JP2015102479A - Flight method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable an aircraft to fly while efficiently avoiding entry to clouds without the need of operator's operation.SOLUTION: A flight method includes: determining, by a course controller, whether cloud occupancy is equal to or higher than a first threshold in a determination region set to positions corresponding to a line in an image taken in a direction corresponding to the line; determining whether the cloud occupancy is equal to or higher than a second threshold in a division region for a way point to be selected next time and the following out of a plurality of division regions formed by dividing the image (S212) if the cloud occupancy in the determination region is equal to or higher than the first threshold (YES in S206); and setting the way point to be selected the next time and the following as a target (S226) if the cloud occupancy in the division region for the way point to be selected the next time and the following is lower than the second threshold (NO in S212).

Description

  The present invention relates to a flight method in which an aircraft flies while avoiding entry to clouds existing in a route.

  When the aircraft flies, if the aircraft enters the clouds, the operator's field of view is obstructed, making it difficult to control. For this reason, when flying without receiving the instrument flight method (IFR: Instrument Flight Rules), which is a flight under the direction of the instrument (visual flight method, VFR: Visual Flight Rules), the aircraft itself must not enter the clouds. Is the premise. If an aircraft enters the clouds, the field of view is not only obstructed, but water droplets may come into contact with the aircraft to freeze (freeze). For example, if icing occurs on the wing, the lift of the aircraft may decrease and the flight may become unstable. Therefore, the aircraft needs to fly around the clouds.

  In manned aircraft, the navigation route is corrected by grasping the situation ahead of the aircraft (direction corresponding to the route) by visual observation of the operator or by an active weather radar or sensor mounted on the aircraft (for example, Patent Document 1). 2). On the other hand, in an unmanned aerial vehicle, it may be difficult to mount an active weather radar or sensor that consumes a large amount of power or occupies a volume, so a passive imaging device that consumes a relatively small amount of power or occupies a volume is used. For example, on the basis of an image of a television camera that is mounted on an aircraft and images the front of the aircraft (route direction), the ground operator grasps the situation in front of the aircraft and corrects the route (for example, Patent Document 3, 4). In contrast to such a technique, a technique for detecting a cloud from an image (for example, Patent Document 5) is also disclosed.

JP 2006-321475 A JP 2000-62698 A JP-A-1-247298 Japanese Patent Laid-Open No. 9-193897 JP-A-5-333160

  However, in Patent Documents 1, 2, and 5, when there is a cloud in front of the aircraft, there is no description about a specific method for determining in which direction and how much the aircraft should fly to avoid the cloud. Depending on the location of the situation, there are situations that cannot be avoided. In Patent Documents 3 and 4, a complicated operation by the operator is required.

  The present invention has been made in view of such a problem, and an object of the present invention is to provide a flight method in which an aircraft flies efficiently while avoiding entry into clouds without requiring an operation by a pilot.

  In order to solve the above problems, a flight method of the present invention is a flight method in which a flight control device provided in an aircraft is used to sequentially fly a plurality of waypoints in which the order of passing is determined, The route control device determines whether or not the occupancy rate of the cloud is equal to or greater than a predetermined first threshold in a determination region set at a position corresponding to the route in the image obtained by imaging the direction corresponding to the route. If the cloud occupancy in the determination area is equal to or greater than the first threshold, the cloud occupancy in the divided areas for the waypoints selected after the next time among the plurality of divided areas formed by dividing the image. It is determined whether or not the second threshold value is equal to or greater than a predetermined second threshold value. If the occupancy of the cloud is less than the second threshold value in the divided area for the next selected waypoint, the waypoint selected after the next time Characterized in that the target.

  In addition, in the divided area for the waypoints selected after the next time, if the occupancy rate of the cloud is equal to or greater than the second threshold value, the temporary route on the route corresponding to the divided area other than the divided area for the waypoints selected after the next time is temporarily set. Waypoints may be set and temporary waypoints may be targeted.

