CN110785724A

CN110785724A - Transmitter, flight body, flight control instruction method, flight control method, program, and storage medium

Info

Publication number: CN110785724A
Application number: CN201980003190.3A
Authority: CN
Inventors: 刘光耀; 周杰旻
Original assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd; Shenzhen Dajiang Innovations Technology Co Ltd
Priority date: 2018-03-30
Filing date: 2019-03-25
Publication date: 2020-02-11
Also published as: WO2019184874A1; JP6921026B2; JP2019179507A

Abstract

A transmitter (50) that instructs control of flight of a flying object is provided with a processing unit that acquires operation information for instructing control of the orientation of the flying object (100), acquires the orientation or position of the transmitter (50) when the operation information is acquired, and instructs control of the orientation of the flying object (100) based on the orientation or position of the transmitter (50). A flight body, a flight control instruction method, a flight control method, a program, and a storage medium are also disclosed.

Description

Transmitter, flight body, flight control instruction method, flight control method, program, and storage medium

Technical Field

The present disclosure relates to a transmitter that instructs flight control of a flight object, a flight control instruction method, a program, and a storage medium. Further, the present disclosure relates to a flight object that controls flight of the flight object, and a flight control method.

Background

Conventionally, as a method of controlling the flight of an unmanned aerial vehicle, there are a method of flying the unmanned aerial vehicle along a predetermined flight path (automatic control flight) and a method of flying the unmanned aerial vehicle along the operation of a remote controller (manual control flight). For example, patent document 1 discloses a method in which a user operates a remote controller to control the flight of an unmanned aircraft.

Documents of the prior art

Patent document

Patent document 1 Japanese patent laid-open No. 2017-228111

Disclosure of Invention

Technical problem to be solved by the invention

When the unmanned aerial vehicle flies according to the operation of the remote controller, it is difficult to determine the orientation of the unmanned aerial vehicle, and there may be a case where the operation of the remote controller is difficult for the user. For example, in a situation where the unmanned aerial vehicle is located away from the user who manipulates the remote controller, or in a bad weather, it is difficult for the user to visually confirm the orientation of the unmanned aerial vehicle.

When the user operates the remote controller to instruct the control of the flight of the unmanned aerial vehicle, the orientation of the unmanned aerial vehicle becomes a reference for the forward/backward and leftward/rightward movement operation of the body. Therefore, when the orientation of the unmanned aircraft is difficult to be determined, it is difficult for the user to perform the moving operation using the remote controller.

Means for solving the problems

In one aspect, a transmitter that instructs control of flight of a flying object includes a processing unit that acquires operation information for instructing control of an orientation of the flying object, acquires information of the orientation or position of the transmitter when the operation information is acquired, and instructs control of the orientation of the flying object in accordance with the orientation or position of the transmitter.

The processing unit may instruct the rotation of the flying object so that the orientation of the transmitter and the orientation of the flying object are in the same direction.

The processing unit may acquire the position information of the transmitter, acquire the position information of the flying object, calculate a straight line connecting the position of the transmitter and the position of the flying object, and instruct control of the orientation of the flying object based on the orientation of the straight line.

The processing unit may instruct the rotation of the flying object so that the direction of the straight line is the same direction as the direction of the flying object.

The processing unit may instruct the flying object to rotate in a rotation direction in which the amount of rotation of the flying object is small, out of the clockwise rotation direction and the counterclockwise rotation direction.

The processing unit may acquire completion information of the control of the orientation of the flying object, and present information indicating that the control of the orientation of the flying object is completed based on the completion information.

In one aspect, a flying object that controls flight based on an instruction from a transmitter to control flight includes a processing unit that receives operation information for instructing control of a direction of the flying object and position information of the transmitter from the transmitter, acquires the position information of the flying object when the operation information is received, calculates a straight line connecting the position of the transmitter and the position of the flying object, and controls the direction of the flying object based on the direction of the straight line.

In one aspect, a flight control instruction method in a transmitter that instructs control of flight of a flight object, has: acquiring operation information for instructing control of an orientation of a flying object; a step of acquiring information of the orientation or position of the transmitter when the operation information is acquired; and instructing control of the orientation of the flying object based on the orientation or position of the transmitter.

The step of instructing the control of the orientation of the flying object may include a step of instructing the rotation of the flying object so that the orientation of the transmitter and the orientation of the flying object are in the same direction.

The flight control indication method may further include: acquiring position information of a flying object; and calculating a straight line connecting the position of the transmitter and the position of the flying object. The step of acquiring information of the orientation or position of the transmitter may include the step of acquiring position information of the transmitter. The step of instructing the control of the orientation of the flying object may include a step of instructing the control of the orientation of the flying object based on the orientation of the straight line.

The step of instructing the control of the orientation of the flying object may include a step of instructing the rotation of the flying object so that the orientation of the straight line and the orientation of the flying object are in the same direction.

The step of instructing the control of the orientation of the flying object may include a step of instructing the flying object to rotate in a rotation direction in which the amount of rotation of the flying object is small, out of a clockwise rotation direction and a counterclockwise rotation direction.

The flight control indication method may further include: acquiring information on completion of control of the orientation of the flying object; and presenting information indicating that the control of the orientation of the flying object is completed, based on the completion information.

In one aspect, a flight control method in a flight volume controlling a flight based on an indication of control of the flight by a transmitter, having: receiving, from a transmitter, operation information indicating control of an orientation of a flying object and position information of the transmitter; acquiring position information of the flying object when the operation information is acquired; calculating a straight line connecting the position of the transmitter and the position of the flying object; and controlling the orientation of the flying object based on the orientation of the straight line.

In one aspect, a program for causing a transmitter that instructs control of flight of a flying body to perform the steps of: acquiring operation information for instructing control of an orientation of a flying object; a step of acquiring information of the orientation or position of the transmitter when the operation information is acquired; and instructing control of the orientation of the flying object based on the orientation or position of the transmitter.

In one aspect, a recording medium that is a computer-readable recording medium and that records a program for causing a transmitter that instructs control of flight of a flying body to execute: acquiring operation information for instructing control of an orientation of a flying object; a step of acquiring information of the orientation or position of the transmitter when the operation information is acquired; and instructing control of the orientation of the flying object based on the orientation or position of the transmitter.

Moreover, the summary above is not exhaustive of all features of the disclosure. Furthermore, sub-combinations of these feature sets may also constitute the invention.

Drawings

Fig. 1 is a schematic diagram showing a configuration example of a flight system in the first embodiment.

Fig. 2 is a diagram showing one example of a concrete appearance of the unmanned aerial vehicle.

Fig. 3 is a block diagram showing one example of a hardware configuration of the unmanned aerial vehicle.

Fig. 4 is a perspective view showing one example of an appearance of a portable terminal mounted with a transmitter.

Fig. 5 is a block diagram showing one example of a hardware configuration of a transmitter.

Fig. 6 is a block diagram showing one example of a hardware configuration of the portable terminal.

Fig. 7 is a diagram for explaining an outline of an operation of aligning the front direction of the unmanned aerial vehicle toward the transmitter.

Fig. 8 is a sequence diagram showing an operation procedure for aligning the orientation of the unmanned aerial vehicle with the frontal direction of the transmitter.

Fig. 9 is a diagram showing a positional relationship between the transmitter held by the user and the unmanned aerial vehicle when viewed from above after the alignment of the orientation in the frontal direction is completed.

Fig. 10 is a diagram for explaining an outline of an operation of matching the orientation of the unmanned aerial vehicle in the second embodiment with the axial direction.

Fig. 11 is a sequence diagram showing an operation procedure for aligning the orientation of the unmanned aerial vehicle with the axial direction.

Fig. 12 is a diagram showing a positional relationship between the transmitter held by the user and the unmanned aerial vehicle when viewed from above after the alignment of the orientation in the axial direction is completed.

Fig. 13 is a sequence diagram showing another example of the course of action of aligning the orientation of the unmanned aerial vehicle with the axial direction.

Detailed Description

The present disclosure will be described below with reference to embodiments of the present invention, but the following embodiments do not limit the invention according to the claims. All combinations of features described in the embodiments are not necessarily essential to the inventive solution.

The claims, the specification, the drawings, and the abstract of the specification contain matters to be protected by copyright. The copyright owner cannot objection to the facsimile reproduction by anyone of the files, as represented by the patent office documents or records. However, in other cases, the copyright of everything is reserved.

In the following embodiments, the flying object is exemplified by an Unmanned Aerial Vehicle (UAV). Unmanned aircraft include aircraft that move in the air. In the drawings of this specification, the unmanned aerial vehicle is labeled "UAV". The flight control instruction method defines operations in a transmitter (for example, a proportional controller (proportional controller) or a portable terminal) that instructs control of the flight of the unmanned aerial vehicle. The flight control method specifies actions in the unmanned aircraft. Further, the recording medium has a program (for example, a program that causes a transmitter or an unmanned aircraft to execute various processes) recorded thereon.

(first embodiment)

Fig. 1 is a schematic diagram showing a configuration example of a flight system 10 in the first embodiment. The flight system 10 includes an unmanned aircraft 100, a transmitter 50, and a portable terminal 80. The unmanned aerial vehicle 100, the transmitter 50, and the handy terminal 80 can communicate with each other through wired communication or wireless communication (e.g., wireless lan (local Area network)).

