JP2017218141A - Unmanned flying body, control method and control program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an unmanned flying body capable of appropriately flying even when catching other objects such as suspicious unmanned flying bodies in the air, a control method and a control program.SOLUTION: A catching drone 100 is an unmanned flying body flying in the air, and includes: a catching net 112 for catching other objects in the air; a weight catch determination part 109 detecting the fact that the catching net 112 catches an object; and an autonomous flight control part 111 controlling the flying condition of the catching drone 100 so as to be in an autonomous flight condition without relying on manipulation signals from outside, when the weight catch determination part 109 detects the fact that the object is caught.SELECTED DRAWING: Figure 1

Description

  The present disclosure relates to an unmanned air vehicle flying in the air, a control method for the unmanned air vehicle, and a control program.

  Countermeasures against suspicious unmanned aerial vehicles (drones) are required to prevent crimes such as terrorism and accidents. For example, on December 10, 2015, the Japanese Metropolitan Police Department introduced a manually-operated capture unmanned air vehicle (intercepting drone) equipped with a net to capture suspicious drones.

  Patent Document 1 discloses a method for carrying an unmanned air vehicle. Specifically, it carries goods and documents, etc. quickly and safely, and is an autopilot that enables automatic flight of unmanned air vehicles, an autonomous flight control means that stabilizes autopilot, and global positioning. Positioning means for acquiring position information and altitude information of the unmanned air vehicle by the system, storage means for storing the position information of the destination, unattended position information input to the storage means and unmanned obtained by the positioning means An unmanned aerial vehicle having flight control means for controlling the flight of the unmanned air vehicle based on the position information of the air vehicle and a transported object storage unit for storing a transported object is disclosed. The unmanned aerial vehicle accommodates a transported article in a transported object storage unit, and transports the transported object by flying the unmanned aerial vehicle based on position information of a destination previously input to the storage means.

Japanese Patent No. 4222510

  However, the above unmanned air vehicle transport method is intended for ordinary transported goods such as articles and documents, and no consideration has been given to the case of capturing other objects in the air such as suspicious unmanned air vehicles. However, further improvement is required for the control method of the unmanned aerial vehicle when other objects in the air such as a suspicious unmanned aerial vehicle are captured.

  The present disclosure has been made to solve the above-described problem. An unmanned air vehicle, a control method, and a control that can appropriately fly even when other objects in the air such as a suspicious unmanned air vehicle are captured. The purpose is to provide a program.

  An unmanned air vehicle according to an aspect of the present disclosure is an unmanned air vehicle flying in the air, and a capture unit for capturing another object in the air, and detecting that the capture unit has captured the object. And an autonomous flight control unit that controls the flight state of the unmanned air vehicle so as to be in an autonomous flight state that does not depend on an external control signal when the detection unit detects capture of the object. Prepare.

  According to the present disclosure, it is possible to realize an unmanned air vehicle that can appropriately fly even when other objects in the air such as a suspicious unmanned air vehicle are captured.

