CN110366711A - Information processing unit, flight control instructions method and recording medium - Google Patents
Information processing unit, flight control instructions method and recording medium Download PDFInfo
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- CN110366711A CN110366711A CN201880014644.2A CN201880014644A CN110366711A CN 110366711 A CN110366711 A CN 110366711A CN 201880014644 A CN201880014644 A CN 201880014644A CN 110366711 A CN110366711 A CN 110366711A
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 title claims abstract description 127
- 230000010365 information processing Effects 0.000 title claims abstract description 27
- 238000000034 method Methods 0.000 title claims description 38
- 238000012545 processing Methods 0.000 claims abstract description 59
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- 238000005259 measurement Methods 0.000 claims description 9
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/02—Initiating means
- B64C13/16—Initiating means actuated automatically, e.g. responsive to gust detectors
- B64C13/20—Initiating means actuated automatically, e.g. responsive to gust detectors using radiated signals
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- 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
-
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
Abstract
A kind of information processing unit for the flight control indicating multiple flying bodies, and has processing unit, processing unit obtains the information of the flight shape for the flight position formation using multiple flying bodies and the position configured with flight shape, it calculates for the parameter towards the multiple flying body respective positions guidance being formed in the position of flight shape, based on parameter, the flight control that multiple flying bodies are inscribed when the 2nd after the 1st moment is indicated.Described device will can be used to carry out flying body group the setting summary of flight control, so as to promote freedom degree when each flying body flight.
Description
The present invention relates to information processing unit, flight control instructions method and the recording mediums of a kind of flight control for indicating multiple flying bodies.
In recent years, multiple push-button aircrafts cooperate with flight to be well known in 1 region.To make multiple push-button aircrafts synergistically fly, for example, by executing scheduled mission program, multiple push-button aircrafts can synergistically fly (referring to patent document 1).In patent document 1, it is mobile that aerial designated position is moved to by the instruction from earth station as multiple bodies that circle in the air of multiple push-button aircrafts, is carried out luminous.Observer can observe constellation etc. with simulating as a result,.
[patent document 1] Japanese Patent Laid-Open 2016-206443 bulletin
Summary of the invention
[problems to be solved by the invention]
The body that circles in the air recorded in patent document 1 can fly according to the flight path or flight position being previously set, but be difficult to fly in view of the flight path or flight position that are not previously set.For example, the system recorded in patent document 1 can not specify multiple bodies that circle in the air to be formed by flight shape in real time, freedom degree when push-button aircraft flight is lower.Moreover, being not easy to carry out for setting the cumbersome of flight path or flight position.
Moreover, if using operating device (proportional controller), shooting push-button aircraft flight can then reflect the intention of manipulator in real time, indicate flight path or flight position to push-button aircraft.However, manipulating multiple push-button aircrafts needs multiple operating devices, to be difficult to synergistically manipulate multiple push-button aircrafts.And, it is difficult to the flight shape of multiple body formation of circling in the air is specified in real time.
[technical means to solve problem]
In an aspect, information processing unit is a kind of information processing unit of flight control for indicating multiple flying bodies, it has processing unit, processing unit obtains the information of the flight shape for the flight position formation using multiple flying bodies and the position configured with flight shape, the location information of multiple flying bodies is inscribed when obtaining the 1st, it calculates for the parameter towards multiple flying body respective positions guidance in the position configured with flight shape, based on the parameter, indicate the 1st moment after the 2nd when inscribe multiple flying bodies flight control.
Processing unit can obtain for using multiple flying bodies towards flight shape position guide the 1st parameter as parameter, position and the flight shape of multiple flying bodies are inscribed when based on the 1st, calculate the 2nd parameter separated for each flying body from all ends of other flying bodies and flight shape, based on parameter, the flight control that multiple flying bodies are inscribed when the 2nd is indicated.
Processing unit can be based on the 1st parameter and the 2nd parameter, and position and the speed of flying body are inscribed when calculating the 2nd, and position and speed based on flying body indicate the flight control of flying body.
Processing unit inscribes the position of flying body when can be by the 2nd and speed is transmitted to flying body.
Processing unit inscribes the absolute fix and actual measurement speed of multiple flying bodies when can obtain the 2nd, the location information that multiple flying bodies are inscribed when the absolute fixes of multiple flying bodies is set as the 1st is inscribed when by the 2nd.
Processing unit inscribes calculating position and the calculating speed of multiple flying bodies when can obtain the 2nd, the location information that multiple flying bodies are inscribed when the calculating positions of multiple flying bodies is set as the 1st is inscribed when by the 2nd.
Processing unit repeated multiple times can carry out the position that flying body is inscribed when the 2nd and speed calculates, and generates the flight path of flying body flight, is based on flight path, indicates the flight control of flying body.
Processing unit can continue the position that flying body is calculated based on the 1st parameter and the 2nd parameter and speed until the speed of each flying body becomes threshold value or less.
Processing unit can calculate the 2nd parameter of each flying body based on each flying body at a distance from other flying bodies other than each flying body and with to avoid the safe distance collided with other flying bodies.
Processing unit can calculate the 2nd parameter of each flying body based on each flying body at a distance from flight shape Zhou Duan.
In one aspect, flight control instructions method is the flight control instructions method in a kind of information processing unit of flight control for indicating multiple flying bodies comprising following steps: obtains the flight shape and the information of the position configured with flight shape formed for the flight position using multiple flying bodies；The location information of multiple flying bodies is inscribed when obtaining the 1st；It calculates for the parameter towards multiple flying body respective positions guidance in the position configured with flight shape；And be based on parameter, indicate the 1st moment after the 2nd when inscribe multiple flying bodies flight control.
The step of calculating parameter may include following steps: obtain for using multiple flying bodies towards flight shape position guide the 1st parameter as parameter, position and the flight shape of multiple flying bodies are inscribed when based on the 1st, calculate the 2nd parameter separated for each flying body from all ends of other flying bodies and flight shape.The step of the step of instruction flight control may include being based on parameter, indicate the flight control that multiple flying bodies are inscribed when the 2nd.
The step of instruction flight control may include following steps: being based on the 1st parameter and the 2nd parameter, position and the speed of flying body are inscribed when calculating the 2nd；And position and speed based on flying body, indicate the flight control of flying body.
Indicate the step of position that flying body is inscribed when the step of flight controls may include by the 2nd and speed are transmitted to flying body.
Flight control instructions method can further include the step of absolute fix that multiple flying bodies are inscribed when obtaining the 2nd and actual measurement speed.The step of obtaining the location information of flying body inscribes multiple flying bodies absolute fix when including the steps that the 2nd inscribes the location information of multiple flying bodies when being set as the 1st.
The step of flight control instructions method inscribes calculating position and the calculating speed of multiple flying bodies when can further include acquisition the 2nd.The step of location information of multiple flying bodies is inscribed when being set as the 1st in the step of obtaining the location information of flying body inscribes multiple flying bodies calculating position when may include by the 2nd.
The step of indicating flight control may include following steps: the calculating of the repeated multiple times position and speed for inscribe when the 2nd flying body generates the flight path of flying body flight；And it is based on flight path, indicate the flight control of flying body.
The step of indicating flight control may include the position for continuing to calculate flying body based on the 1st parameter and the 2nd parameter and speed until the speed of each flying body reaches the step of threshold value or less.
The step of the step of calculating parameter may include the safe distance based on each flying body at a distance from other flying bodies other than each flying body and for avoiding colliding with other flying bodies, calculate 2 parameter of each flying body.
The step of calculating parameter may include the step of calculating 2 parameter of each flying body based on each flying body at a distance from the Zhou Duan of flight shape.
In one embodiment, program is to make the information processing unit for the flight control for indicating multiple flying bodies execute following steps: obtaining the information of the flight shape and the position configured with flight shape that are used for being formed using the flight position of multiple flying bodies；The location information of multiple flying bodies is inscribed when obtaining the 1st；It calculates for the parameter towards multiple flying body respective positions guidance in the position configured with the flight shape；And based on the parameter, the flight control that multiple flying bodies are inscribed when the 2nd after the 1st moment is indicated.
In an aspect, recording medium is a kind of computer-readable recording medium, records useful so as to indicate the program for the information processing unit execution following steps that the flight of multiple flying bodies controls: obtaining the information of the flight shape for the flight position formation using multiple flying bodies and the position configured with flight shape；The location information of multiple flying bodies is inscribed when obtaining the 1st；It calculates for the parameter towards multiple flying body respective positions guidance in the position configured with the flight shape；And based on the parameter, the flight control that multiple flying bodies are inscribed when the 2nd after the 1st moment is indicated.
In addition, the summary of the invention and unlisted whole features of the invention.Moreover, the sub-portfolio of the grade syndromes is still likely to become invention.
Fig. 1 is the schematic diagram for indicating the 1st configuration example of the flying body set control system in the 1st embodiment.
Fig. 2 is the schematic diagram for indicating the 2nd configuration example of the flying body set control system in the 1st embodiment.
Fig. 3 is an exemplary figure for indicating the specific appearance of push-button aircraft.
Fig. 4 is an exemplary block diagram for indicating the hardware configuration of push-button aircraft.
Fig. 5 is an exemplary block diagram for indicating the hardware configuration of terminal.
Fig. 6 is the figure for indicating the position of multiple push-button aircrafts in-flight.
Fig. 7 is to indicate in flight simulation, the shape for the target that multiple push-button aircrafts are synergistically flown with push-button aircraft group and the figure of position.
Fig. 8 is the figure for illustrating the gravitation for making each push-button aircraft close to target position in flight simulation.
Fig. 9 is the figure for illustrating the repulsion for avoiding push-button aircraft to collide in flight simulation.
Figure 10 is to illustration in the resultant force of push-button aircraft and the figure of the calculating of acceleration.
Figure 11 is the figure for indicating to act on the acceleration of each push-button aircraft.
The figure of the acceleration of each push-button aircraft is acted under at the time of Figure 12 is after indicating Figure 11.
The figure of the acceleration of each push-button aircraft is acted under at the time of Figure 13 is after indicating Figure 12.
The figure of the positional relationship of each push-button aircraft of the push-button aircraft group in target is included under at the time of Figure 14 is after indicating Figure 13.
Figure 15 is the timing diagram for indicating the operating process of terminal and push-button aircraft in the 1st embodiment.
