CN110209189A - Flight control assemblies, storage medium and vehicle - Google Patents
Flight control assemblies, storage medium and vehicle Download PDFInfo
- Publication number
- CN110209189A CN110209189A CN201910138780.9A CN201910138780A CN110209189A CN 110209189 A CN110209189 A CN 110209189A CN 201910138780 A CN201910138780 A CN 201910138780A CN 110209189 A CN110209189 A CN 110209189A
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- Prior art keywords
- vehicle
- flight control
- destination
- information
- unmanned plane
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0005—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with arrangements to save energy
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
There is provided a kind of flight control assemblies, storage medium and vehicle, it is desirable to be able to which the distance of cargo can be dispensed by extending through flying body as unmanned plane.Flight control assemblies have: destination information acquisition unit, obtain the destination information for indicating to have the destination of flying body of battery；Direction of travel information acquisition unit, obtains the direction of travel information for indicating the direction of travel of vehicle, which has the equipped section for carrying flying body and the charging part to battery charging；It is detached from determination section, decides whether to be detached from flying body from equipped section based on destination information and direction of travel information；And flight control unit controls the flight of flying body in the case where determining is detached from flying body from equipped section.
Description
Technical field
The present invention relates to flight control assemblies, storage medium and vehicles.
Background technique
It has been known that there is the systems that cargo is dispensed by unmanned plane (for example, referring to patent document 1).
[existing technical literature]
[patent document]
[patent document 1] Japanese Unexamined Patent Publication 2016-153337 bulletin
Summary of the invention
It is restricted since the energy that flying body as unmanned plane is loaded exists, flying body non-stop flight can be passed through
Distance limited by the energy, for example dispatching cargo when etc., it is desirable to be able to extend accessibility destination distance.
First scheme according to the present invention provides a kind of flight control assemblies.Flight control assemblies can have destination
Information acquiring section obtains the destination information for indicating to have the destination of flying body of battery.Flight control assemblies can be with
Have direction of travel information acquisition unit, obtain the direction of travel information for indicating the direction of travel of vehicle, which has carrying
The equipped section of flying body and the charging part to charge to battery.Flight control assemblies can have disengaging determination section, be based on mesh
Ground information and direction of travel information come decide whether to make flying body from equipped section be detached from.Flight control assemblies can have flight
Control unit controls the flight of flying body in the case where determining is detached from flying body from equipped section.
Above-mentioned disengaging determination section can correspond to be determined as based on above destination information and above-mentioned direction of travel information
It states vehicle and walks remote situation from above destination, decision is detached from above-mentioned flying body from above-mentioned equipped section.Above-mentioned disengaging determination section
It can correspond to be determined as that above-mentioned vehicle continues from above destination based on above destination information and above-mentioned direction of travel information
Remote situation is walked, decision is detached from above-mentioned flying body from above-mentioned equipped section.Above-mentioned direction of travel information acquisition unit can based on from
The destination information of the destination for the above-mentioned vehicle of expression that the navigation device of above-mentioned vehicle receives obtains above-mentioned direction of travel letter
Breath.Above-mentioned direction of travel information acquisition unit can obtain the direction of travel letter generated of the mobile history based on above-mentioned vehicle
Breath.
Above-mentioned flight control assemblies can have information of vehicles acquisition unit, and above-mentioned information of vehicles acquisition unit is obtained to fly above-mentioned
The vehicle of the vehicle of region traveling between the destination for the above-mentioned flying body that the position of row body and above destination information indicate
Information, above-mentioned disengaging determination section can based on above destination information acquiring section obtain above destination information, above-mentioned traveling
What above-mentioned direction of travel information, the above-mentioned information of vehicles acquisition unit of directional information acquisition unit acquirement obtained includes to carry above-mentioned flight
The direction of travel and the information of vehicles including location information of other vehicles other than the above-mentioned vehicle of body decide whether to make above-mentioned fly
Row body is detached from from above-mentioned equipped section, and above-mentioned flight control unit can make above-mentioned flying body be moved to the carryings of other above-mentioned vehicles
Portion.
Above-mentioned flight control assemblies can have: weight acquisition unit obtains the weight of above-mentioned flying body；Apart from acquisition unit,
Obtain the distance from above-mentioned flying body to above destination；And energy leading-out portion, it is based on above-mentioned weight and above-mentioned distance, in export
Consumed energy in the case that flying body flies to above destination is stated, above-mentioned disengaging determination section can be based further on above-mentioned
Energy derived from energy leading-out portion decides whether to make the above-mentioned flying body be detached from from above-mentioned equipped section.Above-mentioned flying body can have
The cargo maintaining part of cargo is kept, above-mentioned weight acquisition unit can obtain the above-mentioned flying body including the weight comprising above mentioned goods
Weight.Above-mentioned flight control assemblies can have weather information acquisition unit, obtain from above-mentioned flying body to above destination
Between region weather information, above-mentioned energy leading-out portion can be based further on above-mentioned weather information to export above-mentioned energy.
Above-mentioned flight control assemblies can have: information of vehicles acquisition unit, obtain and believe in the position of above-mentioned flying body and above destination
Cease the information of vehicles of the vehicle of the region traveling between the destination indicated；And path leading-out portion, it is based on above-mentioned information of vehicles, is led
Out from the position of above-mentioned flying body to the path of above destination, above-mentioned flight control unit can control flying for above-mentioned flying body
Row, makes it fly on the path as derived from above-mentioned path leading-out portion.Above-mentioned flight control assemblies can have in decision configuration
The vehicle determination section of the vehicle of flying body is stated, above-mentioned flight control unit can control the flight of above-mentioned flying body, make above-mentioned flight
Body is configured to the equipped section of the vehicle determined by above-mentioned vehicle determination section.Above-mentioned vehicle determination section can will carry out periodic operation
Vehicle be preferentially determined as configuring the vehicle of above-mentioned flying body.Above-mentioned flight control assemblies can have judgement and carry above-mentioned flight
The vehicle condition determination unit of the situation of the above-mentioned vehicle of body, above-mentioned disengaging determination section can meet preparatory in the situation of above-mentioned vehicle
When determining condition, decision is detached from above-mentioned flying body from above-mentioned equipped section.Above-mentioned vehicle condition determination unit can be determined that above-mentioned
The travel speed of vehicle, above-mentioned disengaging determination section the travel speed of above-mentioned vehicle can be lower than in advance during persistently predefining
First when determining threshold value, decision is detached from above-mentioned flying body from above-mentioned equipped section.