Next, a configuration example of the unmanned aerial vehicle 100 will be described. Fig. 2 is a diagram showing one example of a concrete appearance of the unmanned aerial vehicle. In fig. 2, a perspective view of the unmanned aerial vehicle 100 is shown when flying in the moving direction STV 0. The unmanned aerial vehicle 100 is one example of a flight vehicle.

As shown in fig. 2, a direction parallel to the ground and along the moving direction STV0 is defined as a roll axis (refer to the x-axis). In this case, a direction parallel to the ground and perpendicular to the roll axis is determined as the pitch axis (refer to the y axis), and further, a direction perpendicular to the ground and perpendicular to the roll axis and the pitch axis is determined as the yaw axis (refer to the z axis).

The unmanned aerial vehicle 100 includes a UAV main body 102, a universal joint 200, an imaging device 220, and a plurality of imaging devices 230. UAV body 102 is one example of a housing for unmanned aircraft 100. The

imaging devices

220 and 230 are examples of an imaging unit.

The UAV main body 102 includes a plurality of rotors (propellers). UAV body 102 flies unmanned aircraft 100 by controlling the rotation of the plurality of rotors. UAV body 102 uses, for example, four rotors to fly unmanned aircraft 100. The number of rotors is not limited to four. Additionally, the unmanned aerial vehicle 100 may be a fixed-wing aircraft without rotors.

The imaging device 220 is an imaging camera that images an object (for example, an overhead object, a landscape such as a mountain or a river, or a building on the ground) included in a desired imaging range.

The plurality of imaging devices 230 are sensing cameras for imaging the surroundings of the unmanned aircraft 100 in order to control the flight of the unmanned aircraft 100. Two cameras 230 may be provided at the nose, i.e., the front, of the unmanned aircraft 100. Further, the other two image pickup devices 230 may be provided on the bottom surface of the unmanned aircraft 100. The two image pickup devices 230 on the front side may be paired to function as a so-called stereo camera. The two image pickup devices 230 on the bottom surface side may also be paired to function as a stereo camera. Three-dimensional spatial data around the unmanned aerial vehicle 100 may be generated based on images captured by the plurality of cameras 230. The number of the imaging devices 230 included in the unmanned aerial vehicle 100 is not limited to four. The unmanned aerial vehicle 100 may include at least one imaging device 230. The unmanned aerial vehicle 100 may include at least one imaging device 230 on each of the nose, tail, side, bottom, and top surfaces of the unmanned aerial vehicle 100. The angle of view settable in the camera 230 may be greater than the angle of view settable in the camera 220. The image pickup device 230 may have a single focus lens or a fisheye lens.

Fig. 3 is a block diagram showing one example of the hardware configuration of the unmanned aerial vehicle 100. The unmanned aerial vehicle 100 includes a UAV control Unit 110, a communication interface 150, a memory 160, a memory 170, a universal joint 200, a rotor mechanism 210, a camera 220, a camera 230, a GPS receiver 240, an Inertial Measurement Unit (IMU) 250, a magnetic compass 260, an air pressure altimeter 270, an ultrasonic sensor 280, and a laser Measurement instrument 290. The communication interface 150 is an example of a communication section.

The UAV control Unit 110 is constituted by, for example, a CPU (Central Processing Unit), an MPU (Micro Processing Unit), or a DSP (Digital Signal Processor). The UAV control unit 110 performs signal processing for controlling the operation of each unit of the unmanned aircraft 100 as a whole, input/output processing of data with respect to other units, arithmetic processing of data, and storage processing of data.

The UAV controller 110 controls the flight of the unmanned aircraft 100 according to a program stored in the memory 160. The UAV control 110 controls the flight of the unmanned aircraft 100 in accordance with instructions received from the remote transmitter 50 via the communications interface 150. The memory 160 may also be removable from the unmanned aircraft 100.

The UAV controller 110 may determine the environment around the unmanned aircraft 100 by analyzing a plurality of images captured by the plurality of imaging devices 230. The UAV control 110 controls flight based on the environment surrounding the unmanned aircraft 100, such as avoiding obstacles.

The UAV control unit 110 acquires date information indicating the current date. The UAV control 110 may acquire date information from the GPS receiver 240 that indicates the current date. The UAV control unit 110 can acquire date information indicating the current date from a timer (not shown) mounted on the unmanned aircraft 100.

The UAV control 110 acquires position information indicating a position of the unmanned aerial vehicle 100. The UAV controller 110 may obtain, from the GPS receiver 240, location information indicating the latitude, longitude, and altitude at which the unmanned aircraft 100 is located. The UAV control unit 110 may acquire latitude and longitude information indicating the latitude and longitude where the unmanned aircraft 100 is located from the GPS receiver 240, and may acquire altitude information indicating the altitude where the unmanned aircraft 100 is located from the barometric altimeter 270 as position information. The UAV control unit 110 may acquire a distance between a point of emission of the ultrasonic wave generated by the ultrasonic sensor 280 and a point of reflection of the ultrasonic wave as the altitude information.

The UAV controller 110 acquires orientation information indicating an orientation of the unmanned aircraft 100 from the magnetic compass 260. The orientation information indicates, for example, a position corresponding to the orientation of the nose of the unmanned aircraft 100.

The UAV control unit 110 may acquire position information indicating a position where the unmanned aircraft 100 should exist when the imaging device 220 performs imaging in the imaging range to be imaged. The UAV control 110 may obtain from the memory 160 location information indicating where the unmanned aircraft 100 should be. The UAV control 110 may obtain, via the communications interface 150, location information from other devices such as the transmitter 50 that indicates where the unmanned aircraft 100 should be present. The UAV control unit 110 may refer to the three-dimensional map database to specify a position where the unmanned aerial vehicle 100 can exist, to perform imaging in accordance with the imaging range to be imaged, and to acquire the position as position information indicating a position where the unmanned aerial vehicle 100 should exist.

The UAV control unit 110 acquires imaging information indicating imaging ranges of the imaging device 220 and the imaging device 230. The UAV control unit 110 acquires, as a parameter for specifying an imaging range, angle-of-view information indicating angles of view of the imaging device 220 and the imaging device 230 from the imaging device 220 and the imaging device 230. The UAV control unit 110 acquires information indicating imaging directions of the

imaging devices

220 and 230 as parameters for specifying an imaging range. The UAV control unit 110 acquires attitude information indicating an attitude state of the imaging device 220 from the universal joint 200 as information indicating an imaging direction of the imaging device 220, for example. The UAV control unit 110 acquires information indicating the orientation of the unmanned aircraft 100. The information indicating the attitude state of the imaging device 220 indicates the angle at which the gimbal 200 rotates from the reference rotation angle of the pitch axis and the yaw axis. The UAV control unit 110 acquires, as a parameter for specifying an imaging range, position information indicating a position where the unmanned aerial vehicle 100 is located. The UAV control unit 110 may obtain imaging information by defining an imaging range indicating a geographical range to be imaged by the imaging device 220, based on the angles of view and the imaging directions of the

imaging devices

220 and 230 and the position of the unmanned aircraft 100, and generating imaging information indicating the imaging range.

The UAV control unit 110 may acquire imaging information indicating an imaging range in which the imaging device 220 should capture images. The UAV control unit 110 can acquire imaging information to be captured by the imaging device 220 from the memory 160. The UAV control unit 110 can acquire imaging information to be captured by the imaging device 220 from another device such as the transmitter 50 through the communication interface 150.

The UAV control unit 110 can acquire stereo information (three-dimensional information) indicating a stereo shape (three-dimensional shape) of an object existing around the unmanned aircraft 100. The object is a part of a landscape, such as a building, a road, a vehicle, a tree, etc. The stereo information is, for example, three-dimensional spatial data. The UAV control unit 110 may generate stereoscopic information indicating a stereoscopic shape of an object existing around the unmanned aircraft 100 from each of the images obtained by the plurality of imaging devices 230, and may acquire the stereoscopic information. The UAV control unit 110 may acquire the stereoscopic information indicating the stereoscopic shape of the object existing around the unmanned aircraft 100 by referring to the three-dimensional map database stored in the memory 160. The UAV control section 110 can acquire the stereoscopic information relating to the stereoscopic shape of the object existing around the unmanned aircraft 100 by referring to the three-dimensional map database managed by the server existing on the network.

The UAV control unit 110 acquires image data captured by the imaging device 220 and the imaging device 230.

The UAV control 110 controls the gimbal 200, the rotor mechanism 210, the imaging device 220, and the imaging device 230. The UAV control unit 110 controls the imaging range of the imaging device 220 by changing the imaging direction or the angle of view of the imaging device 220. The UAV control unit 110 controls the rotation mechanism of the universal joint 200 to control the imaging range of the imaging device 220 supported by the universal joint 200.

In this specification, the imaging range refers to a geographical range to be imaged by the imaging device 220 or the imaging device 230. The imaging range is defined by latitude, longitude, and altitude. The imaging range may be a range of three-dimensional spatial data defined by latitude, longitude, and altitude. The imaging range is specified based on the angle of view and the imaging direction of the imaging device 220 or the imaging device 230, and the position where the unmanned aerial vehicle 100 is located. The imaging direction of the

imaging devices

220 and 230 is defined by the azimuth and depression angle of the front faces of the

imaging devices

220 and 230 on which the imaging lenses are provided. The imaging direction of the imaging device 220 is a direction specified by the orientation of the nose of the unmanned aerial vehicle 100 and the attitude state of the imaging device 220 with respect to the gimbal 200. The imaging direction of the imaging device 230 is a direction specified by the orientation of the nose of the unmanned aerial vehicle 100 and the position where the imaging device 230 is provided.