  In addition, in the divided areas for the waypoints selected after the next time, if the occupancy rate of the cloud is equal to or greater than the second threshold value, it is determined whether or not the divided areas for the waypoints selected after the next time are straddled. If there are a plurality of divided areas, it is determined whether there is a divided area having a cloud occupancy less than the second threshold among the plurality of divided areas, and the cloud occupancy is the second. If there is a divided area that is less than the threshold, the route may be changed to the divided area.

  According to the present invention, an aircraft can fly efficiently while avoiding entry into clouds without requiring an operation by a pilot.

It is a figure for demonstrating the flight control of an unmanned aircraft. It is a functional block diagram showing a schematic configuration of an unmanned aerial vehicle. It is a figure for demonstrating the determination area | region. It is a figure for demonstrating a division area. It is a figure for demonstrating the waypoint which a route determination part sets. It is a figure for demonstrating the division area concerning a modification. It is a flowchart for demonstrating the flow of the flight method concerning this embodiment.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The dimensions, materials, and other specific numerical values shown in the embodiment are merely examples for facilitating understanding of the invention, and do not limit the present invention unless otherwise specified. In the present specification and drawings, elements having substantially the same function and configuration are denoted by the same reference numerals, and redundant description is omitted, and elements not directly related to the present invention are not illustrated. To do.

  Here, after first describing the flight control of the unmanned aircraft 100, the route control device 130 according to the flight method of the present embodiment will be described.

  FIG. 1 is a diagram for explaining flight control of the unmanned aerial vehicle 100. Unmanned aerial vehicle 100 is controlled to fly through a plurality of waypoints WP set in advance in a predetermined order. The waypoint WP is point information representing a specific position defined by three-dimensional information (for example, latitude, longitude, altitude).

  In FIG. 1, the first waypoint WP1 is the waypoint WP currently targeted by the unmanned aircraft 100. The second waypoint WP2 is the target waypoint WP (selected next time) after the first waypoint WP1, and the third waypoint WP3 is the target way after the second waypoint WP2. Point WP. Therefore, the unmanned aerial vehicle 100 flies with the first waypoint WP1, the second waypoint WP2, and the third waypoint WP3 as targets in order.

  Unmanned aerial vehicle 100 flies over leg L, which is a line connecting waypoints WP. In the route of FIG. 1, the unmanned aircraft 100 flies from the current location P on the first leg L1 toward the first waypoint WP1. Then, after passing through the first waypoint WP1, it flies over the second leg L2 to the second waypoint WP2, passes through the second waypoint WP2, and then flies over the third leg L3 to the third waypoint WP3. Opposite and pass the third waypoint WP3.

  It is difficult for the unmanned aerial vehicle 100 to fly over the leg L without passing through the waypoint WP due to atmospheric conditions or the like. For this reason, an allowable range R in which the unmanned aircraft 100 can be regarded as passing is set in the waypoint WP. Therefore, when unmanned aerial vehicle 100 passes through allowable range R set for waypoint WP, it is considered that unmanned aircraft 100 has passed waypoint WP. Moreover, there is no restriction | limiting in the shape of the tolerance | permissible_range R, and it can set arbitrarily.

  An object of the present embodiment is to efficiently avoid a cloud and fly in the unmanned aerial vehicle 100 that targets a plurality of waypoints WP whose order of passing is determined as described above. Hereinafter, the route control device 130 that controls the route of the unmanned aircraft 100 will be described in detail.

  FIG. 2 is a functional block diagram showing a schematic configuration of unmanned aerial vehicle 100. As shown in FIG. 2, the unmanned aerial vehicle 100 includes an imaging device 110, a flight mechanism 120, and a route control device 130.

  The imaging device 110 is a visible light camera that receives visible light or an infrared camera that receives infrared light, and is provided in the unmanned aircraft 100 so as to image the front of the unmanned aircraft 100 (direction corresponding to the navigation route). Thus, in this embodiment, since the imaging device 110 is used instead of a weather radar, a sensor, etc. with large power consumption and occupied volume, power consumption and occupied volume can be reduced.