Alternative plan according to the present invention provides a kind of computer readable storage medium, is stored with for making computer
The program functioned as above-mentioned flight control assemblies.
Third program according to the present invention provides a kind of vehicle for having above-mentioned flight control assemblies.
It should be noted that the essential feature of above-mentioned summary of the invention and unlisted present invention whole.Moreover, these features
The sub-portfolio of group also may make up invention.
Detailed description of the invention
Fig. 1 diagrammatically shows an example of unmanned plane 100.
Fig. 2 diagrammatically shows an example of automobile 300.
Fig. 3 diagrammatically shows another example of the equipped section 310 of automobile 300.
Fig. 4 diagrammatically shows an example of the process of the processing carried out by the flight control assemblies that unmanned plane 100 has.
Fig. 5 diagrammatically shows an example of the process of the processing carried out by the flight control assemblies that unmanned plane 100 has.
Fig. 6 diagrammatically shows an example of the process of the processing carried out by the flight control assemblies that unmanned plane 100 has.
Fig. 7 diagrammatically shows the example from unmanned plane 100 to the path of destination 50.
Fig. 8 diagrammatically shows the driving path of automobile 300 and an example of dispersal point.
Fig. 9 diagrammatically shows an example of the functional structure of flight control assemblies 600.
Figure 10 is diagrammatically shown as an example for the computer 1000 that flight control assemblies 600 function.
[symbol description]
10 networks, 20 cargos, 50 destinations, 62 paths, 64 paths, 66 paths, 70 roads, 100 unmanned planes, 110 nobody
Machine, 120 unmanned planes, 130 unmanned planes, 200 managing devices, 300 automobiles, 302 high tension batteries, 304 power transmission coils, 310 carry
Portion, 312 accommodating spaces, 320 driving paths, 322 outlets, 324 return roads, 332 dispersal points, 334 dispersal points, 336 dispersal points, 400
Electric car, 510 charging equipments, 520 charging equipments, 600 flight control assemblies, 602 destination information acquisition units, 604 direction of travel
Information acquiring section, 605 vehicle condition determination units, 606 disengaging determination sections, 608 flight control units, 610 information of vehicles acquisition units,
612 weight acquisition units, 614 apart from acquisition unit, 616 weather information acquisition units, 620 energy leading-out portions, 624 path leading-out portions, and 810
Destination, 820 destinations, 830 destinations, 1000 computers, 1010 CPU, 1020 ROM, 1030 RAM, 1040 communication I/F,
1050 hard disk drives, 1080 I/O chips, 1085 graphics controllers, 1092 master controllers, 1094 input and output control
Device
Specific embodiment
Illustrate the present invention below by way of the embodiment of invention, but following implementation does not limit entitlement requests book institute
The invention being related to.In addition, the combination of the feature illustrated in embodiment may not be entirely necessary to the solution of invention.
Fig. 1 diagrammatically shows an example of unmanned plane 100.Unmanned plane 100 has battery, is come using the electric power of battery
Propeller is rotated, so as to fly to any direction.
Unmanned plane 10 has the cargo maintaining part for keeping cargo 20.Unmanned plane 100 can pass through cargo maintaining part
It keeps flying in the state of cargo 20.Unmanned plane 100 can transport goods 20 and flying in the state of keeping cargo 20.
The unmanned plane 100 of present embodiment can be docked on vehicle, can receive power supply from vehicle and to electric power storage
It charges in pond.In fig. 1 it is illustrated that an example of automobile 300 as 100 parked vehicles of unmanned plane out.
Automobile 300 has the equipped section 310 for carrying unmanned plane 100 and the storage to the unmanned plane 100 for being equipped on equipped section 310
The charging part that battery charges.Equipped section 310 can have any shape, as long as unmanned plane 100 can be carried.In Fig. 1
In, equipped section 310 is shown with the example for accommodating the box shape of unmanned plane 100.
Charging part can charge via battery of the wired connection to unmanned plane 100.For example, charging part has being and not being
The interconnecting piece of man-machine 100 electrical connection, supplies electric power via the interconnecting piece to the battery of unmanned plane 100.In addition, charging part may be used also
Wireless charging is carried out with the battery to unmanned plane 100.
Unmanned plane 100 can have flight control assemblies (not shown).Flight control assemblies control flying for unmanned plane 100
Row.Unmanned plane 100 can be an example of the flying body by flight control assemblies control flight.
Flight control assemblies for example control the flight of unmanned plane 100, and unmanned plane 100 is configured in the equipped section of automobile 300
In 310.Flight control assemblies can take the configuration of unmanned plane 100 for the purpose that the battery to unmanned plane 100 charges
In load portion 310.In addition, flight control assemblies can also for so that automobile 300 is carried the purpose of unmanned plane 100 and by unmanned plane
100 configurations are in equipped section.Flight control assemblies can also charge for the battery to unmanned plane 100 and carry automobile 300
The two purposes of unmanned plane 100 and by unmanned plane 100 configuration in equipped section 310.
Flight control assemblies can make nobody in timing appropriate after by the configuration of unmanned plane 100 in equipped section 310
Machine 100 is detached from from equipped section 310.Flight control assemblies can based on indicate unmanned plane 100 destination destination information and
The direction of travel information of the direction of travel of automobile 300 is indicated to decide whether to make unmanned plane 100 to be detached from from equipped section 310.Certainly
It is set in the case where being allowed to disengaging, flight control assemblies control the flight of unmanned plane 100, keep unmanned plane 100 de- from equipped section 310
From.
Flight control assemblies are for example based on destination information and direction of travel information, in automobile 300 close to during destination
It is detached from unmanned plane 100, corresponding to being determined as that automobile 300 is walked remote from destination and keeps unmanned plane 100 de- from equipped section 310
From.Flight control assemblies for example monitor the direction that automobile 300 travels, and are being determined as that automobile 300 walks remote timing from destination, are making
Unmanned plane 100 is detached from from equipped section 310.
In addition, flight control assemblies are for example based on destination information and direction of travel information, corresponding to being determined as automobile 300
Continue to walk remote from destination and is detached from unmanned plane 100 from equipped section 310.Flight control assemblies are for example from the navigation of automobile 300
Whether device receives the destination information for indicating the destination of automobile 300, using the destination information, determine automobile 300 from mesh
Ground continue to walk it is remote.When enumerating concrete example, the direction that flight control assemblies travel automobile 300 is monitored, is being determined as vapour
In the case that vehicle 300 is walked far from destination, referring to the destination information of automobile 300, determine that automobile 300 is later close to destination
Or continue to walk from destination remote.