Figure 16 is the 1st flow chart for indicating the flight simulation operating process in S4 etc..
Figure 17 is the 2nd timing diagram of the operating process of the terminal and push-button aircraft in the variation for indicate the 1st embodiment.
Figure 18 is the 1st timing diagram for indicating the operating process of terminal and each push-button aircraft in the 2nd embodiment.
Figure 19 is an exemplary flow chart for indicating the flight simulation operating process in S54 etc..
Figure 20 is the 2nd timing diagram of the operating process of the terminal and push-button aircraft in the variation for indicate the 2nd embodiment.
Appended drawing reference:
10 flying body set control systems
80 terminals
81 terminal control portions
83 operation portions
85 communication units
87 memories
88 display units
89 memories
100 push-button aircrafts
100G push-button aircraft group
110 UAV control units
150 communication interfaces
160 memories
170 memories
200 balance annular shelfs
210 rotor mechanisms
220,230 image pickup part
240 GPS receiver
250 inertial measuring units
260 magnetic compasses
270 vapour-pressure type altimeters
280 ultrasonic sensors
290 laser measuring apparatus
An acceleration
Fa gravitation
Fr11, Fr12, Fr13, Fr2 repulsion
GP center of gravity
Rs safe distance
Sr safety loop
TG target
The front end Tp
Hereinafter, by the embodiment of invention, the present invention will be described, but the following embodiments and the accompanying drawings and the non-limiting invention according to claims.Necessary to the solution that the whole features combination illustrated in embodiment is not necessarily invented.
In claims, specification, attached drawing and abstract, comprising as the item by copyright protection object.Copyright possessor replicates anyone grade files carried out, must not raise an objection as long as the archives for meeting the special permission Room or as long as putting on record.But in addition to this case where, retains all copyrights.
In the following embodiments, as flying body, push-button aircraft (UAV:Unmanned Aerial Vehicle) is instantiated.Push-button aircraft includes the aircraft in aerial mobile.In the attached drawing of this specification accompanying, push-button aircraft is denoted as " UAV ".Moreover, instantiating push-button aircraft, terminal and PC (Personal Computer, personal computer) as information processing unit.In addition, information processing unit is also possible to device, such as transmitter (proportional controller (Propotional Controller)) and other devices other than push-button aircraft, terminal or PC.Flight control instructions method defines the operation of information processing unit.Moreover, recording medium is recorded program (such as the program for making information processing unit execute various processing).
(the 1st embodiment)
Fig. 1 is the schematic diagram for indicating the 1st configuration example of the flying body set control system 10 in the 1st embodiment.Flying body set control system 10 has push-button aircraft 100 and terminal 80.Push-button aircraft 100 and terminal 80 can be communicated reciprocally with wire communication or wireless communication (such as Wireless LAN (Local Area Network, local area network)).In Fig. 1, the case where terminal 80 is terminal (such as smart phone, tablet terminal) is instantiated.Terminal 80 is an example of information processing unit.
In addition, flying body set control system 10 can be the composition with push-button aircraft 100, transmitter and terminal 80.When with transmitter, left and right control-rod of the configuration before transmitter is can be used in user, indicates the flight control of push-button aircraft.Moreover, in the case, push-button aircraft 100, transmitter and terminal 80 can reciprocally with wire communication or be communicated.
Fig. 2 is the schematic diagram for indicating the 2nd configuration example of the flying body set control system 10 in the 1st embodiment.In Fig. 2, the case where terminal 80 is PC is instantiated.No matter Fig. 1 or Fig. 2, function possessed by terminal 80 can be identical.
Fig. 3 is an exemplary figure for indicating the specific appearance of push-button aircraft 100.In Fig. 3, perspective view of the push-button aircraft 100 with moving direction STV0 flight when is illustrated.Push-button aircraft 100 is an example of flying body.
As shown in figure 3, by parallel to the ground and to move along the direction definition of direction STV0 be wobble shaft (referring to x-axis).In the case, be pitch axis (referring to y-axis) by direction definition parallel to the ground and vertical with wobble shaft, be yaw axis by direction definition perpendicular to the ground and vertical with wobble shaft and pitch axis in turn (referring to z-axis).
Push-button aircraft 100 is the composition comprising UAV ontology 102, balance annular shelf 200, image pickup part 220 and multiple image pickup parts 230.
UAV ontology 102 has multiple rotors (propeller).UAV ontology 102 makes push-button aircraft 100 fly by controlling multiple rotor wing rotations.UAV ontology 102 is so that push-button aircraft 100 is flown using such as 4 rotors.The number of rotor is not limited to 4.Moreover, push-button aircraft 100 is also possible to the fixed wing aircraft for not having rotor.
Image pickup part 220 is the camera shooting video camera of subject contained in the desired image pickup scope of shooting (such as the scenery, above ground structure such as scene, mountains and rivers of sky as aerophotography object).
Multiple image pickup parts 230 are the sensing video cameras for flying for control push-button aircraft 100 and being shot to 100 surrounding of push-button aircraft.2 image pickup parts 230 can be set in the front as head of push-button aircraft 100.In turn, other 2 image pickup parts 230 can be set in the bottom surface of push-button aircraft 100.2 image pickup parts 230 of face side in pairs, can play the role of so-called stereo camera.2 image pickup parts 230 of bottom surface side also in pairs, can play the role of stereo camera.The three-dimensional space data around push-button aircraft 100 can be generated based on the image shot by multiple image pickup parts 230.In addition, the number for the image pickup part 230 that push-button aircraft 100 has is not limited to 4.Push-button aircraft 100 has at least one image pickup part 230.Push-button aircraft 100 can be each provided at least one image pickup part 230 in the head of push-button aircraft 100, tail, side, bottom surface and top surface.The visual angle that can be set by image pickup part 230 can be greater than the visual angle that can be set by image pickup part 220.Image pickup part 230 can have single-focus lens or fish eye lens.
Fig. 4 is an exemplary block diagram for indicating the hardware configuration of push-button aircraft 100.The composition of push-button aircraft 100 includes UAV control unit 110, communication interface 150, memory 160, memory 170, balance annular shelf 200, rotor mechanism 210, image pickup part 220, image pickup part 230, GPS receiver 240, inertial measuring unit (IMU:Inertial Measurement Unit) 250, magnetic compass 260, vapour-pressure type altimeter 270, ultrasonic sensor 280 and laser measuring apparatus 290.
UAV control unit 110 is using such as CPU (Central Processing Unit, central processing unit), MPU (Micro Processing Unit, microprocessor) or DSP (Digital Signal Processor, digital signal processor) and constitute.UAV control unit 110 handle to the data input and output run each component of push-button aircraft 100 between the signal processing and other each components that are centrally controlled and data operation handles and data storage processing.
UAV control unit 110 controls push-button aircraft 100 and flies according to the program stored in memory 160.The flight control instructions that UAV control unit 110 can be issued according to transmitter or terminal 80, control flight.UAV control unit 110 can make 230 aerial photographing image of image pickup part 220 or image pickup part.
UAV control unit 110 obtains the location information for indicating the position of push-button aircraft 100.UAV control unit 110 can obtain the location information of the latitude for indicating 100 place of push-button aircraft, longitude and height from GPS receiver 240.UAV control unit 110 can obtain the Latitude-Longitude information of the latitude and longitude where indicating push-button aircraft 100 from GPS receiver 240, and come from the elevation information that vapour-pressure type altimeter 270 obtains the height where indicating push-button aircraft 100 respectively as location information.The Ultrasonic Radiation point that UAV control unit 110 can obtain ultrasonic sensor 280 is used as elevation information at a distance from ultrasonic reflections point.
UAV control unit 110 can obtain the orientation information for indicating 100 direction of push-button aircraft from magnetic compass 260.Orientation information can be for example with the head of push-button aircraft 100 towards corresponding orientation references.
UAV control unit 110 can obtain the location information of position for indicating that push-button aircraft 100 should be in when the image pickup scope that should be shot is shot in image pickup part 220.UAV control unit 110 can obtain the location information for the position for indicating that push-button aircraft 100 should be in from memory 160.UAV control unit 110 can obtain the location information for the position for indicating that push-button aircraft 100 should be in via communication interface 150 from other devices.UAV control unit 110 can refer to three-dimensional map data library, after determining the position that push-button aircraft 100 may be in, obtain the location information for the position that the position should be in as expression push-button aircraft 100.
UAV control unit 110 can obtain the image pickup scope information for indicating image pickup part 220 and the respective image pickup scope of image pickup part 230.UAV control unit 110 can obtain the Viewing-angle information for indicating the visual angle of image pickup part 220 and image pickup part 230 from image pickup part 220 and image pickup part 230, as the parameter to determine image pickup scope.UAV control unit 110 can obtain the information for indicating the camera shooting direction of image pickup part 220 and image pickup part 230, as the parameter to determine image pickup scope.UAV control unit 110 can self-balancing ring stand 200 obtain indicate image pickup part 220 posture state pose information, as example indicate image pickup part 220 camera shooting direction information.The pose information of image pickup part 220 can indicate the rotation angle of the pitch axis of balance annular shelf 200 and the relative datum rotation angle of yaw axis.
UAV control unit 110 can obtain the location information for indicating 100 position of push-button aircraft, as the parameter to determine image pickup scope.UAV control unit 110 can visual angle based on image pickup part 220 and image pickup part 230 and camera shooting direction and the position of push-button aircraft 100, delimit the image pickup scope for indicating geographic range captured by image pickup part 220, image pickup scope information is generated, obtains image pickup scope information as a result,.
UAV control unit 110 can obtain image pickup scope information from memory 160.UAV control unit 110 can obtain image pickup scope information via communication interface 150.
UAV control unit 110 controls balance annular shelf 200, rotor mechanism 210, image pickup part 220 and image pickup part 230.UAV control unit 110 can control the image pickup scope of image pickup part 220 by changing camera shooting direction or the visual angle of image pickup part 220.UAV control unit 110 can control the image pickup scope of the image pickup part 220 supported by balance annular shelf 200 by controlling the rotating mechanism of balance annular shelf 200.