  The flight mechanism 120 includes an internal combustion engine (for example, a jet engine or a reciprocating engine), and moves the aircraft body by generating lift around the fixed wing by a propulsive force. However, the mechanism for generating lift is not limited to such a case, and as in a rotary wing aircraft (helicopter), the rotor blades are rotated by an internal combustion engine to generate lift, and the aircraft body is maintained in a state of floating in the atmosphere. It can also be configured with a mechanism.

  The route control device 130 includes an I / F unit 132, a data holding unit 134, and a central control unit 136.

  The I / F unit 132 is an interface for performing bidirectional information exchange with the imaging apparatus 110. The data holding unit 134 includes a RAM, a flash memory, an HDD, and the like. The data holding unit 134 holds various pieces of information necessary for the processing of each function unit described below, and temporarily holds image data received from the imaging device 110. To do.

  The central control unit 136 is configured by a semiconductor integrated circuit including a central processing unit (CPU), a ROM storing programs, a RAM as a work area, and the like. The central control unit 136 includes an I / F unit 132 and a data holding unit 134 via a system bus 138. Control etc. In the present embodiment, the central control unit 136 includes an image processing unit 140, a determination region cloud occupancy derivation unit 142, a determination region cloud occupancy determination unit 144, a divided region cloud occupancy derivation unit 146, and a divided region cloud occupancy. It functions as a determination unit 148, a divided region number inquiry unit 150, and a route determination unit 152.

  The image processing unit 140 acquires image data in front of the unmanned aerial vehicle 100 captured by the imaging device 110 (direction corresponding to the navigation route), and performs image processing (for example, binarization processing) to generate a binarized image. To do. In the binarization process, a luminance value that can distinguish the presence or absence of a cloud is set as a threshold value in advance. If the luminance value of each pixel in the image data is equal to or greater than the threshold value, the value is 1 (white), and if the luminance value is less than the threshold value, 0 (Black). Therefore, in the binarized image, the cloud is shown in white, and the portion without the cloud is shown in black.

  FIG. 3 is a diagram for explaining the determination area 160. In FIG. 3, the determination area 160 is indicated by hatching. As shown in FIG. 3, the determination area 160 is, for example, an elliptical area, and is set at a position corresponding to the route of the unmanned aircraft 100. The unmanned aerial vehicle 100 flies with the first waypoint WP1 as a target, and the imaging device 110 captures an image of the front of the unmanned aircraft 100 (direction corresponding to the route). Therefore, it is assumed that the first waypoint WP1 is located near the center of the binarized image 110a. Therefore, the determination area 160 is set at the center position of the binarized image 110a. Note that the shape of the determination region 160 is not limited to an ellipse, and may be a circle or a rectangle.

  The determination region cloud occupancy rate deriving unit 142 detects the cloud C existing in the determination region 160, and the occupancy rate of the cloud C in the determination region 160 (the ratio of the area occupied by the cloud C in the determination region 160) (hereinafter, referred to as “cloud region C”). , Referred to as “determination area cloud occupancy”).

  The determination region cloud occupancy determination unit 144 determines whether or not the determination region cloud occupancy derived by the determination region cloud occupancy derivation unit 142 is greater than or equal to a predetermined first threshold value. The first threshold is a value (for example, 10%) at which the cloud C is small and the unmanned aircraft 100 can fly. The first threshold value can be appropriately changed before and during the flight of the unmanned aircraft 100.

  FIG. 4 is a diagram for explaining the divided region 170. As shown in FIG. 4A, in the present embodiment, the divided region 170 is a region formed by dividing the binarized image 110a vertically and horizontally by diagonal lines of the square binarized image 110a. Specifically, the divided area 170 includes an upper divided area 170a positioned on the upper side in the binarized image 110a, a lower divided area 170b positioned on the lower side, a right divided area 170c positioned on the right side, and a left side positioned on the left side. There are four areas of the divided area 170d.