Unmanned plane 100 can be communicated with automobile 300 via wired connection.Have and unmanned plane 100 in equipped section 310
In the case where the interconnecting piece of connection, unmanned plane 100 and automobile 300 can carry out wire communication via the interconnecting piece.
Unmanned plane 100 can also be communicated with automobile 300 via wireless connection.Unmanned plane 100 can make with automobile 300
It is wirelessly connected with the arbitrary communication such as Bluetooth (registered trademark).Moreover, unmanned plane 100 and automobile 300
It can also be communicated via network 10.Network 10 can be arbitrary network, for example, may include internet, so-called 3G
(3rd Generation: 3G (Third Generation) Moblie), LTE (Long Term Evolution: long term evolution), 4G (4th
Generation: forth generation mobile communication) and the cellular networks, public nothing such as 5G (the Generation: the five third-generation mobile communication of 5th)
In line LAN (Local Area Network: local area network), private network at least any one.
Unmanned plane 100 can be communicated via network 10 with managing device 200.Unmanned plane 100 can be via network 10 from pipe
Reason device 200 receives various information.Unmanned plane 100 for example receives the dispatching destination for indicating cargo 20 from managing device 200
Destination information is dispensed as the destination information of the destination of unmanned plane 100 is indicated.Moreover, unmanned plane 100 can also be from
Managing device 200 receives the information of the vehicle of the region traveling between unmanned plane 100 and the destination of unmanned plane 100.
Fig. 2 diagrammatically shows an example of automobile 300.As shown in Fig. 2, automobile 300 can have high tension battery 302 and
Power transmission coil 304.Automobile 300 is driven by the electric power of high tension battery 302.Automobile 300 can be by high tension battery 302
Power supply is to the unmanned plane 100 for being equipped on equipped section 310.Automobile 300 can be supplied via power transmission coil 304 to unmanned plane 100
To electric power.It should be noted that automobile 300 can also be driven by internal combustion engine.In this case, automobile 300 can will lead to
The power supply of internal combustion engine sending is crossed to unmanned plane 100.
Fig. 3 diagrammatically shows another example of the equipped section 310 of automobile 300.Carry multiple in equipped section 310 shown in Fig. 3
Unmanned plane 100.Equipped section 310 includes the multiple accommodating spaces 312 for accommodating unmanned plane 100 respectively.
Multiple accommodating spaces 312 can be respectively provided with the interconnecting piece being electrically connected with unmanned plane 100, can via interconnecting piece to
The battery of unmanned plane 100 supplies electric power.Moreover, multiple accommodating spaces 312 can be respectively provided with nothing as power transmission coil 304
Line power transmission portion can be supplied electric power via wireless power transmission portion to the battery of unmanned plane 100.
Fig. 4 diagrammatically shows an example of the process of the processing carried out by the flight control assemblies that unmanned plane 100 has.?
This, illustrates that the unmanned plane 100 for maintaining cargo 20 is determined to carry out parked vehicle and be berthed in the equipped section of the vehicle, until from
Processing until the vehicle derailing.The control unit that flight control assemblies have executes each processing shown in Fig. 4 as main body.
(step is abbreviated as S sometimes in step.) in 102, determine to carry out parked vehicle.Flight control assemblies are for example right
Parsed by the image that the filming apparatus that unmanned plane 100 has takes, by it is in vehicle that image is included, drive towards nothing
The vehicle in the direction of man-machine 100 destination is determined as berthing the vehicle of object.Alternatively, flight control assemblies are filled according to by management
The destination of unmanned plane 100 is compared, at two by the multiple information of vehicles for setting 200 transmissions with the destination of vehicle
Distance between destination is in predetermined distance situation below, which is determined as berthing the vehicle of object.In addition, two
Distance between a destination be predetermined distance vehicle below there are it is multiple when, can be by the distance between two destinations
It is determined as berthing the vehicle of object for the smallest vehicle.It should be noted that the predetermined distance also can be set to according to unmanned plane
Charge residue and weight and the presumption endurance distance that calculates.Moreover, flight control assemblies are for example received in unmanned plane 100
The information of the vehicle of region traveling between position and the destination of unmanned plane 100 will be sailed according to the information of the vehicle received
It is determined as berthing the vehicle of object to the vehicle in the direction of the destination of unmanned plane 100.
In S104, controls the flight of unmanned plane 100 and configure unmanned plane 100 in the equipped section of vehicle.Unmanned plane
100 after being configured in equipped section, can be charged by the electric power from vehicle supply to battery.
In S106, the destination of unmanned plane 100 is compared with the direction of travel of vehicle.In S108, judgement is
It is no to be detached from unmanned plane 100 from equipped section.Flight control assemblies can be determined as vehicle from destination walk remote or vehicle from
Destination is continued in the case where walking far, is judged to being detached from unmanned plane 100 from equipped section.It is not judged to being allowed to the case where being detached from
Under, S106 is returned to, in the case where being judged to being allowed to disengaging, into S110.In S110, the flight of unmanned plane 100 is controlled, is made
Unmanned plane 100 is detached from from equipped section.It should be noted that can also destination and vehicle based on unmanned plane 100 purpose
Place predetermines the disengaging configuration from vehicle derailing.The disengaging configuration is for example, it can be set on the pass of vehicle
Distance to the destination of unmanned plane 100 is the smallest place, or is set as the vehicle close with the smallest place
Station.
Fig. 5 diagrammatically shows an example of the process of the processing carried out by the flight control assemblies that unmanned plane 100 has.?
In processing shown in fig. 5, illustrate in the unmanned plane 100 for maintaining cargo 20 by driving towards destination to multiple berthing for vehicle
In the case where, it determines to carry out parked vehicle and is moored to the vehicle, until mobile to other vehicles from the vehicle
Processing.The control unit that flight control assemblies have executes each processing shown in fig. 5 as main body.
In S202, determine to carry out parked vehicle.Shooting of the flight control assemblies for example to having by unmanned plane 100
The image that device takes is parsed, by the direction of destination in vehicle that image is included, driving towards unmanned plane 100
Vehicle is determined as berthing the vehicle of object.Moreover, flight control assemblies for example receive position and the unmanned plane in unmanned plane 100
The information of the vehicle of region traveling between 100 destination will drive towards unmanned plane 100 according to the information of the vehicle received
The vehicle in direction of destination be determined as berthing the vehicle of object.
In S204, controls the flight of unmanned plane 100 and configure unmanned plane 100 in the equipped section of vehicle.Unmanned plane
100 after being configured in equipped section, can be charged by the electric power from vehicle supply to battery.
