert mode is determined by reading the states at time T-1 and time T-2, respectively. Similarly, in order to implement the method of referring to time TN, it is possible by expanding the dimensions of the alert mode decision table 500 and correcting the logic of step S002.

Increasing the past time points to be referred to as shown in the third embodiment is beneficial for control stability. Periodic radio wave monitoring may be affected by errors, environmental changes (wind speed, humidity), and other public network users. By setting the past N time points, it becomes possible to perform control in consideration of these influences. This makes it possible to perform alert generation control and movement/speed control in consideration of the radio wave conditions from the start of flight.

[Fourth Embodiment]
Further improvement of the control logic will be described as a fourth embodiment example. However, here, referring to the position/altitude history 600, the return to the previous position and altitude is realized. Even if the direction can be controlled by the control methods described in the first to third embodiments, the radio wave condition is fluid with respect to time. Even if the position and height are the same, the radio wave intensity may change. On the other hand, returning to a position and altitude at which the radio wave intensity was better than a certain level (hereinafter referred to as "return") contributes to increasing the possibility of being able to control again.

The control method realized in the fourth embodiment can be realized by changing the setting contents of the alert mode decision table 500 or the like. FIG. 11 shows a modified example of the alert mode determination table 500. As shown in FIG. In the numerical example of FIG. 11, a determination criterion is provided for the case where the radio wave intensity is zero. The alert mode at this time is set to "return". This is intended to return to a location where signal strength is available, as previously stated. As an embodiment here, in the case of "return", it is not determined according to the direction, but when the radio wave intensity becomes 0 somewhere, regardless of the direction, the time when the radio wave intensity is good (hereinafter referred to as T (OK)) position and altitude. FIG. 12 shows an example of the position/altitude history 600. As shown in FIG. In the actual control at this time, the position/altitude history 600 is referenced, and a movement control command is executed to return to the position at time T (OK) when the radio wave intensity was good. T(OK) is determined by referring to the direction-specific control status table 400a and obtaining conditions such as, for example, that the radio wave intensity in all directions is 3 or more, and that all alert modes are "normal." be able to. The GPS sensor 111 is said to have stable radio waves compared to the public radio network 200 . The movement control command for returning to the position and altitude where the public radio wave intensity was stable is assembled from the position and altitude at time T to the position and altitude at the specified time, and the propeller device 160 is executed appropriately. It can be realized by letting In the example of Fig. 12, T (OK) indicates T-3, and it controls the (latitude, longitude, altitude) at this time to return to (35.591080 degrees, 35.591080 degrees, 29.08m). be. It can be realized by taking the change difference from the current position and altitude and constructing a movement control command in the reverse direction.

FIG. 13 shows an example of a flow chart of the radio wave reception condition identification unit 130 and the movement execution control unit 150 for implementing the fourth embodiment. Here, logic for realizing "feedback" is incorporated into the first embodiment. Descriptions of portions that overlap with those of the first embodiment will be omitted. I will describe the points that have been changed. At step S130-2 of the radio wave reception status specifying unit 130, the alert mode determination table 500d (see FIG. 11) is used as a reference here. Here, the direction-specific control status table 400a is updated to include "return". Further, in step S150-2 of the movement execution control unit 150, in addition to the updated direction-specific control status table 400a, the position/altitude history 600 is referenced to correct the movement control command. In the case of "return", the movement execution instruction is reassembled so as to return to the position and altitude at the specified time, in addition to correcting the movement correction instruction. At step 150-3, the output control of the propeller device 160 is actually performed.

In the fourth embodiment, the drone 100 can return to a position and altitude with good radio wave conditions. Here, another route can be used to move to the predetermined target position/altitude. Information about locations with weak radio wave intensity is recorded in the position/altitude history 600 and the direction-specific control status table 400a. In order to move to the target position and altitude again, avoiding the recorded position makes it possible to carry out the target flight in a controllable state in good radio wave conditions. Specifically, the route with weak radio waves at the position at time T-3 can be found by referring to the direction-specific control status table 400a at time T-2, T-1, and T. It can be realized by avoiding the position at this time and correcting the movement control command to the destination using a route from another direction. Resetting the movement direction and control can be realized not only by avoiding places and altitudes with weak radio waves, but also by selecting a route search (various route search algorithms exist) from the return position and altitude. .