  If the determination area cloud occupancy in the binarized image 110a is greater than or equal to the first threshold value, that is, if there are many clouds C in the direction corresponding to the route of the unmanned aircraft 100, give up to the first waypoint WP1, In order to fly around C, it is necessary to set another route. As a new route at this time, it is desirable to select a route that targets the second waypoint WP2, which is the next target of the first waypoint WP1.

  Therefore, the divided region cloud occupancy rate deriving unit 146 identifies a divided region 170 (hereinafter, referred to as “corresponding divided region 172”) corresponding to the second waypoint WP2 among the four divided regions 170. In FIG. 4, the corresponding divided area 172 is indicated by hatching. The divided region cloud occupancy deriving unit 146 then occupies the cloud C in the corresponding divided region 172 (the ratio of the area occupied by the cloud C to the corresponding divided region 172) (hereinafter referred to as “divided region cloud occupancy”). .) Is derived.

  For example, when the corresponding divided area 172 is the right divided area 170c, the divided area cloud occupancy deriving unit 146 is assumed that the second waypoint WP2 is located as the corresponding divided area 172, as shown in FIG. The right divided area 170c is derived, and the divided area cloud occupation ratio in the right divided area 170c is derived.

  In addition, there may be a case where the corresponding divided area 172 extends over a plurality of divided areas 170, that is, there are two divided areas 170 corresponding to the second waypoint WP2. For example, as shown in FIG. 4B, when the corresponding divided area 172 extends over the upper divided area 170a and the right divided area 170c, the divided area cloud occupancy rate deriving unit 146 The occupancy rate of the cloud C in the corresponding divided area 172 combined with the divided area 170c is derived.

  The divided region cloud occupancy rate determination unit 148 determines whether or not the divided region cloud occupancy rate derived by the divided region cloud occupancy rate deriving unit 146 is equal to or greater than a predetermined second threshold value. The second threshold is a value (for example, 50%) that allows the unmanned aircraft 100 to fly without entering the cloud C even if the cloud C exists. The second threshold value can be appropriately changed before and during the flight of the unmanned aircraft 100.

  The divided region number inquiry unit 150 inquires the number of divided regions 170 in the corresponding divided region 172 from which the divided region cloud occupancy deriving unit 146 has derived the divided region cloud occupancy.

  The route determination unit 152 first sets a target waypoint WP for the unmanned aerial vehicle 100 and, after the unmanned aircraft 100 passes the target waypoint WP, sets a target waypoint WP. When the target waypoint WP is set, the flight mechanism 120 controls the flight of the unmanned aircraft 100.

  FIG. 5 is a diagram for explaining the waypoint WP set by the route determination unit 152. Here, a case where the unmanned aircraft 100 is flying with the first waypoint WP1 as a target will be described as an example. In FIG. 5, the determination area 160 and the corresponding divided area 172 are indicated by hatching.

  In the binarized image 110a shown in FIG. 5A, for example, it is assumed that the determination region cloud occupancy is not equal to or greater than the first threshold (10%), that is, less than 10%. That is, when there is little cloud C in the direction corresponding to the route of the unmanned aircraft 100 and it is not necessary to avoid it, the route determination unit 152 continues to set the first waypoint WP1, which is the currently targeted waypoint WP, as a target, Unmanned aerial vehicle 100 flies toward first waypoint WP1.

  Next, a case where the determination area cloud occupancy is equal to or higher than the first threshold, that is, a case where there are many clouds C in a direction corresponding to the route of the unmanned aircraft 100 will be described. In the binarized image 110a shown in FIG. 5B, it is assumed that the determination region cloud occupancy is equal to or higher than the first threshold (10%). At this time, since there are many clouds C in the direction corresponding to the route of the unmanned aircraft 100, it is difficult for the unmanned aircraft 100 to fly targeting the first waypoint WP1. Therefore, the route determination unit 152 sets another route and avoids the cloud C.