In S206, the information of other vehicles is obtained.Flight control assemblies for example receive other vehicles from managing device 200
Information.In the case where institute's parked vehicle has the function of identifying the situation of nearby vehicle, flight control assemblies can also be with
The information of other vehicles is received from institute's parked vehicle.
In S208, the direction of travel of 100 parked vehicles in the destination of unmanned plane 100 and unmanned plane is compared
Compared with.In S210, determine whether to be detached from unmanned plane 100 from the equipped section of vehicle.Flight control assemblies can be determined as vehicle
From destination walk remote or vehicle from destination continue to walk it is remote in the case where, be judged to being detached from unmanned plane 100 from equipped section.
In the case where not being judged to being allowed to disengaging, S106 is returned to, in the case where being judged to being allowed to disengaging, into S212.
In S212, determine whether there are other vehicles for driving towards destination.Flight control assemblies can be according in S206
The information of other vehicles of middle acquirement, other vehicles for determining whether to have the destination for driving towards unmanned plane 100.It is being judged to depositing
In case, into S214, in the case where being judged to being not present, into S216.
In S214, the flight of unmanned plane 100 is controlled, unmanned plane 100 is made to be configured at the destination for driving towards unmanned plane 100
The equipped section of other vehicles.In S216, the flight of unmanned plane 100 is controlled, unmanned plane 100 is made to drive towards the purpose of unmanned plane 100
Ground.
Fig. 6 diagrammatically shows an example of the process of the processing carried out by the flight control assemblies that unmanned plane 100 has.?
In processing shown in fig. 6, illustrate flight control assemblies export unmanned plane 100 to fly to energy needed for destination, only
In the case where can not being reached by the flight of itself, determine comprising making unmanned plane 100 to the road to the path of vehicle berthed
The mobile processing of diameter.The control unit that flight control assemblies have executes each processing shown in fig. 6 as main body.
In S302, energy of the export up to the destination of unmanned plane 100.Flight control assemblies are for example according to based on nobody
The position of machine 100 and the destination of unmanned plane 100 the derived distance from the position of unmanned plane 100 to destination, unmanned plane
100 weight, to export energy.The weight of unmanned plane 100 may include the weight of cargo 20.
Flight control assemblies can obtain the region between from the position of unmanned plane 100 to the destination of unmanned plane 100
Weather information, and the weather information is based further on to export energy.Unmanned plane 100 for example receives gas from managing device 200
Image information.Weather information includes weather, wind direction and wind speed etc..
In S304, determine whether unmanned plane 100 can arrive at the destination.Flight control assemblies can be according in S302
Derived energy, unmanned plane 100 the surplus of battery determine whether can to arrive at the destination.It is being judged to reach
In the case where, into S310, in the case where being determined as cannot reach, into S306.
In S306, obtain in the position from unmanned plane 100 to the vehicle of the vehicle travelled between the destination of unmanned plane 100
Information.Flight control assemblies for example receive information of vehicles from managing device 200.
In S308, determine to include to the multiple paths of vehicle berthed.Flight control assemblies determine for example comprising to electricity
The path of vehicle berthed, comprising to the path of bus berthed, include path berthed to automobile etc..Flight control dress
Set can the energy according to needed for each path, unmanned plane 100 flight, unmanned plane 100 can be from the charge volume of Vehicular charging
And the distance etc. close to destination by the movement of vehicle, to determine optimal path.
In S310, the flight of unmanned plane 100 is controlled.In the case that being determined as in S304 can reach, flight control
Device processed makes unmanned plane 100 drive towards destination.In the case that being determined as in S304 cannot reach, flight control assemblies control
The flight of unmanned plane 100.So that unmanned plane 100 is moved along the optimal path determined in S308.
Fig. 7 diagrammatically shows the example from unmanned plane 100 to the path of destination 50.Flight control assemblies such as basis
The position of unmanned plane 100 and the position of destination 50 and export to the distance of destination 50, according to derived distance, unmanned plane
100 weight and export the required energy that flies on the shortest path 62 to destination 50.Flight control assemblies can will be used
It is compared in the energy to fly on shortest path 62 with the battery surplus of unmanned plane 100, when on shortest path 62
In the case that flight can arrive at the destination 50, unmanned plane 100 is made to fly on shortest path 62.
In the case where 50 can not be arrived at the destination when being determined as when the flight on shortest path 62, flight control assemblies can
To export as the required energy that flies on other paths, move unmanned plane 100 along optimal path.It is being determined as most
In the case that flight can arrive at the destination 50 on short path 62, flight control assemblies can also be exported to fly in other paths
The required energy of row, determines the path of the minimum power consumption among whole paths, and moves unmanned plane 100 along the path
It is dynamic.
In Fig. 7, other than shortest path 62, also illustrate have comprising to electric car 400 the path 64 berthed and via
The path 66 of charging equipment 510 and charging equipment 520.Flight control assemblies for example divide about path 62, path 64 and path 66
Distance and unmanned plane 100 not based on the flight of unmanned plane 100 can estimate unmanned plane 100 and reach from the charge volume of Vehicular charging
The most path of the battery surplus is determined as optimal path by battery surplus at the time of destination 50.
Flight control assemblies can be assuming that be determined as that path 62, path 64, path 66 can not all arrive at the destination 50
In the case of, the flight of unmanned plane 100 is controlled, so that going to mesh by the method for continuously taking more automobiles 300 according to situation
Ground 50.That is, flight control assemblies make unmanned plane 100 fly along road 70, unmanned plane 100 is made to be configured at taking for automobile 300
Load portion 310, wherein the automobile 300 is that basis is determined by the image that the filming apparatus that unmanned plane 100 has takes,
Being determined as automobile 300 from destination 50 and walk remote or in the case where continue to walk remote from destination 50, can execute makes unmanned plane
100 are detached from from equipped section 310 and are carried to the control of other automobiles 300.
Fig. 8 diagrammatically shows the driving path 320 of automobile 300 and an example of dispersal point.Here, enumerating the tool of automobile 300
It is illustrated in case where standby flight control assemblies.
In fig. 8, the automobile 300 for carrying unmanned plane 110, unmanned plane 120 and unmanned plane 130 is enumerated in traveling in outlet
It is detached from these unmanned planes during on 322, is said in the example that traveling recycles these unmanned planes during on return road 324
It is bright.In the example shown in Fig. 8, the respective destination of unmanned plane 110, unmanned plane 120 and unmanned plane 130 be destination 810,
Destination 820 and destination 830.