UAV control 110 controls the flight of unmanned aircraft 100 by controlling rotor mechanism 210. That is, the UAV controller 110 controls the position including the latitude, longitude, and altitude of the unmanned aerial vehicle 100 by controlling the rotor mechanism 210. The UAV control unit 110 can control the imaging ranges of the

imaging devices

220 and 230 by controlling the flight of the unmanned aircraft 100. The UAV control unit 110 may control the angle of view of the imaging device 220 by controlling a zoom lens provided in the imaging device 220. The UAV control unit 110 may control an angle of view of the imaging apparatus 220 by digital zooming using a digital zoom function of the imaging apparatus 220.

When the imaging device 220 is fixed to the unmanned aircraft 100 without moving the imaging device 220, the UAV control unit 110 may cause the imaging device 220 to capture a desired imaging range in a desired environment by moving the unmanned aircraft 100 to a specific position on a specific date. Alternatively, when the imaging device 220 does not have the zoom function and the angle of view of the imaging device 220 cannot be changed, the UAV control unit 110 may cause the imaging device 220 to capture a desired imaging range in a desired environment by moving the unmanned aircraft 100 to a specific position on a specific date.

The communication interface 150 communicates with the transmitter 50. The communication interface 150 receives various instructions and information from the remote transmitter 50 to the UAV control unit 110.

The memory 160 stores programs and the like necessary for the UAV control unit 110 to control the universal joint 200, the rotor mechanism 210, the imaging device 220, the imaging device 230, the GPS receiver 240, the inertial measurement unit 250, the magnetic compass 260, the barometric altimeter 270, the ultrasonic sensor 280, and the laser meter 290. The Memory 160 may be a computer-readable recording medium, and may include at least one of flash memories such as an SRAM (Static Random Access Memory), a DRAM (Dynamic Random Access Memory), an EPROM (Erasable Programmable Read Only Memory), an EEPROM (Electrically Erasable Programmable Read Only Memory), and a USB Memory. The memory 160 may be disposed inside the UAV body 102. Which may be configured to be detachable from the UAV body 102.

The gimbal 200 rotatably supports the image pickup device 220 centering on at least one axis. The gimbal 200 may rotatably support the camera 220 centering on the yaw axis, pitch axis, and roll axis. The gimbal 200 can change the imaging direction of the imaging device 220 by rotating the imaging device 220 around at least one of the yaw axis, pitch axis, and roll axis.

Rotor mechanism 210 has: the rotary electric machine includes a plurality of rotors 211, a plurality of drive motors 212 for rotating the plurality of rotors 211, and a current sensor 213 for measuring a current value (actual measurement value) of a drive current for driving the drive motors 212. The drive current is supplied to the drive motor 212.

The image pickup device 220 picks up an object in a desired image pickup range and generates data of a picked-up image. Image data obtained by imaging by the imaging device 220 is stored in the memory of the imaging device 220 or the memory 160.

The imaging device 230 captures the surroundings of the unmanned aircraft 100 and generates data of a captured image. The image data of the imaging device 230 is stored in the memory 160.

The GPS receiver 240 receives a plurality of signals indicating times transmitted from a plurality of navigation satellites (i.e., GPS satellites) and positions (coordinates) of the respective GPS satellites. The GPS receiver 240 calculates the position of the GPS receiver 240 (i.e., the position of the unmanned aircraft 100) based on the plurality of received signals. The GPS receiver 240 outputs the position information of the unmanned aerial vehicle 100 to the UAV control section 110. In addition, the calculation of the position information of the GPS receiver 240 may be performed by the UAV control section 110 instead of the GPS receiver 240. In this case, information indicating the time and the position of each GPS satellite included in the plurality of signals received by the GPS receiver 240 is input to the UAV control unit 110.

The inertial measurement unit 250 detects the attitude of the unmanned aircraft 100 and outputs the detection result to the UAV control unit 110. The inertial measurement unit IMU 250 detects the 3-axis direction acceleration of the unmanned aerial vehicle 100 in the front-rear direction, the left-right direction, and the up-down direction, and the 3-axis direction angular velocity of the pitch axis, the roll axis, and the yaw axis as the attitude of the unmanned aerial vehicle 100.

The magnetic compass 260 detects the orientation of the nose of the unmanned aerial vehicle 100, and outputs the detection result to the UAV control section 110.

The barometric altimeter 270 detects the flying height of the unmanned aircraft 100, and outputs the detection result to the UAV control unit 110.

The ultrasonic sensor 280 emits ultrasonic waves, detects the ultrasonic waves reflected by the ground or an object, and outputs the detection result to the UAV control unit 110. The detection result may show the distance from the unmanned aerial vehicle 100 to the ground, i.e., the altitude. The detection result may represent the distance from the unmanned aerial vehicle 100 to the object.

The laser measuring instrument 290 irradiates laser light on an object, receives reflected light reflected by the object, and measures the distance between the unmanned aircraft 100 and the object by the reflected light. As an example of the laser-based distance measuring method, a time-of-flight method may be cited.

Next, a configuration example of the transmitter 50 and the mobile terminal 80 will be described. Fig. 4 is a perspective view showing one example of the appearance of the portable terminal 80 mounted with the transmitter 50. In fig. 4, a smartphone 80S is shown as an example of the portable terminal 80. The directions of up and down, front and back, and left and right with respect to the transmitter 50 are in accordance with the directions of the arrows shown in fig. 4, respectively. The transmitter 50 is used, for example, in a state where a person (hereinafter, referred to as an "operator") who uses the transmitter 50 holds the transmitter with both hands. The transmitter 50 is an example of a transmitter.

The transmitter 50 includes a housing 50B made of a resin material, which has a substantially square bottom surface, for example, and has a substantially rectangular parallelepiped (in other words, a substantially box-like shape) with a height shorter than one side of the bottom surface. A left control lever 53L and a right control lever 53R are provided to protrude substantially at the center of the housing surface of the transmitter 50.

The left control lever 53L and the right control lever 53R are used for an operation (movement control operation) by which an operator remotely controls the movement of the unmanned aerial vehicle 100 (for example, forward and backward movement, leftward and rightward movement, upward and downward movement, and change of orientation of the unmanned aerial vehicle 100). In fig. 4, the left and

right levers

53L and 53R are shown in positions of an initial state where external forces are not applied by both hands of the operator, respectively. The left and

right control levers

53L and 53R are automatically restored to a predetermined position (e.g., the initial position shown in fig. 4) after the external force applied by the operator is released.

A power button B1 of the transmitter 50 is disposed on the front side (in other words, the operator side) of the left control lever 53L. When the operator presses the power button B1 once, the remaining amount of the capacity of, for example, a battery (not shown) incorporated in the transmitter 50 is displayed on the remaining battery amount display unit L2. When the operator presses the power button B1 again, the power of the transmitter 50 is turned on, for example, and the various parts of the transmitter 50 are powered and can be used.

An rth (return To home) button B2 is disposed on the near side (in other words, the operator side) of the right control lever 53R. When the operator presses the RTH button B2, the transmitter 50 transmits a signal for automatically restoring the unmanned aerial vehicle 100 to a predetermined position. Thus, the transmitter 50 is able to automatically return the unmanned aerial vehicle 100 to a predetermined position (e.g., a stored takeoff position of the unmanned aerial vehicle 100). For example, the RTH button B2 can be used when the operator cannot see the body of the unmanned aircraft 100 during outdoor aerial photography using the unmanned aircraft 100, or when the operator cannot operate the unmanned aircraft due to radio interference or unexpected trouble.

A remote status display unit L1 and a remaining battery level display unit L2 are disposed on the front side (in other words, the operator side) of the power button B1 and the RTH button B2. The remote status display unit L1 is formed of, for example, an led (light Emission diode), and displays the wireless connection status between the transmitter 50 and the unmanned aircraft 100. The remaining battery level display unit L2 is formed of, for example, an LED, and displays the remaining level of the capacity of a battery (not shown) incorporated in the transmitter 50.

Two antennas AN1, AN2 are provided to protrude from the rear side of the left and

right levers

53L, 53R and the rear side surface of the housing 50B of the transmitter 50. The antennas AN1, AN2 transmit the signal generated by the transmitter control section 61 (i.e., the signal for controlling the movement of the unmanned aerial vehicle 100) to the unmanned aerial vehicle 100 based on the operations of the left and right control levers 53L, 53R of the operator. Which is one of the operation input signals input by the transmitter 50. The antennas AN1, AN2 can cover a transceiving range of, for example, 2 km. When AN image captured by the imaging device 220 of the unmanned aircraft 100 wirelessly connected to the transmitter 50 or various data acquired by the unmanned aircraft 100 is transmitted from the unmanned aircraft 100, the antennas AN1 and AN2 can receive the image or the various data.

In fig. 4, the transmitter 50 does not include a display unit, but may include a display unit.

The portable terminal 80 may be mounted on the cradle HLD in a loading manner. The mount HLD may be attached to the transmitter 50. Thereby, the handy terminal 80 is mounted on the transmitter 50 through the cradle HLD. The portable terminal 80 and the transmitter 50 may be connected by a wired cable (e.g., a USB cable). Instead of mounting the portable terminal 80 on the transmitter 50, the portable terminal 80 and the transmitter 50 may be separately provided.