So-called image pickup scope refers to the geographic range shot by image pickup part 220 or image pickup part 230.Image pickup scope is defined with latitude, longitude and height.Image pickup scope can be with the range in the three-dimensional space data of latitude, longitude and height definition.Image pickup scope is also possible to the range in the two-dimensional space data defined with latitude and longitude.Image pickup scope can be determined based on the visual angle and camera shooting direction of image pickup part 220 or image pickup part 230 and the position of push-button aircraft 100.The camera shooting direction of image pickup part 220 and image pickup part 230 can be defined according to the orientation of positive institute's direction equipped with pick-up lens of image pickup part 220 and image pickup part 230 and the angle of depression.The camera shooting direction of image pickup part 220 can be the direction determined according to the head orientation and image pickup part 220 of push-button aircraft 100 relative to the posture state of balance annular shelf 200.The camera shooting direction of image pickup part 230 can be the direction that the head orientation according to push-button aircraft 100 and the position equipped with image pickup part 230 determine.
UAV control unit 110 can determine the ambient enviroment of push-button aircraft 100 by analyzing the multiple images shot by multiple image pickup parts 230.UAV control unit 110 can avoid such as barrier, control flight based on the ambient enviroment of push-button aircraft 100.
UAV control unit 110 can obtain the steric information (three-dimensional information) for indicating the three-dimensional shape (3D shape) for the object being present in around push-button aircraft 100.Object can be a part of the landscape such as building, road, vehicle, trees.Steric information is such as three-dimensional space data.UAV control unit 110 can be by obtaining steric information according to the steric information for indicating the three-dimensional shape for the object being present in around push-button aircraft 100 from the resulting each image of multiple image pickup parts 230, is generated.UAV control unit 110 can obtain the steric information for indicating the three-dimensional shape for the object being present in around push-button aircraft 100 by referring to the three-dimensional map data library stored in memory 160 or memory 170.The three-dimensional map data library that UAV control unit 110 can be managed by referring to the server being present on network, obtains steric information relevant to the three-dimensional shape for the object being present in around push-button aircraft 100.
UAV control unit 110 is to control push-button aircraft 100 by control rotor mechanism 210 to fly.That is, UAV control unit 110 controls the position comprising latitude, including longitude and height of push-button aircraft 100 by controlling rotor mechanism 210.UAV control unit 110 can control the image pickup scope of image pickup part 220 by the flight of control push-button aircraft 100.UAV control unit 110 can control the visual angle of image pickup part 220 by controlling the zoom lens that image pickup part 220 has.UAV control unit 110 can utilize the digital zoom functions of image pickup part 220, and the visual angle of image pickup part 220 is controlled by digital zoom.
When image pickup part 220 is fixed on push-button aircraft 100, and when starting image pickup part 220, UAV control unit 110 can be such that image pickup part 220 is shot in desired image pickup scope by making push-button aircraft 100 be moved to specific position in specific period in the environment of desired.Or, even if image pickup part 220 does not have zoom function, the visual angle of image pickup part 220 can not be changed, UAV control unit 110 can also be such that image pickup part 220 is shot in desired image pickup scope by making push-button aircraft 100 be moved to specific position in specific period in the environment of desired.
Communication interface 150 is communicated with terminal 80.Communication interface 150 can be carried out wireless communication using arbitrary communication.Communication interface 150 can carry out wire communication using arbitrary wired communication mode.Aerophotography image or additional information (metadata) relevant to aerophotography image can be sent to terminal 80 by communication interface 150.
Memory 160 is stored with program needed for UAV control unit 110 controls balance annular shelf 200, rotor mechanism 210, image pickup part 220, image pickup part 230, GPS receiver 240, inertial measuring unit 250, magnetic compass 260, vapour-pressure type altimeter 270, ultrasonic sensor 280 and laser measuring apparatus 290 etc..Memory 160 is either computer-readable recording medium, it also may include SRAM (Static Random Access Memory, static random access memory), DRAM (Dynamic Random Access Memory, dynamic random access memory), EPROM (Erasable Programmable Read Only Memory, erasable programmable read-only memory), EEPROM (Electrically Erasable Programmable Read-Only Memory, Electrically Erasable Programmable Read-Only Memory) and USB (Univers Al Serial Bus, universal serial bus) at least one in the flash memories such as memory.Memory 160 can be removed from push-button aircraft 100.Memory 160 can be used as work and be run with memory.
Memory 170 may include at least one in HDD (Hard Disk Drive, hard disk drive), SSD (Solid State Drive, solid state hard disk), SD card, USB memory and other memories.Memory 170 can be reserved for various information, various data.Memory 170 can also be removed from push-button aircraft 100.The recordable aerophotography image of memory 170.
Balance annular shelf 200 can support image pickup part 220 and make it possible to rotate centered on yaw axis, pitch axis and wobble shaft.Balance annular shelf 200 can by make image pickup part 220 at least one in yaw axis, pitch axis and wobble shaft pivots about and change the camera shooting direction of image pickup part 220.
Rotor mechanism 210 has multiple rotors and makes multiple drive motors of multiple rotor wing rotations.Rotor mechanism 210 is so that push-button aircraft 100 is flown and rotation by being controlled by UAV control unit 110.The number of rotor 211 can be such as 4, be also possible to other numbers.Moreover, push-button aircraft 100 is also possible to the fixed wing aircraft without rotor.
Image pickup part 220 shoots the subject of desired image pickup scope, generates image data.Resulting image data (such as aerophotography image) is shot as image pickup part 220 to be storable in memory possessed by image pickup part 220 or memory 170.
Image pickup part 230 is shot around push-button aircraft 100, generates image data.The image data of image pickup part 230 is storable in memory 170.
GPS receiver 240 receives at the time of indicating to send from multiple navigation satellites (that is, GPS satellite) and multiple signals of the position (coordinate) of each GPS satellite.GPS receiver 240 calculates the position (that is, position of push-button aircraft 100) of GPS receiver 240 based on the multiple signals received.GPS receiver 240 exports the location information of push-button aircraft 100 to UAV control unit 110.It carries out in addition, the positional information calculation of GPS receiver 240 also can use UAV control unit 110 and replaces GPS receiver 240.In the case, the information of moment contained in the multiple signals received for UAV control unit 110, input expression GPS receiver 240 and each GPS satellite position.
Inertial measuring unit 250 detects the posture of push-button aircraft 100, will test result and exports to UAV control unit 110.As the posture of push-button aircraft 100, inertial measuring unit 250 can detect the angular speed of the front and rear, left and right of push-button aircraft 100 and the acceleration of upper and lower 3 axis direction and 3 axis direction of pitch axis, wobble shaft and yaw axis.
Magnetic compass 260 detects the head orientation of push-button aircraft 100, will test result and exports to UAV control unit 110.
Vapour-pressure type altimeter 270 detects the flying height of push-button aircraft 100, will test result and exports to UAV control unit 110.
Ultrasonic sensor 280 issues ultrasonic wave, and the ultrasonic wave that detection is reflected by ground or object will test result and export to UAV control unit 110.Testing result can show the distance i.e. height of push-button aircraft 100 to ground.Testing result can show the distance of push-button aircraft 100 to object (subject).
Laser measuring apparatus 290 receives the reflected light being reflected by the object to object illumination laser, utilizes the distance between reflected light measurement push-button aircraft 100 and object (subject).As an example, the range measurement mode of laser can be flight time mode.
Fig. 5 is an exemplary block diagram for indicating the hardware configuration of terminal 80.Terminal 80 has: terminal control portion 81, operation portion 83, communication unit 85, memory 87, display unit 88 and memory 89.Terminal 80 can be by wishing to indicate that the user of the flight control of multiple push-button aircrafts 100 holds.
Terminal control portion 81 is constituted using such as CPU, MPU or DSP.Terminal control portion 81 carries out the data input and output processing between the signal processing and other each components of the operation of each component for being centrally controlled terminal 80 and data operation handles and data storage processing.
Terminal control portion 81 can obtain data (such as various measurement data, aerophotography image data) or information (such as location information of push-button aircraft 100, the information that avoids push-button aircraft impinging one another) from push-button aircraft 100 via communication unit 85.Terminal control portion 81 also it is available via operation portion 83 input data or information (such as various parameters).The data or information that terminal control portion 81 also saves in available memory 87.Terminal control portion 81 can also transmit data or information (such as the position of push-button aircraft, speed, information of flight path) to push-button aircraft 100 via communication unit 85.Terminal control portion 81 can also send display unit 88 for data or information, and display unit 88 is made to show the display information based on the data or information.
Terminal control portion 81 can also execute the application to indicate the flight control of multiple push-button aircrafts 100 (also referred to as push-button aircraft group 100G).Various data used in application also can be generated in terminal control portion 81.
Operation portion 83 accepts and obtains by the data or information of user's input of terminal 80.Operation portion 83 also may include the input units such as button, key, touch screen, microphone.Herein, the case where main exemplified operation portion 83 and display unit 88 include touch panel.In the case, operation portion 83 can accept touch operation, pat operation, drag operation etc..Operation portion 83 can also accept various parameters information.The information inputted by operation portion 83 can also be sent to push-button aircraft 100.
Communication unit 85 utilizes to be carried out wireless communication between various communications, with push-button aircraft 100.The communication of the wireless communication may include for example via Wireless LAN, the communication of Bluetooth (registered trademark) or public wireless route.Communication unit 85 can carry out wire communication using arbitrary wired communication mode.
Memory 87 can have the ROM of the program for being for example stored with the operation of prescribed terminal 80 or set-point data and temporarily save the RAM of the various information or datas used when terminal control portion 81 is handled.Memory 87 may include the memory other than ROM and RAM.Memory 87 may be provided at the inside of terminal 80.Memory 87 may be configured as to remove with self terminal 80.Program may include application program.
Display unit 88 is constituted using such as LCD (Liquid Crystal Display, liquid crystal display), the various information or datas that display self terminal control unit 81 exports.Display unit 88 can also show and execute using relevant various data or information.
Memory 89 stores and saves various data, information.Memory 89 can be HDD, SSD, SD card, USB memory etc..Memory 89 may also be arranged on the inside of terminal 80.Memory 89, which may be set to be, to be removed in self terminal 80.Memory 89 can be reserved for the aerophotography image obtained from push-button aircraft 100 or additional information.Additional information can be reserved in memory 87.
Then, function relevant to the flight control instructions of push-button aircraft group 100G comprising multiple push-button aircrafts 100 is illustrated.Herein, mainly illustrate that the terminal control portion 81 of terminal 80 has function relevant to the flight control instructions of push-button aircraft group 100G, but push-button aircraft 100 also can have function relevant to the flight control instructions of push-button aircraft group 100G.Terminal control portion 81 is an example of processing unit.Terminal control portion 81 carries out processing relevant to the flight control instructions of push-button aircraft group 100G.