Automobile 300 starts to walk far from destination 810 in the timing by dispersal point 332, therefore flight control assemblies are de-
Unmanned plane 110 is detached from from point 332.Flight control assemblies can also stop at dispersal point 332 and be detached from unmanned plane 110.
Moreover, flight control assemblies can not also stop in automobile 300 according to the signal etc. near dispersal point 332 in dispersal point 332
Timing make unmanned plane 110 be detached from.Flight control assemblies similarly make unmanned plane 120 in the attached of dispersal point 334 or dispersal point 334
It is close to be detached from, it is detached from unmanned plane 130 near dispersal point 336 or dispersal point 336.
Automobile 300 on return road 324 when driving, can be at dispersal point 336, dispersal point 334 and dispersal point 332 to nobody
Machine 130, unmanned plane 120 and unmanned plane 110 are recycled.For example, automobile 300 on return road 324, in dispersal point 336 or is detached from
Stop near point 336 to wait unmanned plane 130.After recycling to unmanned plane 130, automobile 300 is in dispersal point 334 or takes off
From stopping near point 334 to wait unmanned plane 120.After being recycled to unmanned plane 120, automobile 300 in dispersal point 332 or
Stop near dispersal point 332 to wait unmanned plane 110.
Flight control assemblies can be according to the information of driving path 320, destination 810, destination 820 and destination 830
Position, the pre-determined point for being detached from unmanned plane 110, unmanned plane 120 and unmanned plane 130.Flight control assemblies will for example be gone
The shortest position at a distance from destination 810 in road 322 is set as dispersal point 332, by position shortest at a distance from destination 820
It installs as dispersal point 334, position shortest at a distance from destination 830 is set as dispersal point 336.
The driving path 320 that automobile 300 travels can be according to driving path 320 and destination 810, destination 820 and mesh
Ground 830 positional relationship and change part of it.For example, in the dispersal point 334 of automobile 300 in fig. 8 and dispersal point 336
Between place turn back.In this case, flight control assemblies are detached from unmanned plane 130 in the intermediate location.Automobile 300 can be at this
Intermediate location stops waiting unmanned plane 130.Moreover, automobile 300 can also wait unmanned plane 120 in the intermediate location.
Under situation shown in Fig. 8, when automobile 300 do not have flight control assemblies and unmanned plane 110, unmanned plane 120 and
When unmanned plane 130 has flight control assemblies respectively, automobile 300 starts to walk from destination 810 in the timing by dispersal point 332
Far, therefore the flight control assemblies of unmanned plane 110 are detached from unmanned plane 110 at dispersal point 332.Automobile 300 is passing through disengaging
The timing of point 334 starts to walk from destination 820 far, therefore the flight control assemblies of unmanned plane 120 make unmanned plane 120 in dispersal point
It is detached from 334.Automobile 300 starts to walk far from destination 830 in the timing by dispersal point 336, therefore the flight of unmanned plane 130
Control device is detached from unmanned plane 130 at dispersal point 336.
Fig. 9 diagrammatically shows an example of the functional structure of flight control assemblies 600.Flight control assemblies 600 have mesh
Ground information acquiring section 602, direction of travel information acquisition unit 604, vehicle condition determination unit 605, be detached from determination section 606, flight
Control unit 608, information of vehicles acquisition unit 610, weight acquisition unit 612, apart from acquisition unit 614, weather information acquisition unit 616, energy
Measure leading-out portion 620, path leading-out portion 624 and vehicle determination section 630.It should be noted that flight control assemblies 600 are not necessarily
Has above-mentioned whole structure.
Destination information acquisition unit 602 obtains the destination information for indicating the destination of unmanned plane 100.Destination information takes
It obtains portion 602 and for example receives destination information from managing device 200.In the case where setting purposefully in unmanned plane 100, purpose
Ground information acquiring section 602 can obtain destination from unmanned plane 100.
Direction of travel information acquisition unit 604 obtains the traveling side for indicating the direction of travel of 100 parked vehicles of unmanned plane
To information.Direction of travel information acquisition unit 604 for example obtains direction of travel information and being communicated with vehicle.As specific
Example, direction of travel information acquisition unit 604 receive the destination information for indicating the destination of vehicle from the navigation device of vehicle, are based on
The destination information and the direction of travel for determining vehicle.In addition, direction of travel information acquisition unit 604 can be based on the movement of vehicle
History determines the direction of travel of vehicle.
The situation of judgement 100 parked vehicles of unmanned plane of vehicle condition determination unit 605.Vehicle condition determination unit 605
Such as determine that vehicle is in movement or to stop.Moreover, vehicle condition determination unit 605 determines the travel speed of vehicle.In addition, making
For the situation of vehicle, vehicle condition determination unit 605 can also determine the situation around vehicle.For example, vehicle condition determination unit
605 determine the situation of the vehicle road to be travelled.Vehicle condition determination unit 605 for example determine vehicle driving road shape
Condition.Moreover, vehicle condition determination unit 605 for example determines the situation of the scheduled road of vehicle driving.Vehicle driving it is scheduled
Road is the road of the direction of travel of such as vehicle.As the example of condition of road surface, can there are no congestion, congestion degree,
Whether there is or not the scene of the accident and whether there is or not road constructions etc..Vehicle condition determination unit 605 can for example be received from the navigation device of vehicle
Indicate the information of condition of road surface.Moreover, vehicle condition determination unit 605 can also receive the situation of road from managing device 200.Pipe
It manages device 200 and for example receives the situation for indicating the road of vehicle driving from the website of the condition of road surface of the offer various regions on internet
Information.
It is detached from destination information that determination section 606 is obtained based on destination information acquisition unit 602 and direction of travel information takes
The direction of travel information that portion 604 obtains is obtained, determines whether to be detached from unmanned plane 100 from the equipped section of vehicle.It is detached from determination section 606
Such as based on destination information and direction of travel information, corresponding to being determined as that vehicle walks far from the destination of unmanned plane 100, determine
It is detached from unmanned plane 100 from the equipped section of vehicle.In addition, being detached from determination section 606 for example based on destination information and direction of travel
Information, remote corresponding to being determined as vehicle from the destination of unmanned plane 100 and continuing to walk, decision makes carrying of the unmanned plane 100 from vehicle
Portion is detached from.