Fig. 5 is a block diagram showing one example of the hardware configuration of the transmitter 50. The transmitter 50 includes a left lever 53L, a right lever 53R, a transmitter control section 61, a wireless communication section 63, an interface section 65, a magnetic compass 66, a power button B1, an RTH button B2, an orientation alignment button B3, an operation section group OPS, a vibrator 67, a GPS receiver 68, a remote status display section L1, a remaining battery level display section L2, and a display section DP.

The left control lever 53L is used, for example, to remotely control the operation of the movement of the unmanned aerial vehicle 100 by the left hand of the operator. The right control lever 53R is used, for example, to remotely control the operation of the movement of the unmanned aerial vehicle 100 by the right hand of the operator. The movement of the unmanned aerial vehicle 100 is, for example, any one of or a combination of a movement in a forward direction, a movement in a reverse direction, a movement in a left direction, a movement in a right direction, a movement in a rising direction, a movement in a falling direction, a movement in a leftward rotation of the unmanned aerial vehicle 100, and a movement in a rightward rotation of the unmanned aerial vehicle 100.

For example, a moving operation of moving forward and backward and rotating left and right can be performed using the left lever 53L, and a moving operation of moving up and down and moving left and right can be performed using the right lever 53R (operation mode 1). For example, the left control lever 53L may be used to perform a moving operation of moving up and down and rotating left and right, and the right control lever 53R may be used to perform a moving operation of moving forward and backward and moving leftward and rightward (operation mode 2). The operation mode may be set by the transmitter control unit 61 and the setting information may be stored in a memory (not shown), or any one of the operation modes may be set in advance and the setting information may be stored in the memory (not shown).

When the power button B1 is pressed once, a signal indicating that it is pressed once is input to the transmitter control section 61. The transmitter control unit 61 displays the remaining capacity of the battery (not shown) incorporated in the transmitter 50 on the remaining battery capacity display unit L2 in response to the signal. This allows the operator to easily check the remaining capacity of the battery incorporated in the transmitter 50. When the power button B1 is pressed twice, a signal indicating that the button is pressed twice is transmitted to the transmitter control section 61. The transmitter control unit 61 instructs a battery (not shown) incorporated in the transmitter 50 to supply power to each unit in the transmitter 50 based on the signal. This allows the operator to turn on the power supply of the transmitter 50, and thus can easily start using the transmitter 50.

When the RTH button B2 is pressed, a signal indicating that it is pressed is input to the transmitter control section 61. The transmitter control unit 61 generates a signal for automatically returning the unmanned aircraft 100 to a predetermined position (for example, the takeoff position of the unmanned aircraft 100) in accordance with the signal, and transmits the signal to the unmanned aircraft 100 via the wireless communication unit 63 and the antennas AN1 and AN 2. Thus, the operator can automatically restore (return) the unmanned aerial vehicle 100 to the predetermined position by a simple operation of the transmitter 50.

When the orientation alignment button B3 is pressed, a signal indicating that it is pressed is input to the transmitter control section 61.

The transmitter control section 61 acquires information of the azimuth detected by the magnetic compass 66 based on the signal so as to make the frontal direction of the unmanned aerial vehicle 100 coincide with the frontal direction of the transmitter 50. The transmitter control unit 61 transmits the acquired information of the bearing to the unmanned aerial vehicle 100 through the wireless communication unit 63 and the antennas AN1 and AN 2.

The operation part group OPS is composed of a plurality of operation parts OP (for example, operation parts OP1 and … and operation part OPn) (n: an integer of 2 or more). The operation section group OPS is configured of operation sections (for example, various operation sections for assisting the remote control of the unmanned aerial vehicle 100 by the transmitter 50) other than the left control lever 53L, the right control lever 53R, the power button B1, and the RTH button B2 shown in fig. 3. The various operation units described here correspond to, for example, a button for instructing still image shooting using the imaging device 220 of the unmanned aircraft 100, a button for instructing start and end of video recording using the imaging device 220 of the unmanned aircraft 100, a dial for adjusting the tilt in the pitch direction of the universal joint 200 (see fig. 2) of the unmanned aircraft 100, a button for switching the flight mode of the unmanned aircraft 100, and a dial for setting the imaging device 220 of the unmanned aircraft 100.

The vibrator 67 vibrates in accordance with an instruction from the transmitter control unit 61, and notifies the user hm of information such as the completion of rotation of the unmanned aircraft 100.

The GPS receiver 68 receives a plurality of signals indicating time and the position (coordinates) of each GPS satellite transmitted from a plurality of navigation satellites (i.e., GPS satellites). The GPS receiver 68 calculates the position of the GPS receiver 68 (i.e., the position of the transmitter 50) based on the plurality of received signals. The GPS receiver 68 outputs the position information of the unmanned aircraft 100 to the transmitter control section 61.

Since the remote status display unit L1 and the remaining battery level display unit L2 are described with reference to fig. 4, they are not described in detail herein.

The transmitter control section 61 is constituted by a processor (for example, a CPU, MPU, or DSP). The transmitter control unit 61 performs signal processing for controlling the operations of the respective units of the transmitter 50 as a whole, data input/output processing with respect to other units, data arithmetic processing, and data storage processing. The transmitter control section 61 is one example of a processing section.

The transmitter control unit 61 can acquire data of a captured image captured by the imaging device 220 of the unmanned aircraft 100 via the wireless communication unit 63, store the data in a memory (not shown), and output the data to the portable terminal 80 via the interface unit 65. In other words, the transmitter control unit 61 may display data of the aerial image captured by the imaging device 220 of the unmanned aerial vehicle 100 on the portable terminal 80. Thus, the aerial image captured by the imaging device 220 of the unmanned aircraft 100 can be displayed on the mobile terminal 80.

The transmitter control unit 61 can generate an instruction signal for controlling the flight of the unmanned aerial vehicle 100 designated by the operation of the left control stick 53L and the right control stick 53R by the operator. The transmitter control section 61 can remotely control the unmanned aircraft 100 by transmitting this instruction signal to the unmanned aircraft 100 through the wireless communication section 63 and the antennas AN1, AN 2. Thus, the transmitter 50 is able to remotely control the movement of the unmanned aerial vehicle 100.

The wireless communication unit 63 is connected to two antennas AN1 and AN 2. The wireless communication unit 63 performs transmission and reception of information and data using a predetermined wireless communication method (for example, Wifi (registered trademark)) with the unmanned aerial vehicle 100 through the two antennas AN1 and AN 2.

The interface unit 65 performs input and output of information and data between the transmitter 50 and the portable terminal 80. The interface section 65 may be, for example, a USB port (not shown) provided in the transmitter 50. The interface unit 65 may be an interface other than a USB port.

The magnetic compass 66 detects the azimuth toward which the transmitter 50 is directed, and outputs the detection result to the transmitter control section 61. The orientation in which the transmitter 50 is directed may be, for example, the front operation direction of the left and

right levers

53L, 53R, the direction in which the antennas AN1, AN2 extend with the antennas AN1, AN2 extended.

Fig. 6 is a block diagram showing one example of the hardware configuration of the portable terminal 80. The portable terminal 80 may include a terminal control unit 81, an interface unit 82, an operation unit 83, a wireless communication unit 85, a memory 87, and a display unit 88. The portable terminal 80 is an example of a display device.

The terminal control unit 81 is configured by, for example, a CPU, an MPU, or a DSP. The terminal control unit 81 performs signal processing for controlling the operations of the respective units of the portable terminal 80 as a whole, data input/output processing with respect to the other units, data arithmetic processing, and data storage processing.

The terminal control unit 81 can acquire data and information from the unmanned aircraft 100 through the wireless communication unit 85. The terminal control section 81 can acquire data and information from the transmitter 50 via the interface section 82. The terminal control unit 81 can acquire data and information input through the operation unit 83. The terminal control unit 81 can acquire data and information stored in the memory 87. The terminal control unit 81 may transmit data and information to the display unit 88, and display information based on the data and information on the display unit 88.

The terminal control unit 81 may execute an application program for instructing control of the unmanned aerial vehicle 100. The terminal control unit 81 can generate various data used in the application program.

The interface unit 82 performs input and output of information and data between the transmitter 50 and the mobile terminal 80. The interface 82 may be, for example, a USB connector (not shown) provided in the mobile terminal 80. The interface unit 65 may be an interface other than the USB connector.

The operation unit 83 receives data and information input by the operator of the mobile terminal 80. The operation section 83 may include buttons, keys, a touch display screen, a microphone, and the like. Here, the operation section 83 and the display section 88 are mainly shown to be constituted by a touch display screen. In this case, the operation section 83 can accept a touch operation, a click operation, a drag operation, and the like.

The wireless communication unit 85 communicates with the unmanned aircraft 100 by various wireless communication methods. The wireless communication method may include, for example, communication performed by wireless LAN, Bluetooth (registered trademark), short-range wireless communication, or public wireless network.

The memory 87 may include, for example, a ROM that stores data of programs and setting values that define the operation of the mobile terminal 80, and a RAM that temporarily stores various information and data used when the terminal control unit 81 performs processing. Memory 87 may include memory other than ROM and RAM. The memory 87 may be provided inside the portable terminal 80. The memory 87 may be configured to be detachable from the portable terminal 80. The program may include an application program.