  For example, as shown in FIG. 5C, in the binarized image 110a, the corresponding divided area 172 is the left divided area 170d, and the divided area cloud occupancy in the left divided area 170d is equal to or greater than the second threshold (50%). Not, that is, less than 50%. At this time, there is a possibility that the unmanned aircraft 100 can fly without entering the cloud C in the direction of the left divided area 170d. Therefore, the route determination unit 152 updates the route by changing the target waypoint WP from the first waypoint WP1 to the second waypoint WP2.

  Thus, by changing the target waypoint WP to the second waypoint WP2, the unmanned aircraft 100 is one of the destination points on the route while avoiding the clouds C in the direction corresponding to the route. 2 waypoint WP2 can be reached. Therefore, the deviation from the set route can be minimized, and the cloud C can be efficiently avoided.

  Also, as shown in FIG. 5D, in the binarized image 110a, the corresponding divided area 172 is the right divided area 170c, and the divided area cloud occupancy in the right divided area 170c is equal to or greater than the second threshold value. That is, it is assumed that it is 50% or more. At this time, it is difficult for the unmanned aircraft 100 to fly in the direction of the divided area 170 corresponding to the second waypoint WP2 without entering the cloud C.

  Therefore, in order for the unmanned aircraft 100 to fly while avoiding the cloud C, the route determination unit 152 sets a temporary waypoint that is a temporary waypoint as a temporary measure. The temporary waypoint is set to the route corresponding to the divided area 170 (for example, the left divided area 170d) other than the divided area 170 (here, the right divided area 170c) in which the divided area cloud occupancy is equal to or greater than the second threshold. The At this time, the divided region cloud occupancy deriving unit 146 derives the occupancy rate of the cloud C in the divided regions 170 other than the divided region 170 in which the divided region cloud occupancy is equal to or higher than the second threshold value. Temporary waypoints may be set in the low divided area 170.

  Then, the route determination unit 152 updates the route by changing the target waypoint WP from the first waypoint WP1 to the temporary waypoint. Thus, by setting the temporary waypoint, the unmanned aircraft 100 avoids the route C that targets the first waypoint WP1 and the cloud C in the direction corresponding to the route that targets the second waypoint WP2. And can fly.

  Next, when the determination area cloud occupancy is equal to or greater than the first threshold, that is, when there are many clouds C in the direction corresponding to the route of the unmanned aircraft 100, it is difficult to fly with the first waypoint WP1 as a target. A case where the corresponding divided area 172 extends over a plurality of divided areas 170 will be described.

  In the binarized image 110a shown in FIG. 5E, it is assumed that the determination area cloud occupancy in the determination area 160 is equal to or greater than the first threshold. As shown in FIG. 5F, in the binarized image 110a, the corresponding divided area 172 is a combined area of the lower divided area 170b and the right divided area 170c, and the corresponding divided area 172 occupies the divided area cloud. The rate is assumed to be greater than or equal to the second threshold.

  On the other hand, among the corresponding divided areas 172, the divided area cloud occupancy in the lower divided area 170b is less than the second threshold, and the divided area cloud occupancy in the right divided area 170c is greater than or equal to the second threshold. That is, the entire corresponding divided area 172 has many clouds C, but the cloud C is biased to the right divided area 170c, and the lower divided area 170b has few clouds C. Therefore, there is a possibility that the unmanned aircraft 100 can fly without entering the cloud C in the direction of the lower divided region 170b.