Disengaging determination section 606 can also meet predetermined in the vehicle condition that vehicle condition determination unit 605 determines
In the case where condition, decision is detached from unmanned plane 100 from the equipped section of vehicle.Determination section 606 is detached from for example to continue in advance really
For the travel speed of vehicle lower than in the case where predetermined threshold value, decision makes carrying of the unmanned plane 100 from vehicle during fixed
Portion is detached from.As concrete example, determination section 606 is detached from during vehicle persistently predefines in the case where stopping, decision makes nothing
Man-machine 100 are detached from from the equipped section of vehicle.In addition, being detached from the traveling speed of vehicle during persistently predefining of determination section 606
In the case that degree is slow, decision is detached from unmanned plane 100 from the equipped section of vehicle.As a result, when vehicle is because of congestion or isometric accident
Between stop or travel speed it is slack-off in the case where, can make unmanned plane 100 from the equipped section of vehicle be detached from.
In addition, being detached from determination section 606 for example the case where the situation of the road of vehicle driving meets predetermined condition
Under, decision is detached from unmanned plane 100 from the equipped section of vehicle.As concrete example, determination section 606 is detached from the road of vehicle driving
There are in the case where congestion, decision is detached from unmanned plane 100 from the equipped section of vehicle.Being detached from determination section 606 can also be in vehicle
For the road of traveling there are in the case where the scene of the accident, decision is detached from unmanned plane 100 from the equipped section of vehicle.It is detached from determination section
606 can also be in the road of vehicle driving there are in the case where road construction, and decision keeps unmanned plane 100 de- from the equipped section of vehicle
From.In turn, being detached from determination section 606 can also be the case where the congestion level of the road of vehicle driving be higher than predetermined threshold value
Under, decision is detached from unmanned plane 100 from the equipped section of vehicle.
In the case where being determined by disengaging determination section 606 is detached from unmanned plane 100 from the equipped section of vehicle, flight control
Portion 608 controls the flight of unmanned plane 100, is detached from unmanned plane 100 from equipped section.
Information of vehicles acquisition unit 610 obtains the information of vehicles of vehicle, and wherein the vehicle is the position in unmanned plane 100 and mesh
The destination information that obtains of ground information acquiring section 602 represented by region traveling between destination vehicle.Information of vehicles
Acquisition unit 610 can obtain the information of vehicles of the direction of travel comprising vehicle and location information.Information of vehicles acquisition unit 610 is for example
The information of vehicles of the vehicle of the periodic operations such as the electric car travelled in the region or bus is received from managing device 200.Management
Device 200 receives the information of vehicles in the vehicle of each region periodic operation for example from internet.Moreover, information of vehicles acquisition unit
610 can also receive the information of vehicles of the automobile travelled in each region from monitoring device, wherein the monitoring device is monitored in various regions
The driving condition of the automobile travelled on the road in domain.
Be detached from determination section 606 can based on destination information acquisition unit 602 obtain destination information, direction of travel information
Acquisition unit 604 obtain direction of travel information, information of vehicles acquisition unit 610 obtain comprising carry unmanned plane 100 vehicle with
The direction of travel of outer other vehicles and the information of vehicles of location information, to determine whether to make the taking from vehicle of unmanned plane 100
Load portion is detached from.For example, being detached from the case where other vehicles of presence to the direction running of the destination close to unmanned plane 100
Determination section 606 is judged to being detached from unmanned plane 100 from the equipped section of vehicle.In this case, flight control unit 608 can control
The flight of unmanned plane 100 is detached from unmanned plane 100 from the equipped section of vehicle, and is configured in the equipped section of the others vehicle.
The weight of the acquirement unmanned plane 100 of weight acquisition unit 612.Weight acquisition unit 612 can be obtained comprising 100 institute of unmanned plane
The weight of unmanned plane 100 including the weight of the cargo 20 of holding.Weight acquisition unit 612 for example receives nothing from managing device 200
Man-machine 100 weight and the weight of cargo 20.There is the case where measurement function of the weight of measurement cargo 20 in unmanned plane 100
Under, weight acquisition unit 612 can obtain the weight of the cargo 20 determined by the measurement function.
It obtains apart from acquisition unit 614 from the position of unmanned plane 100 to the distance of the destination of unmanned plane 100.Distance obtains
For example believed according to the destination that the location information for the position for indicating unmanned plane 100 and destination information acquisition unit 602 obtain in portion 614
The position of the represented destination of breath, calculates the distance.Can for example obtain apart from acquisition unit 614 has by unmanned plane 100
GPS etc. the location information that goes out of position finding functional examination.
Weather information acquisition unit 616 obtains the region between from the position of unmanned plane 100 to the destination of unmanned plane 100
Weather information.Weather information acquisition unit 616 for example receives the weather information from managing device 200.Managing device 200 is for example from mutual
The weather information of each region is obtained in networking.
Energy needed for flight of the export of energy leading-out portion 620 from the position of unmanned plane 100 to the destination of unmanned plane 100
Amount.Energy leading-out portion 620 for example based on weight acquisition unit 612 obtain unmanned plane 100 weight and apart from acquisition unit 614 obtain
Distance export energy.Energy leading-out portion 620 for example can export energy by referring to registration data, the registration data needle
Energy needed for being registered with flight to the various combinations of weight and distance.Such registration data can be generated by theoretical value, separately
It can also be generated outside by testing repeatedly.
Energy leading-out portion 620 is also based on the weather information of the acquirement of weather information acquisition unit 616 to export energy.Energy
Leading-out portion 620 can for example export energy by referring to registration data, and wherein the registration data is directed to weight, distance and meteorology
Combination and be registered with flight needed for energy.Such registration data can be generated by theoretical value, in addition can also be by anti-
Multiple experiment is to generate.
The information of vehicles that path leading-out portion 624 is obtained based on information of vehicles acquisition unit 610 is exported from the position of unmanned plane 100
It sets to the path of destination.Energy leading-out portion 620 can export unmanned plane 100 on the path as derived from path leading-out portion 624
Consumed energy in the case where movement.Energy leading-out portion 620 is for example in unmanned plane 100 as derived from path leading-out portion 624
In the case where moving on path, the distance and unmanned plane 100 flown based on unmanned plane 100 can be from the chargings of Vehicular charging
Amount, to estimate battery surplus at the time of unmanned plane 100 arrives at the destination, by the battery surplus of unmanned plane 100 with
The difference of the battery surplus deduced exports as the energy that unmanned plane 100 is consumed when moving on path.
Path leading-out portion 624 can choose the consumption as derived from energy leading-out portion 620 in the case where exporting multiple paths
The least path of energy is as optimal path.Flight control unit 608 can control the flight of unmanned plane 100, make it by path
It is moved on the optimal path that leading-out portion 624 selects.