The Display unit 88 is constituted by, for example, an LCD (Liquid Crystal Display), and displays various information and data output from the terminal control unit 81. The display unit 88 may display data of an aerial image captured by the imaging device 220 of the unmanned aerial vehicle 100.

Further, the flight system 10 may not include the portable terminal 80. In addition, the transmitter 50 may also have the function of the portable terminal 80.

The operation of the flight system 10 having the above-described structure is shown. Here, the frontal direction of the unmanned aerial vehicle 100 is a direction in which the unmanned aerial vehicle 100 moves forward by the forward and backward operation of, for example, the left control lever 53L of the transmitter 50. The frontal direction of the unmanned aircraft 100 may be a reference imaging direction of the imaging device 220 mounted on the unmanned aircraft 100. The front direction of the transmitter 50 is a direction in which the left control lever 53L, for example, of the transmitter 50 is pushed down forward. In addition, the front direction of the transmitter 50 may be a direction in which the antennas AN1, AN2 are installed, or a center direction of a pointing direction of a radio wave emitted from AN antenna if the radio wave has directivity.

Fig. 7 is a diagram for explaining an outline of an operation of matching the orientation of the unmanned aerial vehicle 100 with the front direction d1 of the transmitter 50.

Before the user hm presses the orientation alignment button B3 of the transmitter 50, the unmanned aircraft 100 is in a condition where the frontal direction d2 of the unmanned aircraft 100 is flying at a predetermined inclination with respect to the frontal direction d1 of the transmitter 50. When the user hm presses the orientation alignment button B3, the unmanned aerial vehicle 100 rotates (spins) around the center of the airframe as a rotation axis, so that the front direction d2 of the unmanned aerial vehicle 100 coincides with the front direction d1 of the transmitter 50. In this case, the unmanned aerial vehicle 100 can rotate in a direction of a small amount of rotation. As a result, the orientation of the frontal direction of the transmitter 50 coincides with the orientation of the frontal direction of the unmanned aircraft 100. The orientation may be, for example, an east-west north-south orientation.

Fig. 8 is a sequence diagram showing one example of a course of action of aligning the orientation of the unmanned aerial vehicle 100 with the frontal direction of the transmitter 50.

In the transmitter 50, the transmitter control section 61 accepts the pressing of the orientation alignment button B3 by the user hm (T1). When the orientation alignment button B3 is pressed, the transmitter control section 61 starts the orientation alignment process to make the front direction d2 of the unmanned aerial vehicle 100 coincide with the front direction d1 of the transmitter 50. The transmitter control section 61 acquires information of the azimuth (the orientation of the transmitter 50) detected by the magnetic compass 66 as the front direction d1 of the own machine (the transmitter 50) (T2).

The transmitter control section 61 transmits the information of the orientation of the transmitter 50 and the information of the orientation indication to the unmanned aerial vehicle 100 through the wireless communication section 63 and the antennas AN1, AN2 (T3). The information of this orientation alignment indication may include content indicating the rotation of the unmanned aerial vehicle 100 so that the orientation (frontal direction) of the unmanned aerial vehicle 100 coincides with the orientation (frontal direction) of the transmitter 50.

In the unmanned aerial vehicle 100, when the information of the orientation of the transmitter 50 and the information of the orientation alignment instruction are received from the unmanned aerial vehicle 100 through the communication interface 150, the UAV control unit 110 performs orientation alignment control for aligning the orientation of the unmanned aerial vehicle 100 with the front direction of the transmitter 50 (T4). In this orientation alignment control, the UAV control unit 110 acquires information of the azimuth detected by the magnetic compass 260 as the frontal direction of the own vehicle (the unmanned aircraft 100). The UAV control unit 110 calculates a rotation angle of the own vehicle based on the acquired orientation of the own vehicle and the received orientation of the transmitter 50.

The UAV control unit 110 may calculate both the rotation angle in the case of the right (clockwise) rotation and the rotation angle in the case of the left (counterclockwise) rotation when calculating the rotation angle of the own vehicle. The UAV control 110 may determine a rotation direction and a rotation angle in which the rotation amount is small. The UAV controller 110 drives the rotor mechanism 210 based on the determined rotation direction and rotation angle, and rotates the unmanned aircraft 100 such that the front direction d2 of the unmanned aircraft 100 coincides with the front direction d1 of the transmitter 50.

When the unmanned aerial vehicle 100 spins and reaches the determined rotation angle, the UAV control section 110 notifies the transmitter 50 of the completion of the rotation through the communication interface 150 (T5). This notification of the completion of the rotation is one example of control completion information of the orientation of the unmanned aerial vehicle 100.

In the transmitter 50, when receiving the notification of the completion of the rotation from the unmanned aircraft 100 through the wireless communication section 63 and the antennas AN1, AN2, the transmitter control section 61 activates the vibrator 67, applies vibration to the transmitter 50, and reports the completion of the rotation of the unmanned aircraft 100 to the user hm (T6).

In addition, the user hm may not be notified of the completion of the rotation by vibrating the transmitter 50, but may be prompted for information of the completion of the rotation of the unmanned aircraft 100 by various prompting methods. For example, the transmitter control section 61 may notify the completion of the rotation by causing a display (e.g., an LED) to display in a predetermined display manner. In addition, the transmitter control section 61 can display a message such as "rotation completion" on the screen of the portable terminal 80 through the interface section 65. In addition, when a speaker or a buzzer is mounted, the transmitter control unit 61 may notify the completion of the rotation by sound. In this case, a message such as "rotation completion" may be sounded in addition to a simple sound. The notification of completion of rotation of the unmanned aerial vehicle 100 is an example of notification of information indicating completion of control of the orientation.

In addition, the terminal control section 81 of the portable terminal 80 can acquire the position information of the transmitter 50 and the position information of the unmanned aerial vehicle 100 through the interface section 82 and the wireless communication section 85. In addition, the terminal control section 81 may acquire map information. The geographic range of the map information includes the position of the unmanned aerial vehicle 100 and the position of the transmitter 50. The terminal control unit 81 may store the map information in the memory 87 and acquire the map information from the memory 87. The terminal control portion 81 can acquire map information from an external server or the like having a map database through the wireless communication portion 85.

The terminal control portion 81 may display the acquired map information through the display portion 88. The terminal control unit 81 may display the position of the transmitter 50 and the position of the unmanned aerial vehicle 100 on the map information in a superimposed manner. The terminal control unit 81 may display information indicating the orientation of the transmitter 50 and information indicating the orientation of the unmanned aircraft 100 on the map information in a superimposed manner. The information indicating the orientation of the transmitter 50 may be, for example, an image of the transmitter 50 expressing the orientation of the transmitter 50. The information indicating the orientation of the unmanned aerial vehicle 100 may be, for example, an image of the unmanned aerial vehicle 100 indicating the orientation of the unmanned aerial vehicle 100. At this time, the operator of the transmitter 50 can visually confirm the orientation of the transmitter 50 and the orientation of the unmanned aircraft 100 (for example, before alignment or after alignment) by checking the display portion 88 of the portable terminal 80, and can intuitively grasp the orientation of the transmitter 50 and the orientation of the unmanned aircraft 100.

Fig. 9 is a diagram showing one example of the positional relationship between the transmitter 50 held by the user hm and the unmanned aircraft 100 when viewed from above after the alignment of the orientation in the frontal direction of the unmanned aircraft 100 is completed.

When the orientation alignment of the front direction of the unmanned aerial vehicle 100 is performed, if the user hm pushes down the left lever 53L of the transmitter 50 forward while the unmanned aerial vehicle 100 is flying at the front position F1 of the user hm, the unmanned aerial vehicle 100 flies toward the front to be away from the user hm. On the other hand, when the unmanned aerial vehicle 100 is flying at the rear position R1 of the user hm during the alignment in the front direction, if the user hm pushes down the left lever 53L of the transmitter 50 forward, the unmanned aerial vehicle 100 flies toward the front to approach the user hm.

By the transmitter 50, a command for performing alignment of the orientation of the unmanned aerial vehicle 100 based on the orientation of the transmitter 50 can be added, and a rotation to the orientation of the unmanned aerial vehicle to match the orientation of the transmitter 50 can be instructed as necessary. In addition, the operator of the transmitter 50 can easily move the unmanned aircraft 100 without grasping the current orientation of the unmanned aircraft 100 by visual observation or the like in order to move the unmanned aircraft 100 to the target position. Further, even if the operator of the transmitter 50 is far from the unmanned aircraft 100 or weather is bad, the orientation of the unmanned aircraft 100 can be grasped.

As described above, the transmitter 50 includes the transmitter control unit 61 (an example of a processing unit) and instructs the flight control of the unmanned aircraft 100. The transmitter control section 61 detects whether or not the orientation alignment button B3 for instructing control of the orientation of the unmanned aerial vehicle 100 is pressed (one example of acquisition operation information). The transmitter control section 61 acquires information of the orientation of the transmitter 50 through the magnetic compass 66 when detecting that the orientation alignment button B3 has been pressed. The transmitter control unit 61 instructs control of the orientation of the unmanned aircraft 100 based on the orientation of the transmitter 50.