  At this time, the route determination unit 152 determines that the determination region cloud occupancy rate determination unit 144 determines that the determination region cloud occupancy rate in the determination region 160 is less than the first threshold value, and is less than the second threshold value in the corresponding divided region 172. The route is temporarily changed to the divided region 170 (here, the lower divided region 170b). Thereafter, when the determination area cloud occupancy in the determination area 160 becomes less than the first threshold value, the route determination unit 152 updates the route by changing the target waypoint WP to the second waypoint WP2. Therefore, even when the corresponding divided area 172 extends over a plurality of divided areas 170 and there is a divided area 170 whose divided area cloud occupancy is less than the second threshold, setting the second waypoint WP2 as a target Deviation from the route that has been made can be reduced, and the cloud C can be efficiently avoided.

  When the corresponding divided area 172 extends over the plurality of divided areas 170 and the divided area cloud occupancy of each of the plurality of divided areas 170 is equal to or greater than the second threshold, the route determination unit 152 sets a temporary waypoint. . For example, in the binarized image 110a shown in FIG. 5G, it is assumed that the determination area cloud occupancy is equal to or higher than the first threshold.

  As shown in FIG. 5H, in the binarized image 110a, the corresponding divided area 172 is a combined area of the lower divided area 170b and the right divided area 170c, and the divided area cloud in the corresponding divided area 172 is displayed. Assume that the occupation ratio is equal to or greater than the second threshold. Further, the divided area cloud occupancy in each of the lower divided area 170b and the right divided area 170c is also equal to or greater than the second threshold. That is, there are many clouds C in the corresponding divided area 172 as a whole, and there are many clouds C in each of the lower divided area 170b and the right divided area 170c. For this reason, it is difficult for the unmanned aircraft 100 to fly in the direction of the corresponding divided region 172 without entering the cloud C.

  Therefore, the route determination unit 152 sets temporary waypoints in the divided areas 170 (for example, the left divided area 170d) other than the corresponding divided areas 172 (the lower divided area 170b and the right divided area 170c). Then, the route determination unit 152 updates the route by changing the target waypoint WP from the first waypoint WP1 to the temporary waypoint. By setting a temporary waypoint, the unmanned aircraft 100 flies while avoiding the cloud C in the direction corresponding to the route that targets the first waypoint WP1 and the route that targets the second waypoint WP2. be able to.

  Thus, in the flight method according to the present embodiment, the route is changed according to the occupancy rate of the cloud C in the determination area 160 and the divided area 170 in the binarized image 110a. For this reason, by changing the size of the determination region 160, it is possible to perform a flight suitable for the purpose. Specifically, when the unmanned aircraft 100 is turned small to avoid the cloud C, the size of the determination region 160 is relatively reduced. By making the size of the determination region 160 relatively small, the route control device 130 occupies the cloud C at a position corresponding to the route of the unmanned aircraft 100 even if there are many clouds C in front of the unmanned aircraft 100. Only the rate is derived to control the route. As a result, the unmanned aerial vehicle 100 can fly through the clouds C while making a small turn.

  On the other hand, when the unmanned aircraft 100 makes a large turn to avoid the cloud C, the size of the determination region 160 is relatively increased. By making the size of the determination area 160 relatively large, the route control device 130 controls the route by deriving the occupancy rate of the cloud C in a wide range in front of the unmanned aircraft 100. As a result, when the cloud C exists in the direction corresponding to the route, it is determined that the determination area cloud occupancy is equal to or higher than the first threshold earlier than when the determination area 160 is small. Therefore, the unmanned aerial vehicle 100 turns early and flies over a wide area with few clouds C, that is, the cloud C can be largely turned to avoid it.

(Modification of determination area 160)
FIG. 6 is a diagram for explaining the divided regions 270 and 370 according to the modified example, FIG. 6A is a diagram for explaining the divided region 270, and FIG. 6B is a diagram for explaining the divided region 370. It is a figure for demonstrating. In FIG. 6, the corresponding divided area 172 is indicated by hatching.