Push-button aircraft group 100G as flight control object is either the multiple push-button aircrafts 100 mutually synergistically to fly, the multiple push-button aircrafts 100 to fly in a cluster in a certain space with being also possible to miscoordination are not particularly limited.
The flight parameter of the acquisition push-button aircraft 100 of terminal control portion 81.Terminal control portion 81 can obtain the flight parameter of push-button aircraft 100 via communication unit 85.Flight parameter may include the position of push-button aircraft 100, speed, acceleration.Terminal control portion 81 can obtain the position of push-button aircraft 100 via such as GPS receiver 240 or ultrasonic sensor 280.Terminal control portion 81 can obtain the acceleration of push-button aircraft 100 via inertial measuring unit 250.Terminal control portion 81 can both differentiate the position of push-button aircraft 100 based on resulting differential value, obtain the speed of push-button aircraft 100, the speed of push-button aircraft 100 can also be obtained by based on the resulting integrated value of integrated acceleration operation of push-button aircraft 100.
Terminal control portion 81 obtains the flight shape formed to the flight position using push-button aircraft group 100G.Multiple push-button aircrafts 100 in push-button aircraft group 100G carry out flight control in a manner of becoming acquired flight shape.That is, push-button aircraft group 100G to be to form the flight shape as target flight, therefore the flight shape of the acquisition is also referred to as target shape.Terminal control portion 81 can obtain the information of the target shape saved in memory 87.Terminal control portion 81 can obtain the information of target shape via communication unit 85 from external device (ED).
Terminal control portion 81 can receive user's operation via operation portion 83, generate target shape.That is, terminal 80 can be by generating target shape based on user's operation, and the desired target shape of newly-generated user.In the case, terminal control portion 81 can make display unit 88 show the position of acquired each push-button aircraft 100.Terminal control portion 81 can receive user's operation via operation portion 83, and the number of the push-button aircraft group 100G shown in display unit 88 and position are taken into account, target shape is generated, to obtain target shape.For example, target shape can be generated carrying out user's input in such a way that touch panel of the user to display push-button aircraft group 100G draws specific shape via operation portion 83.
Target shape both can be set to plane (two dimension), and can also be set to solid (three-dimensional).When three-dimensionally setting, target shape can be the shapes such as the polygons such as triangle, quadrangle, circle, ellipse.When three-dimensionally setting, target shape is also possible to the shapes such as the polygon prisms such as the polygonal pyramids such as triangular pyramid, rectangular pyramid, triangular prism or quadrangular, circular cone, cylinder, ellipsoid, ball.
Terminal control portion 81 obtains the position for being configured with target shape.Multiple push-button aircrafts 100 in push-button aircraft group 100G carry out flight control in a manner of becoming target shape at acquired position.That is, because push-button aircraft group 100G flies using the position as target, therefore the position of the acquisition is also referred to as target position.Terminal control portion 81 can obtain the information of the target position saved in memory 87.Terminal control portion 81 can obtain target position information from external device (ED) via communication unit 85.Terminal control portion 81 can receive user's operation, Generate Target Position via operation portion 83.That is, terminal 80 can be by determining target position, and the desired target position of newly-generated user based on user's operation.Target position either target shape entirety position, be also possible to any position inside target shape.Target shape can be the arbitrary point for becoming outer rim and the end edge of Zhou Duan of certain datum marks in target shape, vertex, central point, focus point and target shape.
Terminal control portion 81 can obtain safe distance rs.Safe distance rs can be for example for avoiding at a distance from the collision of other push-button aircrafts 100.Terminal control portion 81 can obtain the information of the safe distance rs saved in memory 87.Terminal control portion 81 can obtain the information of safe distance rs via communication unit 85 from external device (ED).Terminal control portion 81 can receive user's operation via communication unit 83, generate safe distance rs.That is, terminal 80 can generate the desired safe distance rs of user by determining safe distance rs based on user's operation.
Fig. 6 is the figure for indicating the position of multiple push-button aircrafts 100 for example in-flight.In figure, spherical surface (collection surface of equidistant point is in three-dimensional space) centered on the position of each push-button aircraft 100 indicates safety loop sr, and safety loop sr indicates the range for avoiding the safe distance rs collided with other push-button aircrafts 100.In the case where miniature self-service button aircraft 100, safe distance rs may be set to shorter, and in the case where large-scale push-button aircraft, safe distance rs may be set to longer.As safe distance, it can be mentioned, for example 2~3m.In addition, safe distance rs can be adjusted corresponding to the change in size of push-button aircraft 100.
Safe distance rs instantiates the case where equidistantly setting around centered on push-button aircraft 100, but also may be set to different corresponding to the heading of push-button aircraft 100.For example, it is also possible to which the direction of travel relative to push-button aircraft 100, is set as longer, and reversed relative to traveling opposite direction for safe distance rs, safe distance rs is set as shorter.
Safe distance rs also can be set as different corresponding to the speed of push-button aircraft 100.For example, it is also possible to safe distance rs is set as longer in the fast speed of push-button aircraft, and when the speed of push-button aircraft 100 is slower, safe distance rs is set as shorter.
Safe distance rs also can be set as different corresponding to the type of push-button aircraft 100.Such as, the safe distance rs of push-button aircraft 100 that slow with maximum speed, size is small, is easy to minor radius convolution equal-specification can also be set as shorter, and the safe distance rs that fast with maximum speed, size is big, is not easy minor radius convolution equal-specification is set as longer.
Fig. 7 is indicated in flight simulation, multiple push-button aircrafts 100 to be with the shape (target shape) of the push-button aircraft group 100G target TG synergistically to fly and the figure of the position (target position) of target TG.In Fig. 7, target TG has can be by the size that multiple push-button aircrafts 100 all accommodate contained in push-button aircraft group 100G, and target shape is triangle.The triangle both can be set as vertical direction (gravity direction), also can be set as the vertical horizontal direction in relative gravity direction or specific angle direction.Herein, the shape for being set as target TG is the triangle for being set as gravity direction (up and down direction of Fig. 7), so that flight formation is easy to be possessed user's visuognosis of terminal 80.
Moreover, target position is set on the direction (direction of travel) that push-button aircraft group 100G flies.The position of target TG can be both set on the position fixed, and also be may be set in the position corresponding to push-button aircraft group 100G flight, changed with the mode of direction of travel linkage and adjust resulting position.Such as, in the case where target TG to be set in from push-button aircraft group 100G the position of front 200m on direction of travel, when push-button aircraft group 100G is close to target TG at the position for being set in front 200m, then next target TG can be set on direction of travel in front of 50m position.
Push-button aircraft group 100G is all accommodated in after the inside of target TG, terminal control portion 81 can also determine the flight shape (formation) of push-button aircraft group 100G, and terminate the flight control instructions for being used for push-button aircraft group 100G target TG.When the flight shape distortion of push-button aircraft group 100G, terminal control portion 81 can be such that the flight control instructions restart again.
Terminal control portion 81 in such a way that target location becomes target shape, carries out flight simulation by push-button aircraft group 100G, generates the flight control information to control push-button aircraft group 100G flight.The calculating of acceleration, speed, position when flight simulation may include the gravitation Fa for for example acting on push-button aircraft group 100G, the repulsion Fr for acting on push-button aircraft group 100G and push-button aircraft group 100G flight.Gravitation Fa and repulsion Fr assigns acceleration, i.e. power of the imparting push-button aircraft 100 for flight to each push-button aircraft 100.Gravitation Fa and repulsion Fr is an example of the parameter for guiding towards the respective position of multiple push-button aircrafts 100 in target position.Gravitation Fa is an example of the 1st parameter.Repulsion Fr is an example of the 2nd parameter.
Terminal control portion 81 can obtain the gravitation Fa for guiding push-button aircraft group 100G towards target position.Terminal control portion 81 can obtain the respective gravitation Fa of multiple push-button aircrafts 100.Terminal control portion 81 can receive user's operation via communication unit 83, obtain the value of gravitation Fa.
Terminal control portion 81 can calculate the repulsion Fr that target shape is kept for push-button aircraft group 100G.In the case, terminal control portion 81, which can calculate to add, is used for each push-button aircraft 100 contained in push-button aircraft group 100G from the resulting repulsion Fr of the isolated repulsion Fr1 of other push-button aircrafts 100.Terminal control portion 81 can be calculated plus the resulting repulsion Fr of repulsion Fr2 for the end edge separation from target shape.For example, repulsion Fr can be calculated from the mode of the end edge stress as outer rim of target shape.Terminal control portion 81 calculates repulsion Fr after can synthesizing repulsion Fr1, Fr2.Terminal control portion 81 can calculate the respective repulsion Fr of multiple push-button aircrafts 100.
Fig. 8 is explanation for making each push-button aircraft 100 close to the figure of the gravitation Fa of target position in flight simulation.Terminal 80 determines the gravitation Fa for acting on each push-button aircraft 100 in flight simulation.Hereinafter, indicating gravitation Fa usual practice really with the 1st and the 2nd.
In the 1st, the position of the center of gravity GP of target TG is determined as target position by terminal control portion 81.In the case, the gravitation Fa for acting on each push-button aircraft 100 is respectively from each push-button aircraft 100 towards the power of the center of gravity GP of target TG, and with vector representation.In the case where target position is determined as center of gravity GP, the push-button aircraft group 100G that configuration is accommodated in target shape well can be balanced.
In the 2nd, the position of the position farthest apart from each push-button aircraft 100, that is, target TG front end tp is determined as target position by terminal control portion 81.In the case, the gravitation Fa for acting on each push-button aircraft 100 is indicated respectively with the vector power of the front end tp from each push-button aircraft 100 towards target TG.In the case where target position is determined as front end tp, after push-button aircraft group 100G is accommodated in target TG, it is easy to assemble more push-button aircraft 100 in the front end side tp of target TG.Terminal 80 can give the push-button aircraft group flight that 100G constantly makes a dash at full speed image for for example watching the people of push-button aircraft group 100G as a result,.