Thus, by the user performing a simple operation of pressing the orientation alignment button B3, the transmitter 50 can specify the orientation of the unmanned aircraft 100 with reference to the orientation of the transmitter 50. Therefore, the transmitter 50 can make the orientation of the unmanned aerial vehicle 100 intuitively understandable by the user. Thus, the transmitter 50 can adjust the reference orientation of the unmanned aircraft 100, and the operation of moving the unmanned aircraft 100 by the transmitter 50 can be facilitated. In addition, even in a case where it is difficult for the user to directly confirm the unmanned aerial vehicle 100 by visual observation, the transmitter 50 can improve the operation accuracy of the moving operation of the unmanned aerial vehicle 100.

The transmitter control section 61 may instruct the unmanned aerial vehicle 100 to rotate so that the orientation of the transmitter 50 and the orientation of the unmanned aerial vehicle 100 are in the same direction.

Thereby, the transmitter 50 can match the orientation of the transmitter 50 with the orientation of the unmanned aircraft 100. Therefore, the user can grasp the orientation of the unmanned aircraft 100 by checking the orientation of the transmitter 50, and can easily perform the operation of moving the unmanned aircraft 100.

The transmitter control section 61 may instruct the unmanned aerial vehicle 100 to rotate in a rotation direction in which the rotation amount of the unmanned aerial vehicle 100 is small, out of the clockwise rotation direction and the counterclockwise rotation direction.

This can reduce the amount of rotation of the unmanned aircraft 100 as much as possible, and can shorten the time required for rotation. Therefore, the user hm can perform a desired movement operation earlier based on the adjusted orientation of the unmanned aircraft 100.

The transmitter control section 61 may receive the notification of the completion of the rotation from the unmanned aerial vehicle 100 through the wireless communication section 63 and the antennas AN1, AN 2. The transmitter control unit 61 may prompt the completion of the rotation of the unmanned aircraft 100 by displaying a display, vibrating a vibrator, and outputting sound based on the notification of the completion of the rotation.

Thus, for example, even when it is difficult to visually confirm the completion of the control of the orientation of the unmanned aircraft 100, the user hm can easily recognize the completion of the control of the orientation of the unmanned aircraft 100. As a result, the user hm can perform a desired movement operation after confirming that the control of the orientation of the unmanned aircraft 100 is completed, and can improve the accuracy of the movement operation.

The unmanned aerial vehicle 100 controls flight based on an instruction of the transmitter 50 to control flight, and includes a UAV control unit 110 (an example of a processing unit). The UAV control 110 receives an indication of control of the orientation of the unmanned aerial vehicle 100 from the transmitter 50 through the communication interface 150. The UAV control 110 controls the orientation of the unmanned aircraft 100 based on this indication.

As a result, the unmanned aircraft 100 receives an instruction to control the orientation of the unmanned aircraft 100 from the transmitter 50, and the orientation of the unmanned aircraft 100 can be easily controlled.

In the present embodiment, the case where the orientation of the unmanned aerial vehicle 100 is aligned with the front direction of the transmitter 50 is shown, but the transmitter control unit 61 may align the orientation of the unmanned aerial vehicle 100 with a direction inclined at a predetermined angle with respect to the front direction of the transmitter 50. For example, the transmitter control section 61 may rotate the unmanned aerial vehicle so as not to coincide with the front direction of the transmitter 50 but to coincide with a right side direction (a direction rotated 90 degrees to the right from the front direction), a left side direction (a direction rotated 90 degrees to the left from the front direction), and a back direction (a direction rotated 180 degrees from the front direction). Further, the transmitter control unit 61 may match the orientation of the unmanned aircraft 100 when the orientation alignment button B3 is pressed, but the transmitter control unit 61 may automatically match the orientation at the initial stage of startup of the flight system 5.

Further, the transmitter control section 61 may instruct control of the orientation of the unmanned aircraft 100 when a predetermined event is detected, not based on detection of pressing of the orientation alignment button B3.

For example, the transmitter control unit 61 may acquire the current time by a timer or the like, and instruct control of the orientation of the unmanned aircraft 100 when the current time is included in a predetermined time period. Thus, for example, when the manual flight control by the transmitter 50 is scheduled within a predetermined time period, the transmitter 50 can adjust the orientation of the unmanned aircraft 100 without performing any special operation, and can facilitate the moving operation in the manual flight control.

For example, the transmitter control unit 61 may instruct control of the orientation of the unmanned aircraft 100 when it is detected that the unmanned aircraft 100 enters a predetermined area. Thus, for example, when the manual flight control by the transmitter 50 is scheduled in a predetermined flight area, the transmitter 50 can adjust the orientation of the unmanned aircraft 100 without performing any special operation, and can facilitate the moving operation in the manual flight control.

For example, the transmitter control unit 61 may set the flight control mode and store the setting information in a memory (not shown). When the flight control mode is switched from the first flight control mode in which the automatic flight control is performed to the second flight control mode in which the manual flight control is performed, the transmitter control unit 61 may instruct control of the orientation of the unmanned aircraft 100. Thus, when the manual flight control is started, the transmitter 50 can adjust the orientation of the unmanned aircraft 100 without performing any special operation, and the moving operation in the manual flight control can be facilitated.

In addition, instead of the transmitter 50 (proportional controller), the portable terminal 80 may instruct control of the orientation of the unmanned aircraft 100. At this time, the orientation alignment button B3 may be provided as a part of the operation portion 83. In addition, the terminal control section 81 performs various processes (for example, the process of the transmitter 50 shown in fig. 8) instead of the transmitter control section 61. The portable terminal 80 is an example of a transmitter that instructs control of flight of the flying object.

(second embodiment)

In the first embodiment, the case is shown where when the orientation alignment button B3 is pressed, the unmanned aerial vehicle 100 spins such that the orientation of the unmanned aerial vehicle 100 coincides with the front direction of the transmitter 50. In the second embodiment, a case is shown in which when the orientation alignment button B3 is pressed, the unmanned aerial vehicle 100 is rotated so that the orientation of the unmanned aerial vehicle 100 coincides with the direction of the axis from the position of the transmitter 50 toward the position of the unmanned aerial vehicle 100 with respect to the line (hereinafter referred to as the axis) linking the position of the unmanned aerial vehicle 100 and the position of the transmitter 50.

The flight system 5 of the second embodiment has substantially the same configuration as that of the first embodiment. The same reference numerals are used for the same components as those in the first embodiment, and the description thereof will be omitted or simplified.

Fig. 10 is a diagram for explaining an outline of an operation of matching the orientation of the unmanned aerial vehicle 100 in the second embodiment with the axial direction.

Before the user hm presses the orientation alignment button B3 of the transmitter 50, the unmanned aircraft 100 is in a condition to fly in the same orientation as the first embodiment. When the user hm presses the orientation alignment button B3, the unmanned aircraft 100 rotates the orientation of the airframe such that the axis AX with respect to the position (center position, center of gravity position, etc.) of the unmanned aircraft 100 and the position of the transmitter 50 is aligned with the direction from the transmitter 50 toward the unmanned aircraft 100. In this case, the unmanned aerial vehicle 100 can rotate in a direction of a small amount of rotation. As a result, the orientation of the unmanned aerial vehicle 100 coincides with the direction (axial direction) from the transmitter 50 toward the axis AX of the unmanned aerial vehicle 100.

Here, the axial direction from the transmitter 50 toward the unmanned aircraft 100 is referred to as a positive axial direction, and the axial direction from the unmanned aircraft 100 toward the transmitter 50 is referred to as a negative axial direction. Here, the case where the transmitter 50 rotates the unmanned aerial vehicle 100 in the positive axis direction is shown, but the rotation may be performed in the negative axis direction. In addition, the orientation alignment button B3 may be the same button as in the first embodiment, but may be a different button.

Fig. 11 is a sequence diagram showing an example of a process of the operation of aligning the orientation of the unmanned aerial vehicle 100 with the axial direction.

The transmitter control section 61 accepts the user hm pressing the orientation alignment button B3 (T11). When the orientation alignment button B3 is pressed, the transmitter control section 61 starts the orientation alignment process to align the orientation of the unmanned aerial vehicle 100 with the positive axis direction. The transmitter control unit 61 acquires the position information detected by the GPS receiver 68 as the position of the transmitter 50 (T12).

The transmitter control section 61 transmits a request for position information of the unmanned aircraft 100 to the unmanned aircraft 100 through the wireless communication section 63 and the antennas AN1, AN2 (T13).

In the unmanned aerial vehicle 100, when receiving a request for position information from the transmitter 50 through the communication interface 150, the UAV control section 110 acquires the position information detected by the GPS receiver 240. The UAV control unit 110 transmits (responds to) the detected position information of the own vehicle to the transmitter 50 via the communication interface 150 (T14).

In the transmitter 50, the transmitter control section 61 receives (acquires) the position information of the unmanned aerial vehicle 100 through the wireless communication section 63 and the antennas AN1, AN2 (T15). The transmitter control unit 61 calculates the axis AX based on the own-vehicle position information and the position information of the unmanned aircraft 100 (T16). An axis AX, which is a straight line linking the center of transmitter 50 and the center of unmanned aircraft 100, is one example of a straight line linking transmitter 50 and unmanned aircraft 100. This straight line is not limited to a line connecting the centers, and may be a straight line connecting a position a predetermined distance from the center position of the transmitter 50 and a position a predetermined distance from the center position of the unmanned aircraft 100.