  As shown in FIG. 6A, each of the divided areas 270 is formed in a triangular shape, and in the binarized image 110a, the upper divided area 270a located on the upper side, the lower divided area 270b located on the lower side, and the right side. There are four areas, a right divided area 270c located on the left side and a left divided area 270d located on the left side. Further, as shown in FIG. 6B, the divided area 370 is formed in a home base shape that combines a triangle and a square, and is located on the upper side in the binarized image 110a and on the lower side. There are four areas: a lower divided area 370b, a right divided area 370c located on the right side, and a left divided area 370d located on the left side. The divided areas 270 and 370 are smaller than the divided area 170 described above, and are limited to areas corresponding to positions where the unmanned aircraft 100 can substantially move in a short time.

  For example, as shown in FIGS. 6A and 6B, the lower divided areas 270b and 370b are the corresponding divided areas 172, and an area (binarized image 110a) corresponding to the lower divided area 170b described above. Suppose that the divided area cloud occupancy ratio of the area located on the lower side when the line is divided by the diagonal line is equal to or greater than the second threshold. However, if the divided area cloud occupancy in the lower divided areas 270b and 370b is less than the second threshold value, the route control device 130 targets the second waypoint WP2 without setting a temporary waypoint.

  In this way, by limiting the divided areas 270 and 370 to areas where the unmanned aircraft 100 can substantially move in a short time, the cloud C is present in the non-movable area, so the second waypoint WP2 is used as a route. Inefficient events such as not being selected can be avoided, and flight can be controlled efficiently.

  FIG. 7 is a flowchart for explaining the flow of the flight method according to the present embodiment. The process in the flight method is repeatedly performed as an interrupt process every predetermined period. Before starting the flight method, the route determination unit 152 sets a target waypoint WP (initial value is the first waypoint WP1).

  The imaging device 110 images the front of the unmanned aircraft 100. The image data of the image captured by the imaging device 110 is transmitted to the image processing unit 140 of the route control device 130 (step S200). The image processing unit 140 binarizes the image captured by the imaging device 110 to generate a binarized image 110a (step S202).

  Next, the determination area cloud occupancy deriving unit 142 derives the determination area cloud occupancy in the determination area 160 of the binarized image 110a (step S204). Then, the determination region cloud occupancy determination unit 144 determines whether the derived determination region cloud occupancy is greater than or equal to the first threshold (step S206).

  When the determination area cloud occupancy is less than the first threshold value (NO in step S206), the route determination unit 152 continues the target waypoint WP as a target, and ends the flight method.

  If the determination area cloud occupancy is greater than or equal to the first threshold (YES in step S206), the route determination unit 152 selects the next waypoint WP (the next target waypoint WP) of the currently targeted waypoint WP. ) Is derived. When the divided area 170 corresponding to the next target waypoint WP extends over the plurality of divided areas 170, the occupancy rate of the cloud C in the area including the plurality of divided areas 170 is derived (step S208). ).

  The divided area cloud occupancy deriving unit 146 derives the divided area cloud occupancy in the divided area 170 corresponding to the next target waypoint WP determined in step S208 (step S210). Then, the divided region cloud occupancy determination unit 148 determines whether the derived divided region cloud occupancy is equal to or greater than the second threshold (step S212).

  When the divided area cloud occupancy is less than the second threshold (NO in step S212), the route determination unit 152 changes the target waypoint WP to the next target waypoint WP (step S226). The flight method ends.

  When the divided area cloud occupancy is equal to or greater than the second threshold (YES in step S212), the divided area cloud occupancy deriving unit 146 derives the divided area cloud occupancy in step S208 described above. The number of divided areas 170 in the divided area 170 corresponding to the next selected waypoint WP is inquired (step S214).

  When the number of the divided areas 170 in the area from which the divided area cloud occupancy is derived is not two (one) (NO in step S216), the route determination unit 152 determines the divided area from which the divided area cloud occupancy is derived. Temporary waypoints are set in the divided areas 170 other than 170 (the divided area 170 corresponding to the next target waypoint WP). Then, the route determination unit 152 changes the target waypoint WP to a temporary waypoint (step S218) and ends the flight method.