In addition, because the position of push-button aircraft 100 is different, front end tp is not necessarily the position farthest apart from each push-button aircraft 100 in the case that multiple push-button aircrafts 100 contained in push-button aircraft group 100G enter the inside of target TG.Therefore, as long as multiple push-button aircrafts 100 are located at the outside of target TG, front end tp can be set to the target position of multiple push-button aircrafts 100.Moreover, even if multiple push-button aircrafts 100 enter the inside of target TG because of follow-on mission, target position still can unchangeably be fixed on the position of the front end tp of target TG when target position to be set as to the position of front end tp of target TG.
For example, terminal control portion 81 can receive user's operation via communication unit 83, the value of gravitation Fa is arbitrarily determined.For example, gravitation Fa can be set to 3N (newton) via communication unit 83 by terminal control portion 81.Gravitation Fa can be set to same value for multiple push-button aircrafts 100.In addition, gravitation Fa can be set to the different value of each push-button aircraft 100.For example, gravitation Fa can also be set as the different value of each push-button aircraft 100 according to the positional relationship of push-button aircraft 100.By setting gravitation Fa, each push-button aircraft 100 is acted on towards the power of target position.
Fig. 9 is the figure of repulsion Fr of the explanation for avoiding push-button aircraft 100 to collide in flight simulation.Terminal 80 determines the repulsion Fr for acting on each push-button aircraft 100 in flight simulation.Repulsion Fr may include repulsion Fr1 and repulsion Fr2.Repulsion Fr can be power made of repulsion Fr1 and repulsion Fr2 synthesis (resultant vector).
Repulsion Fr1 is to act on the power of push-button aircraft 100 to avoid push-button aircraft 100 and the collision of neighbouring push-button aircraft 100, and with vector representation.In Fig. 9, to avoid colliding positioned at the push-button aircraft 100 of position p and neighbouring push-button aircraft 100, terminal control portion 81 generates repulsion Fr1 (Fr11, Fr12, Fr13).Furthermore, repulsion Fr1 is the power being subject to as the push-button aircraft 100 of this aircraft from other push-button aircraft 100 as other aircrafts, and 180 degree (becoming reversed) is differed with the thrust direction that the push-button aircraft 100 as this aircraft influences other aircrafts.Using repulsion Fr1, this aircraft and other aircrafts is avoided to collide.
Terminal control portion 81 can calculate the repulsion Fr1 suffered by the neighbouring push-button aircraft 100 of push-button aircraft 100 positioned at position p according to formula (1).
Formula (1):
In formula (1), d1n pays close attention to the distance between push-button aircraft 100 and other push-button aircrafts 100 of (any).Rs is the safe distance.N is the variable in the number (nearby) of neighbouring push-button aircraft 100.Neighbouring push-button aircraft 100 is the multiple push-button aircrafts 100 for being located at surrounding relative to the push-button aircraft 100 of concern, and can be the whole or part of multiple push-button aircrafts 100 contained in push-button aircraft group 100G.In Fig. 9, neighbouring push-button aircraft 100 can be 6.
In formula (1), push-button aircraft 100 then generates bigger repulsion Fr1 closer to safe distance rs.Thus, the push-button aircraft 100 of concern can avoid colliding with neighbouring push-button aircraft 100.
So, terminal control portion 81 can be for each push-button aircraft 100, safe distance rs based on the distance between other push-button aircrafts 100 other than push-button aircraft 100 and the push-button aircraft 100 d1n and for avoiding colliding to other push-button aircrafts 100, calculates the repulsion Fr1 of push-button aircraft 100.Terminal 80 can take into account the distance between push-button aircraft 100 together with safe distance rs as a result, safely ensure the distance between push-button aircraft 100.Therefore, it is the state of affairs realized target TG and cause push-button aircraft 100 impinging one another that terminal 80, which can inhibit push-button aircraft group 100G,.
Repulsion Fr2 is the power in order to leave away and act on push-button aircraft 100 from the end edge of target TG (also referred to as Zhou Duan, wall), and with vector representation.Repulsion Fr2 can be set as existing when entering the inside of target TG at least one of push-button aircraft group 100G.Repulsion Fr2 can also be set as being not present when push-button aircraft group 100G is located on the outside of target TG.
Terminal control portion 81 can calculate repulsion Fr2 suffered by end edge of the push-button aircraft 100 from target TG according to formula (2).
Formula (2)
In formula (2), d2n indicates the distance between the end edge of push-button aircraft 100 and target TG.Rs and formula (1) are similarly safe distance.N is the variable in the number of edges (value 3) of triangle.In addition, when target shape is not triangle, the variation of n value.
In formula (2), end edge of the push-button aircraft 100 closer to target TG, then generate bigger repulsion Fr2, and repulsion Fr2 collides to avoid with the end edge of target TG, that is, the mode for the inside that the outermost push-button aircraft 100 for forming push-button aircraft group 100G is continued in target TG is acted on.
So, terminal control portion 81 can the distance between end edge based on each push-button aircraft 100 and target TG d2n, calculate the repulsion Fr2 of each push-button aircraft 100.Terminal 80 is after such as push-button aircraft 100 enters target TG as a result, it can be ensured that the end edge distance with target TG existing around push-button aircraft 100.Therefore, terminal 80 can inhibit multiple push-button aircrafts 100 and exceedingly become smaller or larger relative to the shape of target TG, so as to suitably maintain the flight formation of push-button aircraft group 100G.
Terminal control portion 81 is based on gravitation Fa and repulsion Fr, the flight control of instruction push-button aircraft group 100G.In the case, terminal control portion 81 is based on gravitation Fa and repulsion Fr, generates flight control information.Flight control information can be the information to flight position or flying speed when indicating push-button aircraft group 100G flight.
Gravitation Fa and repulsion fr synthesis (resultant vector) can be calculated resultant force Fw by terminal control portion 81.Terminal control portion 81 can be based on resultant force fs, the speed of t2 (such as at the time of after very short time of moment t1) and position at the time of acceleration at the time of calculating an example as the 1st moment under t1, the example as the 2nd moment after moment t1.
Figure 10 is to illustration in the figure of the calculating of the resultant force Fw and acceleration A n of push-button aircraft 100.
Terminal control portion 81 synthesizes the vector (Fr vector) of the vector (Fa vector) of gravitation Fa and repulsion Fr, obtains the vector (Fw vector) (=Fa vector+Fr vector) of resultant force Fw.Resultant force Fw by being calculated the vector (An vector) of acceleration A n according to formula (3) by terminal control portion 81 divided by the mass M n of push-button aircraft 100." n " of An, Mn are the variables for showing each push-button aircraft 100.
Formula (3)
Based on the vector of acceleration A n at the time of terminal control portion 81 can calculate gained under t1, according to formula (4), the vector of the speed Vn of push-button aircraft 100 under moment t2 is calculated.Moment t2 can be equivalent to the period (such as 0.1 second) for for example calculating acceleration A n.Speed Vn is the predetermined value of flying speed of the push-button aircraft 100 based on flight simulation when flight, and is an example of flight control information.
Formula (4)
Based on terminal control portion 81 can calculate the vector of resulting speed Vn, according to formula (5), the position Pn of push-button aircraft 100 under moment t2 is calculated.Position Pn is the predetermined value of flight position of the push-button aircraft 100 based on flight simulation when flight, and is an example of flight control information.
Formula (5)
So, terminal control portion 81 can be based on gravitation Fa and repulsion Fr, calculate the position Pn and speed Vn of push-button aircraft 100 under next moment Δ t (at the time of t2 after the Δ t of moment t1).Therefore, terminal 80 can obtain the predetermined value of the position Pn and speed Vn of push-button aircraft 100 using flight simulation.The predetermined value of position Pn and speed Vn that push-button aircraft 100 can obtain the push-button aircraft 100 by self terminal 80 carry out flight control, and in real space, to be flown by the resulting speed of flight simulation, flight is to by the resulting position of flight simulation.The position of t2 is different in each push-button aircraft 100 at the time of as obtained by flight simulation.Push-button aircraft 100 will not be collided with other push-button aircrafts 100 as a result, moreover, will not collide with the end edge of target TG, so as to fly towards target position.
Figure 11 is the figure for indicating to act on the acceleration A n of each push-button aircraft 100 contained in push-button aircraft group 100G.Terminal control portion 81 generates flight control information in each push-button aircraft 100, so that each push-button aircraft 100 of push-button aircraft group 100G flies respectively with acceleration A n corresponding with resultant force Fw acceleration towards target position.At the time of shown in Figure 11 in (such as moment t1), the safety loop sr of the safety loop sr positioned at the push-button aircraft 100 of position p0 and the push-button aircraft 100 positioned at position p1, p2 is partly repeated.In the case, to avoid push-button aircraft 100 impinging one another, and such as repulsion Fr1 acts on the push-button aircraft 100 positioned at position p0 from the push-button aircraft 100 for being located at position p1, p2.Gravitation Fa also acts on the push-button aircraft 100 positioned at position p0.Finally, for the push-button aircraft 100 positioned at position p0, the acceleration A n in direction shown in the arrow towards Figure 11 is generated.Similarly for other push-button aircrafts 100, gravitation Fa and repulsion Fr are acted on, so that the acceleration A n based on resultant force Fw is acted on.
Figure 12 is figure at the time of expression from Figure 11 by acting on the acceleration A n of each push-button aircraft 100 contained in push-button aircraft group 100G under (such as moment t2) at the time of the time.In at the time of shown in Figure 12, at the time of Figure 11 compared with, do not repeated each other with safety loop sr, and close to the mode of target TG, generate flight control information.Therefore, each push-button aircraft 100 can safety loop sr each other not repeatedly towards target TG fly.
Figure 13 be at the time of expression from Figure 12 after the time, act on the figure of the acceleration A n of each push-button aircraft 100 contained in push-button aircraft group 100G.In at the time of shown in Figure 13, at the time of Figure 12 compared with, a part of push-button aircraft 100 of push-button aircraft group 100G enters target TG.Terminal control portion 81 generates flight control information, rests on each push-button aircraft 100 in target TG by repulsion Fr2 from the end edge of target TG after a part of push-button aircraft 100 of push-button aircraft group 100G enters target TG.Therefore, each push-button aircraft 100 can be flown in the mode that each push-button aircraft 100 rests in target TG.