Transmitter control unit 61 notifies information of calculated axis AX to unmanned aircraft 100 via wireless communication unit 63 and antennas AN1 and AN2 (T17). In this notification, transmitter control unit 61 instructs unmanned aircraft 100 to rotate unmanned aircraft 100 such that the orientation (frontal direction) of unmanned aircraft 100 matches the information of axis AX.

In the unmanned aerial vehicle 100, when receiving the information of the axis AX via the communication interface 150, the UAV controller 110 performs orientation alignment control for aligning the orientation of the own vehicle with the direction of the axis AX (T18). In this orientation alignment control, the UAV control unit 110 calculates the rotation angle based on the angle between the front direction d2 of the own vehicle and the direction of the axis AX.

When calculating the rotation angle of the own vehicle, the UAV control unit 110 may calculate both the rotation angle in the case of the right (clockwise) rotation and the rotation angle in the case of the left (counterclockwise) rotation. The UAV control 110 may determine a rotation direction and a rotation angle in which the rotation amount is small. The UAV controller 110 drives the rotor mechanism 210 based on the determined rotation direction and rotation angle to rotate the unmanned aircraft 100 such that the orientation of the unmanned aircraft 100 coincides with the axial direction.

When the unmanned aerial vehicle 100 spins, and the unmanned aerial vehicle 100 rotates by the determined rotation angle, the UAV control section 110 notifies the transmitter 50 of the completion of the rotation through the communication interface 150 (T19).

In the transmitter 50, when receiving the notification of the completion of the rotation from the unmanned aircraft 100 through the wireless communication section 63 and the antennas AN1, AN2, the transmitter control section 61 activates the vibrator 67, applies vibration to the transmitter 50, and reports the completion of the rotation of the unmanned aircraft 100 to the user hm (T20). Note that, similarly to the first embodiment, the notification of the completion of the rotation may be presented by another presentation method (for example, display or audio output) instead of the vibration of the vibrator 67.

Fig. 12 is a diagram showing one example of the positional relationship between the transmitter 50 held by the user hm and the unmanned aerial vehicle 100 when viewed from above after the alignment of the orientation in the axis direction is completed.

In performing the alignment of the orientation in the axial direction, if the user hm pushes down the left lever 53L of the transmitter 50 forward while the unmanned aerial vehicle 100 is flying at the front position F1 of the user hm, the unmanned aerial vehicle 100 flies toward the front to be away from the user hm. On the other hand, when the user hm pushes down the left lever 53L of the transmitter 50 forward in the case where the unmanned aerial vehicle 100 is flying at the rear position R1 of the user hm at the time of the axis direction alignment action, the unmanned aerial vehicle 100 is flying away from the user hm at the same time also toward the rear. That is, if the transmitter 50 instructs movement in the forward direction, the unmanned aerial vehicle 100 moves away from the transmitter 50, and if the transmitter 50 instructs movement in the backward direction, the unmanned aerial vehicle 100 approaches the transmitter 50.

The transmitter control unit 61 of the transmitter 50 may acquire the position information (for example, the position information of the transmitter 50 and the position information of the unmanned aircraft 100) as a basis for calculating the axis AX only once, or may acquire the position information periodically (for example, constantly). When the position information is acquired only once, the transmitter control unit 61 also performs the calculation of the axis AX only once, and therefore the orientation of the axis AX does not change, and therefore the orientation of the unmanned aircraft 100 does not change either. Therefore, when the transmitter control unit 61 acquires a movement operation in the left-right direction from the left control lever 53L or the right control lever 53R, the unmanned aircraft 100 flies so as to linearly advance in the left-right direction. On the other hand, when the position information is acquired periodically, the transmitter control unit 61 calculates the axis AX periodically, and therefore the orientation of the axis AX periodically changes, and the orientation of the unmanned aircraft 100 also periodically changes. Therefore, when the transmitter control unit 61 acquires the movement operation in the left-right direction from the left control lever 53L or the right control lever 53R in the case of acquiring the position information all the time, the vehicle flies so as to draw a circle clockwise or counterclockwise.

According to transmitter 50, a command for changing the direction in which unmanned aircraft 100 is driven based on the relative position of transmitter 50 and unmanned aircraft 100 may be added, and rotation may be instructed so as to match the direction of axis AX, if necessary.

In this manner, in the transmitter 50, the transmitter control unit 61 detects whether or not the orientation alignment button B3 for instructing control of the orientation of the unmanned aerial vehicle 100 is pressed. In the case where it is detected that the orientation alignment button B3 has been pressed, the transmitter control part 61 acquires the position information of the transmitter 50 through the GPS receiver 68. Further, the transmitter control unit 61 acquires the position information of the unmanned aerial vehicle 100 through the wireless communication unit 63 and the antennas AN1 and AN 2. Transmitter control unit 61 calculates axis AX based on the position of transmitter 50 and the position of unmanned aircraft 100. Transmitter control unit 61 notifies unmanned aircraft 100 of the information of calculated axis AX via wireless communication unit 63 and antennas AN1 and AN2, and instructs control of the orientation of unmanned aircraft 100 so that the direction coincides with the direction of axis AX.

Thus, by the simple operation of the user hm pressing the orientation alignment button B3, the transmitter 50 can specify the orientation of the unmanned aircraft 100 with reference to the position of the transmitter 50. Therefore, the transmitter 50 can make the orientation of the unmanned aerial vehicle 100 intuitive and easy to understand for the user hm. Thus, the transmitter 50 can adjust the reference direction of the unmanned aircraft 100, and the moving operation of the unmanned aircraft 100 using the transmitter 50 can be facilitated. In addition, even when it is difficult for the user hm to directly confirm the unmanned aircraft 100 by visual observation, the transmitter 50 can improve the operation accuracy of the movement operation of the unmanned aircraft 100, particularly the operation close to or away from the user hm.

In addition, when the user hm performs the movement operation of the unmanned aircraft 100, the user hm can easily perform the movement operation in the direction in which the unmanned aircraft 100 flies, and in this case, the user hm can easily perform the movement operation because the user can confirm the unmanned aircraft 100 at the front. Therefore, by defining the orientation of the unmanned aircraft 100 with reference to the direction from the transmitter 50 toward the unmanned aircraft 100 by the transmitter 50, the user hm can easily intuitively recognize the orientation of the transmitter 50.

Transmitter control unit 61 may instruct rotation of unmanned aircraft 100 so that the direction of axis AX is the same direction as the direction in which unmanned aircraft 100 is oriented.

Thus, for example, the forward direction indicated by the transmitter 50 is the direction in which the unmanned aerial vehicle 100 is away from the transmitter 50, and the backward direction indicated by the transmitter 50 is the direction in which the unmanned aerial vehicle 100 approaches the transmitter 50. Thus, the user hm easily intuitively recognizes the orientation of the transmitter 50. In addition, the transmitter 50 is able to pull the unmanned aerial vehicle 100 in a straight line below the transmitter 50. For example, in the case where the remaining battery level decreases, the transmitter 50 can return the unmanned aircraft 100 at the shortest distance. In addition, the transmitter 50 enables the unmanned aerial vehicle 100 to move away from the transmitter 50 in a straight line. For example, when the unmanned aerial vehicle 100 is caused to travel to a desired destination, the transmitter 50 can reach the destination with ease of visual observation and at the shortest distance only by causing the orientation of the transmitter 50 to coincide with the destination.

In the present embodiment, the transmitter control unit 61 has been described as matching the orientation of the unmanned aircraft 100 with the axial direction from the transmitter 50 toward the unmanned aircraft 100, but may match the orientation with a direction inclined at a predetermined angle with respect to the axis AX. For example, the transmitter control unit 61 may be aligned in the axial direction from the unmanned aircraft 100 toward the transmitter 50, or may be aligned in the direction perpendicular to the axial direction. Note that, although the transmitter control unit 61 may match the orientation of the unmanned aircraft 100 when the orientation alignment button B3 is pressed, it may automatically match the orientation at the initial start of the flight system 5.

In addition, as in the first embodiment, the transmitter control section 61 may instruct control of the orientation of the unmanned aircraft 100 when a predetermined event is detected, without detecting pressing of the orientation alignment button B3. The predetermined event may include: the current time is included in a predetermined period of time, the unmanned aircraft 100 enters a predetermined area, the mode is switched from the first flight control mode in which automatic flight control is performed to the second flight control mode in which manual flight control is performed, and the like.

In addition, instead of the transmitter 50 (proportional controller), the portable terminal 80 may instruct control of the orientation of the unmanned aircraft 100. At this time, the orientation alignment button B3 may be provided as a part of the operation portion 83. In addition, the terminal control section 81 performs various processes (for example, the process of the transmitter 50 shown in fig. 11) instead of the transmitter control section 61. The portable terminal 80 is an example of a transmitter that instructs control of flight of the flying object.

Further, the unmanned aerial vehicle 100 may perform a part of the processing related to the alignment of the orientation of the unmanned aerial vehicle 100 by the transmitter 50.

Fig. 13 is a sequence diagram showing another example of the course of action of aligning the orientation of the unmanned aerial vehicle 100 with the axial direction. Note that, in fig. 13, the same steps are assigned to the same processes as those in fig. 11, and the description thereof will be omitted or simplified.