Vehicle determination section 630 determines the vehicle of configuration unmanned plane 100.Vehicle determination section 630 is for example taken based on information of vehicles
The information of vehicles that portion 610 obtains is obtained to determine the vehicle of configuration unmanned plane 100.As concrete example, vehicle determination section 630 according to
The moving direction and location information of the vehicle of region traveling between from the position of unmanned plane 100 to the destination of unmanned plane 100,
It will be located in predetermined range away from unmanned plane 100 and be determined as configuring towards the vehicle that the destination of unmanned plane 100 travels
The vehicle of unmanned plane 100.Flight control unit 608 can control the flight of unmanned plane 100, and unmanned plane 100 is configured to by vehicle
In the equipped section for the vehicle that determination section 630 determines.
The vehicle of periodic operation can also be preferentially determined as the vehicle of configuration unmanned plane 100 by vehicle determination section 630.Periodically
The vehicle of operation, which can be, regularly to be transported for example between defined place and other places according to predetermined pass
Capable vehicle.For example, including route bus or railway.Thereby, it is possible to determine the configuration of unmanned plane 100 in moving direction
Vehicle can make unmanned plane 100 steadily close to destination by the vehicle.
Figure 10 is diagrammatically shown as an example for the computer 1000 that flight control assemblies 600 function.This implementation
The computer 1000 of mode has: CPU peripheral portion, have by the CPU1010 interconnected of master controller 1092,
RAM1030 and graphics controller 1085；And input and output portion, have and passes through input and output controller 1094 and main control
ROM1020, communication I/F1040, hard disk drive 1050 and the I/O chip 1080 that device 1092 connects.
CPU1010 is acted based on the program saved in ROM1020 and RAM1030, carries out the control in each portion.Figure control
Device 1085 processed obtains the image data that CPU1010 etc. is generated in the frame buffer being set in RAM1030, and it is aobvious to be shown in it
Show on device.It is replaced in this, graphics controller 1085 can also be internal comprising saving by the image data of the generations such as CPU1010
Frame buffer.
Communication I/F1040 is communicated via network with other devices by wired or wireless.Moreover, communication I/F1040 makees
Hardware to be communicated functions.Hard disk drive 1050 saves the program and data that CPU1010 is used.
ROM1020 preserves the bootstrap that executes and the hardware dependent on computer 1000 when computer 1000 starts
Program etc..I/O chip 1080 will be various via such as parallel port, serial port, keyboard port, mouse port etc.
Input/output unit is connected to input and output controller 1094.
To the program that hard disk drive 1050 provides the recording mediums such as IC card are stored in via RAM1030 and by user
To provide.Program is read from recording medium, is installed on hard disk drive 1050 via RAM1030, is held in CPU1010
Row.
It is installed on computer 1000 and the program for functioning computer 1000 as flight control assemblies 600 exists
It is run in CPU1010 etc., does not function computer 1000 as each section of flight control assemblies 600.These programs note
The information processing stated is read in by computer 1000, and the specific means thus to be cooperated with above-mentioned various hardware resources as software are i.e.
Destination information acquisition unit 602, vehicle condition determination unit 605, is detached from determination section 606, flies direction of travel information acquisition unit 604
Row control unit 608, information of vehicles acquisition unit 610, weight acquisition unit 612, apart from acquisition unit 614, weather information acquisition unit 616,
Energy leading-out portion 620, path leading-out portion 624 and vehicle determination section 630 function.Also, it is real by these specific means
Now thus constructs out using the operation or processing of the corresponding information of purpose with the computer of present embodiment 1000 and use mesh
Corresponding distinctive flight control assemblies 600.
In the above-described embodiment, the example that unmanned plane 100 has flight control assemblies is mainly enumerated to be illustrated, but
It is to be not limited thereto.It is functioned for example, managing device 200 can also be used as flight control assemblies.Managing device 200 can be with
Control the flight of unmanned plane 100.Managing device 200 can be controlled by sending the control signal of control flight to unmanned plane 100
The flight of unmanned plane 100 processed.
For example, flight control assemblies can be from unmanned plane in the case where managing device 200 has flight control assemblies
100 receive the destination information for indicating the destination of unmanned plane 100.It goes moreover, flight control assemblies can be received from automobile 300
Into directional information.For example, flight control assemblies receive direction of travel information from the navigation device of automobile 300.Flight control assemblies
It can be decided whether to be detached from unmanned plane 100 from equipped section according to destination information and direction of travel information, be determined as making
Disengaging in the case where, to unmanned plane 100 send control signal, thus make unmanned plane 100 from equipped section be detached from.
In addition, flight control assemblies can also be configured at automobile 300 as being illustrated Fig. 8.Has flight control in automobile 300
In the case where device processed, flight control assemblies can be received from unmanned plane 100 indicates that the destination of the destination of unmanned plane 100 is believed
Breath.Moreover, flight control assemblies can receive direction of travel information from automobile 300.For example, flight control assemblies are configured to
It is communicated with the navigation device of automobile 300, receives direction of travel information from navigation device.Flight control assemblies can be according to destination
Information and direction of travel information decide whether to make the unmanned plane 100 be detached from from equipped section, in the case where being determined as being allowed to disengaging,
Control signal is sent to unmanned plane 100, so that unmanned plane 100 be made to be detached from from equipped section.
More than, the present invention is illustrated using embodiment, but technical scope of the invention is not limited to above-mentioned implementation
The range that mode is recorded.The case where numerous variations or improvement can be applied to above embodiment, carrys out those skilled in the art
It says self-evident.It is clear that such mode for being applied with change or improvement can also be wrapped according to the record of claims
Contained in technical scope of the invention.
It should be noted that about claims, specification and device shown in the accompanying drawings, system, program and method
That manages everywhere in movement, order, step and stage etc. executes sequence, if do not express especially " before ", it is " prior to " etc. and subsequent
Processing be not used previous processed output, then can realize in any order.About claims, specification and attached drawing
In motion flow, use for convenience's sake " first ", " next, " etc. be illustrated, but not necessarily with this
Sequence is implemented.
Claims (17)
1. a kind of flight control assemblies, have:
Destination information acquisition unit obtains the destination information for indicating to have the destination of flying body of battery；
Direction of travel information acquisition unit, obtains the direction of travel information for indicating the direction of travel of vehicle, which has carrying institute
State the equipped section of flying body and the charging part to battery charging；
It is detached from determination section, decides whether to make the flying body from institute based on the destination information and the direction of travel information
State equipped section disengaging；And
Flight control unit controls the flying body in the case where determining is detached from the flying body from the equipped section
Flight.