Figure 14 is the figure of the positional relationship of each push-button aircraft 100 for the push-button aircraft group 100G being accommodated in after the time in target TG at the time of expression from Figure 12.In Figure 14, all push-button aircrafts 100 contained in push-button aircraft group 100G are accommodated in the inside of target TG.In Figure 14, the safety loop sr of a part of push-button aircraft 100 is repeated.When push-button aircraft group 100G is accommodated in the inside of target TG, the flight control of push-button aircraft group 100G target TG can be terminated.That is, terminal control portion 81 when push-button aircraft group 100G is accommodated in the inside of target TG, terminates flight simulation, terminates the calculating of the acceleration A n, speed Vn and position Pn of each push-button aircraft 100.
In addition, terminal control portion 81 can also be with the range of constriction safety loop sr when push-button aircraft group 100G is accommodated in the inside of target TG.That is, terminal control portion 81 can also shorten safe distance rs.The safety loop sr that terminal 80 can inhibit each push-button aircraft 100 as a result, is repeated.In addition, when the shape of target TG is the three-dimensional shapes such as triangular pyramid, even if the safety loop sr plane (two dimension) of each push-button aircraft 100 repeat, sometimes will not three-dimensional (three-dimensional) repeatedly.
Terminal control portion 81 can terminate the flight control of push-button aircraft group 100G target TG when meeting the stop condition of push-button aircraft group 100G.In the case, terminal control portion 81 can both terminate flight simulation, the generation for terminating the flight control information controlled to the flight of each push-button aircraft 100 to push-button aircraft group 100G, can also terminate the position of each push-button aircraft 100 or the generation of speed predetermined value.The stop condition of push-button aircraft group 100G may include calculating the speed Vn of each push-button aircraft 100 contained in resulting push-button aircraft group 100G by flight simulation to reach threshold value th1 or less.It may include such as the landing of push-button aircraft 100, hovering and low-speed operations (such as 1m/s or less) that the speed Vn of push-button aircraft 100, which reaches threshold value th1 or less,.
Terminal control portion 81 can make the information of the various export results (such as gravitation Fa, repulsion Fr, resultant force Fw, acceleration A n, speed Vn) of push-button aircraft group 100G, target TG shown in the display of display unit 88 Fig. 6~Figure 14 or flight simulation.Terminal 80 can make passage in transit or result visualization in flight simulation as a result, so as to intuitively understand convenient for user.
Then, the operation example of flying body set control system 10 is illustrated.
Figure 15 is the 1st timing diagram for indicating the operating process of terminal 80 and push-button aircraft 100.The operation of Figure 15 can in-flight be carried out in each push-button aircraft 100.
In push-button aircraft 100 (each push-button aircraft 100), UAV control unit 110 is sent to terminal 80 (S11) via communication interface 150, by the position of this aircraft and velocity information.In addition, UAV control unit 110 can not also transmit the speed of this aircraft, and calculated using the terminal control portion of terminal 80 81.
In terminal 80, terminal control portion 81 obtains the parameter (S1) of each push-button aircraft 100 contained in push-button aircraft group 100G.The parameter of push-button aircraft 100 includes the information such as position, speed and the safe distance rs of push-button aircraft 100.Terminal control portion 81 can be communicated via communication unit 85 with push-button aircraft 100, and position and the speed of each push-button aircraft 100 are received from push-button aircraft 100.Terminal 80 can obtain position and the speed of each push-button aircraft 100 via communication unit 85 from each push-button aircraft 100, obtain the parameter (real-time parameter) of push-button aircraft 100 in-flight as a result,.The position of resulting push-button aircraft 100 and speed become the value of (moment t11) before flight simulation herein.Moment t11 is an example of moment t1.
Terminal control portion 81 obtains the information (S2) of target shape and target position.Terminal control portion 81 is executed flight simulation (S3) using the shape of target TG.
The flight control information comprising position and speed obtained in the result of flight simulation, each push-button aircraft 100 is sent to each push-button aircraft 100 (S4) via communication unit 85 by terminal control portion 81.
In push-button aircraft 100 (each push-button aircraft 100), UAV control unit 110 receives flight control information (S12) via communication interface 150.UAV control unit 110 controls push-button aircraft 100 and flies (S13) according to flight control information.In the case, UAV control unit 110 can be on position contained in flight control information in a manner of the flight of the speed contained in the flight control information, and control push-button aircraft 100 flies.
UAV control unit 110 transmits (S14) to terminal 80 via communication unit 85, by the position of push-button aircraft 100 and speed.That is, UAV control unit 110 transmission based on analog result carry out flight control push-button aircraft 100 position and speed measured value.The measured value (example of actual measurement speed) of speed Vn can be to calculate resulting speed based on the measured value of the position of push-button aircraft 100 or acceleration.The measured value of speed Vn is sent to terminal 80 after can both being calculated by push-button aircraft 100, can not also be sent to terminal 80 from push-button aircraft 100, and is calculated by the terminal control portion of terminal 80 81.
In terminal 80, terminal control portion 81 obtains the position of each push-button aircraft 100 and the measured value (S5) of speed via communication unit 85.The position of resulting push-button aircraft 100 and speed become the value of (at the time of t12 after moment t11) after simulation herein.And, the position of the push-button aircraft 100 of moment t12 (example of moment t2) and speed can be equivalent to the position for (though at the time of for after moment t12, being equivalent to moment t11) before the flight simulation flight simulation executed repeatedly executes next time when and speed.Moreover, display unit 88 can be made to show received each position after terminal control portion 81 receives the position under moment t12 and the measured value of speed from each push-button aircraft 100.
Terminal control portion 81 determines whether to meet the stop condition (S6) of push-button aircraft group 100G.In the case where not meeting stop condition, terminal control portion 81 returns to the processing of S3.In the case where meeting stop condition, terminal control portion 81 terminates the processing of Figure 15.
Furthermore, when terminating the processing of Figure 15, in the case where meeting stop condition, even if deducibility will not be sent to each push-button aircraft 100 to the instruction information for stopping push-button aircraft 100, push-button aircraft 100 also almost stops because landing or hovering.In the case, push-button aircraft group 100G can maintain target shape in target location.
Figure 16 is the flow chart for indicating the operating process of the flight simulation in S3.
Terminal control portion 81 calculates the gravitation Fa (S21) for acting on each push-button aircraft 100.Terminal control portion 81 calculates the repulsion Fr (S22) for acting on each push-button aircraft 100.Terminal control portion 81 calculates the acceleration A n (S23) of each push-button aircraft 100 based on gravitation Fa and repulsion Fr.Terminal control portion 81 calculates the position Pn and speed Vn (S24) of each push-button aircraft 100 under moment t12 based on the vector of the acceleration A n of each push-button aircraft 100.Hereafter, terminal control portion 81 terminates practical operation.
So, even if the flight path or flight position of each push-button aircraft 100 contained in push-button aircraft group 100G are not previously set for terminal 80, it can also be allowed to fly in such a way that the flight shape of multiple push-button aircrafts 100 becomes target shape with by assuming that gravitation Fa and repulsion Fr.Moreover, user is not necessarily to carry out the operation individually to set push-button aircraft 100 flight path or flight position, terminal 80 can easily indicate the flight control of push-button aircraft group 100G.Moreover, terminal 80 can make multiple push-button aircrafts 100 mobile according to target shape, so there is no need to prepare multiple operating devices to manipulate multiple push-button aircrafts 100, so as to which multiple collaborations of push-button aircraft 100 will be made to become summary.
Therefore, terminal 80 can control the setting summary of push-button aircraft group 100G for being used to fly, so as to promote freedom degree when each 100 flight of push-button aircraft.
Moreover, terminal 80 when calculating the position Pn and speed Vn of push-button aircraft 100 every time, can give each position and speed transmission (reflection) to each push-button aircraft 100.Therefore, push-button aircraft 100, which can achieve, gradually calculates the mode of resulting position and speed and controls flight.
Moreover, terminal 80 obtains the measured value of position or speed of the push-button aircraft 100 of reflection flight simulation calculated result in real space.Terminal 80 is after the position Pn or speed Vn for calculating push-button aircraft 100 as a result, and confirmation flight simulation result and the actual flight state of push-button aircraft 100 have zero deflection in real time immediately.Moreover, terminal 80 can be set as the position of push-button aircraft 100 under moment t11 by the absolute fix that will acquire, gravitation Fa or repulsion Fr is exported again, and continues the flight simulation based on measured value.As a result, because using measured value, therefore terminal 80 can reduce on one side and the deviation of 100 state of flight of actual push-button aircraft, and push-button aircraft group 100G is supported to maintain flight shape and fly on one side.
In addition, push-button aircraft 100 can receive flight control instructions in any way after the flight shape of push-button aircraft group 100G becomes target shape.For example, UAV control unit 110 can control push-button aircraft 100 and fly according to scheduled final destination or flight path in each push-button aircraft 100.Even if in the case, each push-button aircraft 100 can also be flown in a manner of the flight shape invariance shape of established push-button aircraft group 100G by each UAV control unit 110 with identical flight path (flight path that the flight position of each push-button aircraft 100 differs fixed amount) flight.Moreover, UAV control unit 110 can receive the manipulation information that user inputs terminal 80 or transmitter via operation portion, and according to manipulation information, control push-button aircraft 100 flies.Even if in the case, the amount of movement of push-button aircraft 100 corresponding with manipulation information and moving direction can also be set as identical by each UAV control unit 110 by each push-button aircraft 100, and be flown in a manner of the flight shape invariance shape of established push-button aircraft group 100G.
The flight control instructions of present embodiment can be implemented by push-button aircraft 100.In the case, the UAV control unit 110 of push-button aircraft 100 has function identical with the function in relation to flight control instructions possessed by the terminal control portion 81 of terminal 80.UAV control unit 110 is an example of processing unit.UAV control unit 110 carries out processing relevant to flight control instructions.In addition, in the processing relevant to flight control instructions of UAV control unit 110, it is relevant with flight control instructions to terminal control portion 81 to handle identical processing, illustrated to be omitted or simplified.
Flight control instructions can both have been indicated the flight control of all push-button aircrafts by 1 push-button aircraft 100, and the flight control of this aircraft can also be indicated respectively by each push-button aircraft 100.The push-button aircraft 100 of instruction flight control is also referred to as specific push-button aircraft 100.Specific push-button aircraft 100 is an example of information processing unit.
Figure 17 is the 2nd timing diagram for indicating the operating process of terminal 80 and push-button aircraft 100.In addition, being illustrated to be omitted or simplified for processing identical with operating process shown in Figure 15 and Figure 16.