The disclosures of the cited patent documents and the like are incorporated herein by reference. Within the framework of the full disclosure of the present invention (including the scope of claims), modifications and adjustments of the embodiments and examples are possible based on the basic technical concept thereof. Also, various combinations or selections of various disclosure elements (including each element of each claim, each element of each embodiment or example, each element of each drawing, etc.) within the framework of the full disclosure of the present invention (including partial deletion) is possible. That is, the present invention naturally includes various variations and modifications that can be made by those skilled in the art according to the entire disclosure including claims and technical ideas. In particular, any numerical range recited herein should be construed as specifically recited for any numerical value or subrange within that range, even if not otherwise stated. Furthermore, each disclosure item of the above-cited document can be used in combination with the items described in this document as part of the disclosure of the present invention in accordance with the spirit of the present invention, if necessary. are considered to be included in the disclosure of the present application.

100: Drones 110, 110a to 110c: Directional antenna 111: GPS sensor 112: Altitude sensors 120, 120a to 120c: Radio wave reception unit 130: Radio wave reception status identification unit 140: Movement control reception unit 150: Movement execution control unit 160, 160a to 160d: Propeller device 170: Position/altitude recording units 200, 200a, 200b, 200c: Public radio network 300: Drone pilots 310, 310a, 310b: Radio monitor screens 311a, 311b, 311c, 311d, 311e, 311f: Alert display unit 320: Monitor changeover switch 330: Control radio wave transmission/reception unit 340: Movement control indicator 350: Radio wave reception status reception unit 360: Movement control instruction unit 370: Position/altitude reception units 400, 400a, 400b: Control status by direction Tables 500, 500c, 500d: Alert mode determination tables 600, 600a: Position/altitude history

Claims (10)

A remotely controlled flight device connected to a remote controlled flight device via a public radio network,
a movement control command receiving unit that receives a movement control command from the remote control device;
a movement execution control unit that modifies and executes the movement control instruction;
a plurality of propeller assemblies for moving the remotely operated flying device in response to the modified movement control commands;
an antenna device for receiving radio waves from the public radio network while specifying quality for each direction;
a radio wave reception status identification unit that identifies the radio wave reception quality of each radio wave from the signal from the antenna device;
with
The remote-controlled flight device, wherein the movement execution control unit modifies the movement control command according to the radio wave reception quality in the direction of movement specified by the radio wave reception condition specifying unit. The antenna device comprises two sets of directional antennas facing in different directions along the horizontal plane and one set of directional antennas along the vertical plane,
The radio wave reception condition identification unit identifies the radio wave reception quality in two horizontal directions and one vertical direction of the remote-controlled flight device.
The remotely operated flight device according to claim 1, characterized in that: As the specific value of the radio wave reception quality specified by the radio wave reception condition specifying unit, the radio wave intensity, and / or the signal-to-noise ratio, and / or a combination thereof,
3. The remotely operated flight device according to claim 1 or 2. The movement execution control unit modifies the movement control command to prevent movement in a direction with poor radio wave reception quality if the level of radio wave reception quality in a specific direction is below a first threshold. characterized by
4. A remotely operated flight device according to any one of claims 1 to 3. The movement execution control unit modifies the movement control command so as to limit movement speed in a direction with poor radio wave reception quality if the level of radio wave reception quality in a specific direction is below a second threshold. characterized by
The remotely operated flight device according to claim 4. The movement execution control unit determines the correction content for each direction in which the movement control command is corrected, based on the correction content at the most recent past point in time and the current radio wave reception status,
A remotely operated flight device according to any one of claims 1 to 5. The movement execution control unit determines correction contents for each direction for correcting the movement control command from a combination of a plurality of past radio wave reception qualities and correction contents at that time, and the current radio wave reception quality. characterized by
A remotely operated flight device according to any one of claims 1 to 5. The remote-controlled flight device comprises a GPS sensor and an altitude sensor, and a position/altitude recording unit that records these sensor values as time-series data,
If the level of radio wave reception quality in an arbitrary direction is below a third threshold, the movement execution control unit causes the movement to move to a position and/or altitude where radio wave quality was good in the past. characterized by modifying the control instructions,
The remotely operated flight device according to claim 7. When a user-designated target position and altitude are set, the movement execution control unit issues the movement control command to avoid moving to positions and altitudes where the radio wave reception quality was equal to or lower than a fourth threshold in the past. characterized by correcting
The remotely controlled flight device according to claim 8 . A remote control flight device for controlling a remote control flight device connected via a public radio network,
a radio wave reception condition receiving unit for receiving radio wave reception quality in each direction in the remote controlled flight device;
a movement control indicator that communicates a user's maneuvering intent;
a movement control instruction unit that transmits a movement control command to the remotely operated flying device;
The remote-controlled flight device, wherein the movement control instruction unit modifies the movement control command according to radio wave reception quality in each movement direction of the remote-controlled flight device.

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