2. flight control assemblies according to claim 1, wherein
The disengaging determination section correspond to based on the destination information and the direction of travel information be determined as the vehicle from
Remote situation is walked in the destination, and decision is detached from the flying body from the equipped section.
3. flight control assemblies according to claim 1, wherein
The disengaging determination section correspond to based on the destination information and the direction of travel information be determined as the vehicle from
The destination continues to walk remote situation, and decision is detached from the flying body from the equipped section.
4. flight control assemblies described in any one of claim 1 to 3, wherein
Purpose of the direction of travel information acquisition unit based on the expression vehicle received from the navigation device of the vehicle
The destination information on ground obtains the direction of travel information.
5. flight control assemblies according to any one of claims 1 to 4, wherein
The direction of travel information acquisition unit obtains the mobile history direction of travel information generated based on the vehicle.
6. flight control assemblies according to any one of claims 1 to 5, wherein
The flight control assemblies have information of vehicles acquisition unit, and the information of vehicles acquisition unit obtains the information of vehicles of vehicle,
The vehicle is the region between the destination for the flying body that the position of the flying body and the destination information indicate
The vehicle of traveling,
It is described to be detached from the destination information, the direction of travel letter that determination section is obtained based on the destination information acquisition unit
Cease the institute comprising carrying the flying body that the direction of travel information, the information of vehicles acquisition unit that acquisition unit obtains obtain
The direction of travel and the information of vehicles including location information for stating other vehicles other than vehicle, decide whether to make the flying body from
The equipped section is detached from,
The flight control unit makes the flying body be moved to the equipped sections of other vehicles.
7. flight control assemblies described according to claim 1~any one of 6, wherein
The flight control assemblies have:
Weight acquisition unit obtains the weight of the flying body；
Apart from acquisition unit, obtain from the flying body to the distance of the destination；And
Energy leading-out portion is exported based on the weight and the distance in the case that the flying body flies to the destination
Consumed energy,
The disengaging determination section is also based on energy derived from the energy leading-out portion and decides whether to take the flying body from described
Load portion is detached from.
8. flight control assemblies according to claim 7, wherein
The flying body has the cargo maintaining part for keeping cargo,
The weight acquisition unit obtains the weight of the flying body including the weight comprising the cargo.
9. flight control assemblies according to claim 7 or 8, wherein
The flight control assemblies have weather information acquisition unit, and the weather information acquisition unit is obtained from the flying body to institute
The weather information of the region between destination is stated,
The energy leading-out portion is based on the weather information also to export the energy.
10. flight control assemblies according to claim 1, wherein
The flight control assemblies have:
Information of vehicles acquisition unit obtains the ground between the destination that the position of the flying body and the destination information indicate
The information of vehicles of the vehicle of domain traveling；And
Path leading-out portion exports the path from the position of the flying body to the destination based on the information of vehicles,
The flight control unit controls the flight of the flying body, flies it on the path as derived from the path leading-out portion
Row.
11. flight control assemblies described according to claim 1~any one of 10, wherein
The flight control assemblies have vehicle determination section, and the vehicle determination section determines to configure the vehicle of the flying body,
The flight control unit controls the flight of the flying body, is configured to the flying body and is determined by the vehicle determination section
The equipped section of vehicle out.
12. flight control assemblies according to claim 11, wherein
The vehicle for carrying out periodic operation is preferentially determined as configuring the vehicle of the flying body by the vehicle determination section.
13. flight control assemblies described according to claim 1~any one of 12, wherein
The flight control assemblies have vehicle condition determination unit, and the vehicle condition determination unit determines to carry the flying body
The situation of the vehicle,
When the situation of the vehicle meets predetermined condition, disengaging determination section decision makes the flying body from described
Equipped section is detached from.
14. flight control assemblies according to claim 13, wherein
The vehicle condition determination unit determines the travel speed of the vehicle,
When the travel speed of the vehicle is lower than predetermined threshold value during persistently predefining, the disengaging determination section
Decision is detached from the flying body from the equipped section.
15. flight control assemblies described according to claim 1~any one of 14, wherein
The flying body is unmanned plane.
16. a kind of computer readable storage medium, is stored with for making computer as described in any one of claim 1~15
The program that functions of flight control assemblies.
17. a kind of vehicle has flight control assemblies described in any one of claim 1~15.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018-035885 | 2018-02-28 | ||
| JP2018035885A JP2019151149A (en) | 2018-02-28 | 2018-02-28 | Flight control device, program and vehicle |
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| Publication Number | Publication Date |
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| CN110209189A true CN110209189A (en) | 2019-09-06 |
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ID=67785212
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910138780.9A Pending CN110209189A (en) | 2018-02-28 | 2019-02-25 | Flight control assemblies, storage medium and vehicle |
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| CN (1) | CN110209189A (en) |
Cited By (2)
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| CN111766892A (en) * | 2019-12-31 | 2020-10-13 | 广州极飞科技有限公司 | Unmanned aerial vehicle route planning method, unmanned aerial vehicle, system and storage medium |
| CN114643923A (en) * | 2020-12-18 | 2022-06-21 | 乐天集团股份有限公司 | Travel control system, control method, and control device |
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| JP6663054B1 (en) * | 2019-02-05 | 2020-03-11 | 三菱ロジスネクスト株式会社 | Power supply system and vehicle for unmanned aerial vehicles |
| JP7355316B2 (en) | 2019-09-30 | 2023-10-03 | 株式会社トップライズ | Mobile object management system, mobile object management device, and mobile object management method |
| KR102288333B1 (en) * | 2019-12-30 | 2021-08-10 | 연세대학교 산학협력단 | Apparatus and method for controlling uav in uav-based fso communications |
| JP6810494B1 (en) * | 2020-03-04 | 2021-01-06 | 株式会社センシンロボティクス | Aircraft management server and management system |
| JP6777962B1 (en) * | 2020-03-04 | 2020-10-28 | 株式会社センシンロボティクス | Aircraft management server and management system |
| JP7347372B2 (en) | 2020-08-26 | 2023-09-20 | トヨタ自動車株式会社 | Route determination system, route determination method and route determination program |
| JP6811508B1 (en) * | 2020-08-27 | 2021-01-13 | 株式会社エアロネクスト | Landing equipment |
| JP2022039891A (en) * | 2020-08-27 | 2022-03-10 | 株式会社エアロネクスト | Landing equipment |
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| JP2019151149A (en) | 2019-09-12 |
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Application publication date: 20190906 |