In specific push-button aircraft 100, UAV control unit 110 obtains the parameter (S41) of each push-button aircraft 100 contained in push-button aircraft group 100G.The parameter of push-button aircraft 100 includes the information such as position, speed and the safe distance rs of push-button aircraft 100.UAV control unit 110 can be communicated via communication interface 150 with other push-button aircrafts 100, position and the speed of other push-button aircrafts 100 are received.Terminal 80 can obtain position and the speed of each push-button aircraft 100 via communication unit 85 from each push-button aircraft 100, obtain the parameter (real-time parameter) of push-button aircraft 100 in-flight as a result,.The position of resulting push-button aircraft 100 and speed become the value of (moment t11) before flight simulation herein.UAV control unit 110 can be from the equal position for obtaining this aircraft of GPS receiver 240.The speed of each push-button aircraft 100 can be calculated based on the position of push-button aircraft 100.
UAV control unit 110 obtains the information (S42) of target shape and target position.UAV control unit 110 can obtain the information of the target shape and target position that save in memory 160.UAV control unit 110 can obtain the information of target shape and target position via communication interface 150 from external device (ED).UAV control unit 110 can obtain self terminal 80 via the user's operation information of operation portion 83 via communication interface 150.UAV control unit 110 can be based on operation information, and from the multiple target shapes saved in memory 160, selection obtains arbitrary target shape.UAV control unit 110 can receive the target shape information for obtaining and being generated by terminal 80 via communication interface 150.
UAV control unit 110 executes flight simulation (S43).The flight simulation of Figure 17 is compared with the flight simulation of Figure 15, and the main body of execution each step of flight simulation is changed to the UAV control unit 110 of specific push-button aircraft 100 by the terminal control portion 81 of terminal 80.Other aspect detailed description will be omitted due to identical as processing shown in Figure 16.
Flight control information comprising position and speed obtained in the result of flight simulation, each push-button aircraft 100 is sent to other push-button aircrafts 100 (S44) via communication interface 150 by UAV control unit 110.
UAV control unit 110 controls the flight (S45) of the push-button aircraft 100 as this aircraft according to the flight control information for passing through resulting aircraft of flight simulation.In the case, in a manner of the flight of the speed contained in the flight control information of the position contained in flight control information, control push-button aircraft 100 flies UAV control unit 110.
UAV control unit 110 receives position and the speed (S46) of other push-button aircrafts 100 from other push-button aircrafts 100 via communication interface 150.That is, UAV control unit 110 obtain based on analog result carry out flight control other push-button aircrafts 100 position and speed measured value.Speed measured value, which can be, calculates resulting speed based on the position of other push-button aircrafts 100 or acceleration measured value.Speed measured value can both be calculated by other push-button aircrafts 100 and re-send to specific push-button aircraft 100 (this aircraft), it can not also be sent to specific push-button aircraft 100 from other push-button aircrafts 100, and calculated by the UAV control unit 110 of specific push-button aircraft 100.The position of resulting each push-button aircraft 100 and speed become the value of (at the time of t12 after moment t11) after simulation herein.Moreover, the position of the push-button aircraft 100 of moment t12 and speed can be equivalent to the position for (though at the time of for after moment t12, being equivalent to moment t11) before the flight simulation flight simulation executed repeatedly executes next time when and speed.
UAV control unit 110 determines whether to meet the stop condition (S47) of push-button aircraft group 100G.In the case where not meeting stop condition, UAV control unit 110 returns to the processing of S43.In the case where meeting stop condition, UAV control unit 110 terminates the processing of Figure 17.
So, even if the flight path or flight position of each push-button aircraft 100 contained in push-button aircraft group 100G are not previously set for push-button aircraft 100, can also by by assuming that gravitation Fa and repulsion Fr and by the flight shape of multiple push-button aircrafts 100 become target shape in a manner of fly.Moreover, user is not necessarily to individually carry out push-button aircraft 100 operation for setting flight path or flight position, push-button aircraft 100 can easily indicate the flight control of push-button aircraft group 100G.And, push-button aircraft 100 can make multiple push-button aircrafts 100 mobile according to target shape, so there is no need to prepare multiple operating devices to manipulate multiple push-button aircrafts 100, so as to which multiple collaborations of push-button aircraft 100 will be made to become summary.
Therefore, push-button aircraft 100 can control the setting summary of push-button aircraft group 100G for being used to fly, so as to promote freedom degree when each 100 flight of push-button aircraft.
Moreover, carrying out flight simulation by push-button aircraft 100, push-button aircraft 100 can mitigate to be loaded to the processing for the terminal 80 for being implemented flight simulation using measured value.
In addition, terminal 80 both can carry out operation input via operation portion 83 or be shown via display unit 88, it can also be without operation input or display.That is, can only implement the processing of Figure 17 by push-button aircraft 100, terminal 80 can also be not provided with.
(the 2nd embodiment)
In the 1st embodiment, illustrate that push-button aircraft group 100G is operation example in-flight in the execution of flight simulation.In 2nd embodiment, operation when (such as before flight) push-button aircraft group 100G not yet flight in flight simulation execution is indicated.
The flying body set control system 10 of 2nd embodiment has the composition roughly the same with the 1st embodiment.For constituent element identical with the 1st embodiment, using same symbol, the description thereof will be omitted.
Figure 18 is the 1st timing diagram for indicating the operating process of terminal 80 and each push-button aircraft 100 in the 2nd embodiment.In addition, being illustrated to be omitted or simplified for processing identical with operating process shown in Figure 15~Figure 17.
In push-button aircraft 100 (each push-button aircraft 100), UAV control unit 110 is sent to terminal 80 (S61) via communication interface 150, by the position of this aircraft and velocity information.
In terminal 80, terminal control portion 81 obtains the parameter (S51) of each push-button aircraft 100 contained in push-button aircraft group 100G.The parameter of push-button aircraft 100 includes the information such as position, speed and the safe distance rs of push-button aircraft 100.The position of resulting push-button aircraft 100 and speed become the value of (moment t21) before flight simulation herein.Moment t21 is an example of moment t1.In addition, terminal control portion 81 can also receive user's operation via communication unit 83, position (initial position) and the speed of each push-button aircraft 100 are specified.
Terminal control portion 81 obtains the information (S52) of target shape and target position.Terminal control portion 81 is executed flight simulation (S53) based on target shape and target position.Flight control information obtained in the result of flight simulation, each push-button aircraft 100 is sent to each push-button aircraft 100 (S54) via communication unit 85 by terminal control portion 81.
In push-button aircraft 100 (each push-button aircraft 100), UAV control unit 110 receives flight control information (S62) via communication interface 150.UAV control unit 110 starts the flight control (S63) for carrying out push-button aircraft 100 according to flight control information (such as flight path information).
Figure 19 is the flow chart for indicating the operating process of the flight simulation in S53.
Terminal control portion 81 calculates the gravitation Fa (S71) for acting on each push-button aircraft 100.Terminal control portion 81 calculates the repulsion Fr (S72) for acting on each push-button aircraft 100.Terminal control portion 81 calculates the acceleration A n (S73) of each push-button aircraft 100 based on gravitation Fa and repulsion Fr.
Terminal control portion 81 calculates the position Pn and speed Vn (S74) of each push-button aircraft 100 under moment t12 based on the vector of the acceleration A n of each push-button aircraft 100.The position of resulting push-button aircraft 100 and speed (example of calculating speed) become the value of (at the time of t22 after moment t21) in simulation herein.Moment t22 is an example of moment t2.Moreover, the position of the push-button aircraft 100 of moment t22 and speed can be equivalent to the position for (though at the time of for after moment t22, being equivalent to moment t21) before the flight simulation flight simulation executed repeatedly executes next time when and speed.Moreover, terminal control portion 81 can make display unit 88 show position and speed under moment t22.
Terminal control portion 81 determines whether to meet the stop condition (S75) of push-button aircraft group 100G.In the case where not meeting stop condition, terminal control portion 81 returns to the processing of S71.In the case where meeting stop condition, terminal control portion 81 generates the flight control information (S76) obtained in each push-button aircraft 100 comprising position and speed.After S76, terminate the processing of Figure 19.In addition, the flight control information also may include the resulting information and the position of substitution and speed for being connected with the flight path of position under each moment of flight simulation.Flight path can be generated using terminal control portion 81.
Therefore, in the present embodiment, terminal 80 do not obtain based on analog result carry out flight control push-button aircraft 100 position and speed measured value, and position Pn and speed Vn obtained in S74 is used in the flight simulation next time (S71~S74).Terminal 80 constantly gradually updates the position Pn and speed Vn of push-button aircraft 100 in the time-continuing process of flight simulation as a result,.Flight control information is once sent to each push-button aircraft 100 by the stage that terminal 80 terminates in final flight simulation.
So, terminal 80 calculates the position Pn and speed Vn of push-button aircraft 100 by flight simulation, which is set as to the position of push-button aircraft 100 under moment t21 again, again exports gravitation Fa or repulsion Fr.Terminal 80 can unceasingly carry out flight simulation without using measured value as a result,.Moreover, measured value can not be used, and the primary transmission for completing flight control information to each push-button aircraft 100, so, terminal 80 can reduce the data communication between push-button aircraft 100.
Moreover, the position of push-button aircraft 100 can be sequentially connected by calculating the position Pn and speed Vn of push-button aircraft 100 repeatedly using flight simulation by terminal 80, and generate include flight path flight control information.Push-button aircraft 100 can be by obtaining the flight control information comprising the flight path, and the position for being not involved in push-button aircraft 100 calculates, and flies according to location sets, that is, flight path of final resulting push-button aircraft 100.
Moreover, terminal 80 before the speed Vn for calculating resulting each push-button aircraft 100 becomes threshold value th1 or less, continues flight simulation, and terminate to continue flight simulation when speed Vn becomes threshold value th1 or less.That is, terminal 80 can such as push-button aircraft 100 fly terminate or each push-button aircraft 100 become floating state before, successively calculate push-button aircraft 100 position Pn or speed Vn.Terminal 80 can terminate flight simulation in the case where the flight shape of such as push-button aircraft group 100G becomes target shape and hovers at the time of reaching target shape.Furthermore, after the flight shape of push-button aircraft group 100G becomes target shape, such as, it both can be before reaching the destination being previously set, push-button aircraft group 100G maintains flight shape and automatically flies, and flight shape can also be maintain via transmitter (proportional controller) makes multiple push-button aircrafts 100 manually fly.