In the transmitter 50, the transmitter control unit 61 performs processing of T11 and T12. The transmitter control section 61 transmits the position information of the transmitter 50 and the pressing information indicating that the orientation alignment button B3 was pressed to the unmanned aerial vehicle 100 through the wireless communication section 63 and the antennas AN1, AN2 (T21). This pressing information becomes indication information indicating the alignment of the orientation of the unmanned aerial vehicle 100.

In the unmanned aerial vehicle 100, when the position information and the press-down information of the transmitter 50 are received from the transmitter 50 through the communication interface 150, the UAV control section 110 acquires the position information detected by the GPS receiver 240 (T22).

The UAV controller 110 calculates the axis AX based on the position information of the transmitter 50 and the position information of the unmanned aircraft 100 (T23).

The UAV controller 110 performs orientation alignment control for aligning the orientation of the own vehicle with the direction of the axis AX (T24). In this orientation alignment control, the UAV control unit 110 calculates the rotation angle based on the angle between the front direction d2 of the own vehicle and the direction of the axis AX. The UAV control unit 110 may calculate both a right-handed (clockwise) rotation angle and a left-handed (counterclockwise) rotation angle when calculating the rotation angle of the own vehicle. The UAV control 110 may determine a rotation direction and a rotation angle in which the rotation amount is small. The UAV controller 110 drives the rotor mechanism 210 based on the determined rotation direction and rotation angle to rotate the unmanned aircraft 100 such that the orientation of the unmanned aircraft 100 coincides with the axial direction.

Next, the unmanned aircraft 100 performs the process of T19, and the transmitter 50 performs the process of T20.

As such, in the unmanned aerial vehicle 100, the UAV control section 110 receives the pressed information (one example of the operation information) of the orientation alignment button B3 for instructing the control of the orientation of the unmanned aerial vehicle 100 and the position information of the transmitter 50. The UAV controller 110 acquires the position information of the unmanned aircraft 100 when receiving the pressing information toward the alignment button B3. The UAV controller 110 calculates an axis AX linking the position of the transmitter 50 and the position of the unmanned aircraft 100. The UAV controller 110 controls the orientation of the unmanned aircraft 100 based on the orientation of the straight line.

Thus, by the user performing a simple operation of pressing the orientation alignment button B3, the unmanned aerial vehicle 100 can specify the orientation of the unmanned aerial vehicle 100 with reference to the orientation of the transmitter 50. Therefore, the unmanned aerial vehicle 100 can orient the unmanned aerial vehicle 100 in a direction that is intuitively understandable by the user. Thus, the unmanned aircraft 100 can adjust the reference orientation of the unmanned aircraft 100, and the moving operation of the unmanned aircraft 100 using the transmitter 50 can be facilitated. In addition, even when it is difficult for the user to directly confirm the unmanned aircraft 100 by visual observation, the unmanned aircraft 100 can improve the operation accuracy of the movement operation of the unmanned aircraft 100. In addition, as can be understood from the fact that the processes up to the orientation alignment control (T24) of fig. 13 are less than the orientation alignment control (T18) of fig. 11, the unmanned aerial vehicle 100 can complete the orientation alignment of the unmanned aerial vehicle 100 more quickly than the orientation alignment of the unmanned aerial vehicle 100 is instructed by the transmitter 50.

The present disclosure has been explained above using the embodiments, but the technical scope of the present disclosure is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various changes and modifications can be made in the above embodiments. It is apparent from the description of the claims that the embodiments to which such changes or improvements are made are included in the technical scope of the present disclosure.

The execution order of the operations, sequence, steps, and stages in the apparatus, system, program, and method shown in the claims, description, and drawings of the specification may be implemented in any order unless it is explicitly stated that "before …", "in advance", or the like, and the output of the preceding process is not used in the following process. The operational flow in the claims, the specification, and the drawings is described using "first", "next", and the like for convenience, but it is not necessarily meant to be performed in this order.

In the above-described embodiment, the case where the transmitter control unit 61 rotates the unmanned aircraft 100 so that the transmitter 50 coincides with the orientation of the unmanned aircraft 100, that is, the orientation coincides on the two-dimensional plane, has been described, but the orientation of the transmitter 50 and the orientation of the unmanned aircraft 100 may be coincident in the three-dimensional space.

Description of the symbols

10 flight system

50 transmitter

50B casing

53L left control lever

53R Right control rod

61 transmitter control part

63 radio communication unit

65 interface part

66 magnetic compass

67 vibrator

68 GPS receiver

80 Portable terminal

81 terminal control part

82 interface part

83 operating part

85 wireless communication unit

87 memory

88 display part

100 unmanned aerial vehicle

102 UAV main body

103 cell

110 UAV control

150 communication interface

160 memory

200 universal joint

210 rotor mechanism

211 rotary wing

212 drive motor

213 Current sensor

220 image pickup device

240 GPS receiver

250 inertia measuring device

260 magnetic compass

270 barometric altimeter

280 ultrasonic sensor

290 laser measuring instrument

AN1, AN2 antenna

AX axis

B1 Power supply button

B2 RTH button

B3 orientation alignment button

d1, d2 frontal direction

Front position of F1

hm user

L1 remote status display

L2 remaining battery power display unit

OPS operation part group

Rear position of R1

Claims

A transmitter for indicating control of flight of a flying object,

comprises a processing unit which is provided with a processing unit,

the processing unit acquires operation information for instructing control of the orientation of the flying object,

acquiring an orientation or position of the transmitter when the operation information is acquired,

and instructing control of the orientation of the flying object based on the orientation or position of the transmitter.
The transmitter according to claim 1, wherein the processing portion instructs rotation of the flying body so that the orientation of the transmitter and the orientation of the flying body become the same direction.
The transmitter according to claim 1, wherein the processing unit acquires position information of the transmitter, acquires position information of the flying object, calculates a straight line connecting the position of the transmitter and the position of the flying object, and instructs control of the orientation of the flying object based on the orientation of the straight line.
The transmitter according to claim 3, wherein the processing portion instructs rotation of the flying object such that the orientation of the straight line and the orientation of the flying object become the same direction.
The transmitter according to any one of claims 1 to 4, wherein the processing section instructs the flying body to rotate in a rotation direction in which a rotation amount of the flying body is smaller, of a clockwise rotation direction and a counterclockwise rotation direction.
The transmitter according to any one of claims 1 to 5, wherein the processing portion acquires completion information of control of the orientation of the flying object, and presents information indicating that the control of the orientation of the flying object is completed, based on the completion information.
A flight volume for controlling flight based on an indication of control of flight by a transmitter,

comprises a processing unit which is provided with a processing unit,

the processing unit receives, from the transmitter, operation information for instructing control of the orientation of the flying object and position information of the transmitter,

acquiring position information of the flying object when the operation information is acquired,

calculating a straight line connecting the position of the transmitter and the position of the flying body,

and controlling the orientation of the flying object based on the orientation of the straight line.
A flight control instruction method in a transmitter that instructs control of flight of a flying object, the method comprising:

acquiring operation information for instructing control of the orientation of the flying object;

a step of acquiring information of orientation or position of the transmitter; and

and instructing control of the orientation of the flying object based on the orientation or position of the transmitter when the operation information is acquired.
The flight control instruction method according to claim 8, wherein the step of instructing control of the orientation of the flying object includes a step of instructing rotation of the flying object so that the orientation of the transmitter and the orientation of the flying object are in the same direction.
The flight control indication method of claim 8, wherein,

further comprising: a step of acquiring positional information of the flying object, and

a step of calculating a straight line connecting the position of the transmitter and the position of the flying object,

the step of acquiring information of the orientation or position of the transmitter includes the step of acquiring position information of the transmitter,

the step of instructing control of the orientation of the flying object includes a step of instructing control of the orientation of the flying object based on the orientation of the straight line.
The flight control instruction method according to claim 10, wherein the step of instructing control of the orientation of the flying object includes a step of instructing rotation of the flying object so that the orientation of the straight line and the orientation of the flying object are in the same direction.
The flight control instruction method according to any one of claims 8 to 11, wherein the step of instructing the control of the orientation of the flying object includes a step of instructing the flying object to rotate in a rotation direction in which the amount of rotation of the flying object is small, of a clockwise rotation direction and a counterclockwise rotation direction.
The flight control indication method of any one of claims 8 to 12, further comprising: a step of acquiring control completion information of the orientation of the flying object; and

and presenting information indicating that the control of the orientation of the flying object is completed, based on the completion information.
A flight control method in a flight body that controls a flight based on an indication of control of the flight by a transmitter, characterized by comprising:

receiving, from the transmitter, operation information indicating control of an orientation of the flying object and position information of the transmitter;

a step of acquiring position information of the flying object when the operation information is received;

calculating a straight line connecting the position of the transmitter and the position of the flying object; and

and controlling the orientation of the flying object based on the orientation of the straight line.
A program, characterized by causing a transmitter that instructs control of flight of a flying object to perform the steps of:

acquiring operation information for instructing control of the orientation of the flying object;

a step of acquiring information of an orientation or position of the transmitter when the operation information is acquired; and

and instructing control of the orientation of the flying object based on the orientation or position of the transmitter.
A recording medium that is a computer-readable recording medium and that has recorded thereon a program for causing a transmitter that instructs control of flight of a flying object to execute:

acquiring operation information for instructing control of the orientation of the flying object;

a step of acquiring information of an orientation or position of the transmitter when the operation information is acquired; and

and instructing control of the orientation of the flying object based on the orientation or position of the transmitter.