  When the number of the divided areas 170 from which the divided area cloud occupancy is derived is two (YES in step S216), the divided area cloud occupancy deriving unit 146 derives the divided area cloud occupancy for each of the two divided areas 170. (Step S220). Then, the divided region cloud occupancy rate determination unit 148 determines whether or not there is a divided region 170 having a divided region cloud occupancy rate less than the second threshold among the two divided regions 170 from which the divided region cloud occupancy rate is derived in step S220. Determination is made (step S222).

  When there is no divided area 170 whose divided area cloud occupancy is less than the second threshold (NO in step S222), the route determination unit 152 determines the divided area 170 from which the divided area cloud occupancy is derived (the next target waypoint) Temporary waypoints are set in the divided areas 170 other than the divided area 170) corresponding to the WP. Then, the route determination unit 152 changes the target waypoint WP to a temporary waypoint (step S218) and ends the flight method.

  When there is a divided region 170 whose divided region cloud occupancy is less than the second threshold (YES in step S222), the route determination unit 152 changes the route to the divided region 170 whose divided region cloud occupancy is less than the second threshold ( Step S224). Thereafter, the route determination unit 152 changes the target waypoint WP to the next target waypoint WP (step S226), and ends the flight method.

  Thus, according to the present embodiment, the unmanned aircraft 100 can fly while avoiding entry into the cloud C efficiently without requiring an operation by the operator.

  As mentioned above, although preferred embodiment of this invention was described referring an accompanying drawing, it cannot be overemphasized that this invention is not limited to this embodiment. It will be apparent to those skilled in the art that various changes and modifications can be made within the scope of the claims, and these are naturally within the technical scope of the present invention. Is done.

  For example, in the above-described embodiment, the divided region cloud occupancy deriving unit 146 sets the corresponding divided region 172 as the divided regions 170, 270, and 370 for deriving the divided region cloud occupancy. However, the divided areas 170, 270, and 370 set by the divided area cloud occupation rate deriving unit 146 are divided areas 170, 270, and 370 for the waypoints WP after the second waypoint (waypoints WP selected after the next time). For example, the third waypoint WP3 can be set.

  INDUSTRIAL APPLICABILITY The present invention can be used for a flight method in which an aircraft flies while avoiding entering a cloud existing on a route.

WP Waypoint 100 Aircraft (Unmanned Aircraft)
130 Route Control Device 160 Determination Area 170, 270, 370 Divided Area

Claims (3)

A flight method that uses a route control device provided in an aircraft to fly with a plurality of waypoints in which the order of passing is determined sequentially as targets,
The route control device is
In the determination region set at a position corresponding to the route in the image obtained by imaging the direction corresponding to the route, it is determined whether or not the cloud occupancy is equal to or higher than a predetermined first threshold value,
If the cloud occupancy rate in the determination area is equal to or greater than the first threshold, among the plurality of divided areas formed by dividing the image, in the divided areas for the waypoints selected after the next time, Determine whether the occupancy is greater than or equal to a predetermined second threshold;
A flight method characterized in that if the cloud occupancy in the divided area for the waypoints selected after the next time is less than the second threshold, the waypoints selected after the next time are targeted.   If the occupancy of the cloud in the divided area for the waypoints selected after the next time is equal to or greater than the second threshold value, it corresponds to the divided area other than the divided areas for the waypoints selected after the next time. The flight method according to claim 1, wherein a temporary waypoint is set on the route, and the temporary waypoint is set as a target. In the divided area for the waypoints selected after the next time, if the occupancy rate of the cloud is equal to or greater than the second threshold value, whether or not the divided areas for the waypoints selected after the next time span a plurality Determine
If there are a plurality of the divided regions, it is determined whether there is a divided region having a cloud occupancy less than the second threshold among the plurality of divided regions straddled,
2. The flight method according to claim 1, wherein if there is the divided area having a cloud occupation ratio less than the second threshold, the route is changed to the divided area.

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