The flight control instructions of present embodiment can be implemented by push-button aircraft 100.In the case, the UAV control unit 110 of push-button aircraft 100 has function identical with the function in relation to flight control instructions possessed by the terminal control portion 81 of terminal 80.UAV control unit 110 carries out processing relevant to flight control instructions.In addition, in the processing relevant to flight control instructions of UAV control unit 110, it is relevant with flight control instructions to terminal control portion 81 to handle identical processing, illustrated to be omitted or simplified.
Flight control instructions can both have been indicated that the flight of all push-button aircrafts was controlled by 1 push-button aircraft 100 (specific push-button aircraft), and the flight control of this aircraft can also be indicated respectively by each push-button aircraft 100.
Figure 20 is the 2nd timing diagram for indicating the operating process of terminal 80 and each push-button aircraft 100 in the 2nd embodiment.In addition, being illustrated to be omitted or simplified for processing identical with operating process shown in Figure 15~Figure 19.
In specific push-button aircraft 100, UAV control unit 110 obtains the parameter (S91) of each push-button aircraft 100 contained in push-button aircraft group 100G.The parameter of push-button aircraft 100 includes the information such as position, speed and the safe distance rs of push-button aircraft 100.The position of resulting push-button aircraft 100 and speed become the value of (moment t21) before flight simulation herein.UAV control unit 110 can be from the equal position for obtaining this aircraft of GPS receiver 240.The speed of each push-button aircraft 100 can be calculated based on the position of push-button aircraft 100.
UAV control unit 110 obtains the information (S92) of target shape and target position.
UAV control unit 110 executes flight simulation (S93).The flight simulation of Figure 20 is compared with the flight simulation of Figure 18, and the main body of execution each step of flight simulation is changed to the UAV control unit 110 of specific push-button aircraft 100 by the terminal control portion 81 of terminal 80.Other aspect detailed description will be omitted due to identical as processing shown in Figure 19.
Flight control information comprising position and speed obtained in the result of flight simulation, each push-button aircraft 100 is sent to other push-button aircrafts 100 (S94) via communication interface 150 by UAV control unit 110.
UAV control unit 110 starts the flight control (S95) for carrying out the push-button aircraft 100 as this aircraft according to the flight control information (such as flight path information) for passing through resulting aircraft of flight simulation.
So, flight simulation is carried out by push-button aircraft 100, push-button aircraft 100 can mitigate the processing load of the terminal 80 of the flight simulation for implementing to be not used measured value.In addition, terminal 80 both can carry out operation input via operation portion 83 or be shown via display unit 88, it can also be without operation input or display.That is, can only implement the processing of Figure 20 by push-button aircraft 100, terminal 80 can also be not provided with.
More than, the present invention is illustrated using embodiment, but technical scope of the invention is not limited to the range recorded in above embodiment.It is obvious to a person skilled in the art that various changes or improvement can be imposed to above embodiment.According to the record of claims, it is clear that imposing so change or improved mode may also be included in technical scope of the invention.
As long as the execution sequence that claims, specification and operation, process, step and stage in device shown in the drawings, system, program and method etc. are respectively handled not particularly clear " before ", " prior to " etc., the output of previous processing is not used for latter treatment, then can be realized in any order.For the operating process in claims, specification and attached drawing, use for convenience " first ", " then " etc. be illustrated, but not indicate to be implemented with this sequence.
Claims (21)
- A kind of information processing unit for the flight control indicating multiple flying bodies, it is characterised in that:Have processing unit,The processing unit obtains the information of the flight shape for the flight position formation using multiple flying bodies and the position configured with the flight shape,The location information of multiple flying bodies is inscribed when obtaining the 1st,It calculates for the parameter towards multiple flying body respective positions guidance in the position configured with the flight shape,Based on the parameter, the flight control that multiple flying bodies are inscribed when the 2nd after the 1st moment is indicated.
- Information processing unit as described in claim 1, whereinThe processing unit obtains the 1st parameter for guiding multiple flying bodies towards the position of the flight shape as the parameter, inscribed when based on the described 1st multiple flying bodies position and the flight shape, calculate the 2nd parameter separated for each flying body from all ends of other flying bodies and the flight shapeBased on the parameter, the flight control that multiple flying bodies are inscribed when the described 2nd is indicated.
- Information processing unit as claimed in claim 2, whereinThe processing unit is based on the 1st parameter and the 2nd parameter, and position and the speed of the flying body are inscribed when calculating the described 2nd,Position and speed based on the flying body indicate the flight control of the flying body.
- Information processing unit as claimed in claim 3, whereinThe position and speed that the flying body is inscribed when the processing unit is by the described 2nd are transmitted to the flying body.
- Information processing unit as claimed in claim 4, whereinThe processing unit inscribes the absolute fix and actual measurement speed of multiple flying bodies when obtaining the described 2nd,The location information that multiple flying bodies are inscribed when the absolute fixes of multiple flying bodies is set as the described 1st is inscribed when by the described 2nd.
- Information processing unit as claimed in claim 3, whereinThe processing unit inscribes calculating position and the calculating speed of multiple flying bodies when obtaining the described 2nd,The location information that multiple flying bodies are inscribed when the calculating positions of multiple flying bodies is set as the described 1st is inscribed when by the described 2nd.
- Information processing unit as claimed in claim 3, whereinThe repeated multiple times position for carrying out inscribing the flying body when the described 2nd of the processing unit and speed calculate, and generate the flight path of the flying body flight,Based on the flight path, the flight control of the flying body is indicated.
- Information processing unit as described in any one of claim 3 to 7, whereinThe processing unit continues the position that the flying body is calculated based on the 1st parameter and the 2nd parameter and speed until the speed of each flying body becomes threshold value or less.
- Information processing unit as claimed in claim 2, whereinThe processing unit, at a distance from other flying bodies other than each flying body and with to avoid the safe distance collided with other described flying bodies, calculates the 2nd parameter of each flying body based on each flying body.
- Information processing unit as claimed in claim 2, whereinThe processing unit at a distance from the flight shape Zhou Duan, calculates the 2nd parameter of each flying body based on each flying body.
- It is a kind of indicate multiple flying bodies flight control information processing unit in flight control instructions method, it is characterised in that:It includes the following steps:Obtain the flight shape and the information of the position configured with the flight shape formed for the flight position using multiple flying bodies；The location information of multiple flying bodies is inscribed when obtaining the 1st；It calculates for the parameter towards multiple flying body respective positions guidance in the position configured with the flight shape；AndBased on the parameter, the flight control that multiple flying bodies are inscribed when the 2nd after the 1st moment is indicated.
- Flight control instructions method as claimed in claim 11, whereinThe step of calculating the parameter includes the following steps: to obtain the 1st parameter for guiding multiple flying bodies towards the position of the flight shape as the parameter, inscribed when based on the described 1st multiple flying bodies position and the flight shape, calculate the 2nd parameter separated for each flying body from all ends of other flying bodies and the flight shapeThe step of indicating flight control includes based on the parameter, indicating the step of flight that multiple flying bodies are inscribed when the described 2nd controls.
- Flight control instructions method as claimed in claim 12, whereinThe step of indicating flight control includes the following steps:Based on the 1st parameter and the 2nd parameter, position and the speed of the flying body are inscribed when calculating the described 2nd；AndPosition and speed based on the flying body indicate the flight control of the flying body.
- Flight control instructions method as claimed in claim 13, whereinThe step of indicating flight control inscribes the position of the flying body when including by the described 2nd and the step of speed is transmitted to the flying body.
- Flight control instructions method as claimed in claim 14, whereinThe step of further including the absolute fix that multiple flying bodies are inscribed when obtaining the described 2nd and actual measurement speed,The step of obtaining the location information of the flying body inscribes multiple flying bodies absolute fix when including the steps that the described 2nd inscribes the location information of multiple flying bodies when being set as the described 1st.
- Flight control instructions method as claimed in claim 13, whereinThe step of inscribing calculating position and the calculating speed of multiple flying bodies when further including acquisition the described 2nd,The location information of multiple flying bodies is inscribed when being set as the described 1st in the step of obtaining the location information of the flying body inscribes multiple flying bodies calculating position when including the steps that the described 2nd.
- Flight control instructions method as claimed in claim 13, whereinThe step of indicating flight control includes the following steps:The calculating of the repeated multiple times position and speed for inscribe when the described 2nd flying body generates the flight path of the flying body flight；AndBased on the flight path, the flight control of the flying body is indicated.
- Flight control instructions method as claimed in claim 13, whereinThe step of indicating the flight control includes the steps that the position for continuing to calculate the flying body based on the 1st parameter and the 2nd parameter and speed until the speed of each flying body reaches threshold value or less.
- Flight control instructions method as claimed in claim 12, whereinThe step of the step of calculating the parameter includes the safe distance based on each flying body at a distance from other flying bodies other than each flying body and for avoiding colliding with other described flying bodies, calculates 2 parameter of each flying body.
- Flight control instructions method as claimed in claim 12, whereinThe step of calculating the parameter includes the step of calculating 2 parameter of each flying body based on each flying body at a distance from the Zhou Duan of the flight shape.
- A kind of computer-readable recording medium, it is characterised in that: record useful so as to indicate that the information processing unit of the flight control of multiple flying bodies executes the program of following steps:Obtain the information of the flight shape for the flight position formation using multiple flying bodies and the position configured with the flight shape；The location information of multiple flying bodies is inscribed when obtaining the 1st；It calculates for the parameter towards multiple flying body respective positions guidance in the position configured with the flight shape；AndBased on the parameter, the flight control that multiple flying bodies are inscribed when the 2nd after the 1st moment is indicated.
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| JP2017229708A JP6943741B2 (en) | 2017-11-29 | 2017-11-29 | Information processing equipment, flight control instruction method, program, and recording medium |
| PCT/CN2018/115431 WO2019105231A1 (en) | 2017-11-29 | 2018-11-14 | Information processing apparatus, flight control instruction method and recording medium |
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| JP7428678B2 (en) | 2021-03-23 | 2024-02-06 | 株式会社日立製作所 | Operation management system, operation management method, and operation management program |
| US20230341845A1 (en) * | 2022-04-21 | 2023-10-26 | Lockheed Martin Corporation | Cockpit mission controller with integrated keyboard |
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