It is a block diagram which shows an example of a structure of the drone for capture in Embodiment 1 of this indication. It is the external view which looked at the drone for capture shown in FIG. 1 from the upper surface. It is the external view which looked at the drone for capture shown in FIG. 1 from the front. It is a figure which shows an example of a mode that the drone for capture shown in FIG. 1 is capturing the suspicious drone. It is a block diagram which shows an example of a structure of the prop shown in FIG. It is the external view which looked at the transmitter shown in FIG. 5 from the front. It is a figure for demonstrating an example of the determination method of the weight capture determination part with respect to the output value of the net weight sensor shown in FIG. It is a figure which shows an example of the display screen of the propo for notifying that the drone for capture is switched to autonomous flight after capturing the suspicious drone. It is a figure for demonstrating an example of the method of determining the movement destination and flight route of a suspicious drone using the safe place map of the safe place map memory | storage part shown in FIG. It is a figure which shows an example of the display screen of the propo for notifying that the drone for capture has been moved to a safe place after capturing the suspicious drone. It is a flowchart which shows an example of the capture process of the suspicious drone by the drone for capture shown in FIG. It is a block diagram which shows an example of a structure of the drone for capture in the modification 1 of Embodiment 1 of this indication. It is the external view which looked at the drone for capture shown in FIG. 12 from the upper surface. It is a figure for demonstrating an example of the determination method of the electric current capture determination part with respect to the output value of the current sensor shown in FIG. It is a block diagram which shows an example of a structure of the drone for capture in the modification 2 of Embodiment 1 of this indication. It is the external view which looked at the drone for capture shown in FIG. 15 from the upper surface. It is a figure for demonstrating an example of the determination method of the rotation speed capture determination part with respect to the output value of the rotation speed sensor shown in FIG. It is a block diagram which shows an example of a structure of the drone for capture in Embodiment 2 of this indication. It is the external view which looked at the drone for capture shown in FIG. 18 from the upper surface. It is a figure for demonstrating an example of the determination method of the wind speed consideration weight capture determination part with respect to the output value of the net weight sensor shown in FIG. It is a figure which shows an example of the relationship between relative wind speed and a capture determination threshold value. It is a block diagram which shows an example of a structure of the drone for capture in Embodiment 3 of this indication. It is a figure for demonstrating an example of the fall determination method of the weight drop determination part with respect to the output value of the net weight sensor shown in FIG. It is a figure which shows an example of the display screen of the propo for notifying that the fall of the suspicious drone was detected after the suspicious drone was captured. It is a block diagram which shows an example of a structure of the drone for capture in Embodiment 4 of this indication. It is a figure for demonstrating an example of the method of determining the movement destination and flight route of a suspicious drone using the safe place map of the safe place map memory | storage part shown in FIG. It is a figure which shows an example of the relationship between the maximum distance to an arrival target point, a net | network weight increase value, and a battery remaining charge.

(Knowledge that became the basis of this disclosure)
As described above, in order to prevent crimes such as terrorism and unforeseen accidents, as a countermeasure against a suspicious unmanned aerial vehicle, a manually operated capture unmanned aerial vehicle equipped with a net for capturing a suspicious unmanned aerial vehicle was introduced. However, after capturing a suspicious unmanned aerial vehicle, there is a risk of explosion or spraying of the drug, so you must move the suspicious unmanned aerial vehicle to a safe place such as a plaza or river as soon as possible. Don't be.

  However, the capture unmanned air vehicle operator does not know about a safe location near where the suspicious unmanned air vehicle was captured. In addition, if a pilot captures a suspicious unmanned aerial vehicle with a capture unmanned aerial vehicle, it may become difficult for the operator to manually control the vehicle due to a sudden change in weight. There is a possibility of causing a driving accident such as a crash.

  In order to solve the above-described problem, in the present disclosure, for example, until the capture of a suspicious unmanned air vehicle, the operator manually controls the unmanned air vehicle for capture, and the unmanned air vehicle for capture captures the suspicious unmanned air vehicle. Is detected, the flight state of the capture unmanned aerial vehicle is immediately switched to autonomous flight.In this autonomous flight, the capture unmanned aerial vehicle is held by the capture unmanned aerial vehicle from the location where the suspicious unmanned aerial vehicle was captured. Is controlled to move to the nearest safe place on the map.

  In this case, the capture unmanned air vehicle can move to the fastest and safest place by autonomous flight after capturing the suspicious unmanned air vehicle. In addition, after a suspicious unmanned air vehicle is captured, it is possible to avoid a manual operation accident due to a sudden change in weight of the unmanned air vehicle for capturing.

  Based on the above findings, the inventors of the present application have conducted intensive studies on how to control an unmanned aerial vehicle when capturing other objects in the air, such as a suspicious unmanned aerial vehicle. It has been completed.

  An unmanned air vehicle according to an aspect of the present disclosure is an unmanned air vehicle flying in the air, and a capture unit for capturing another object in the air, and detecting that the capture unit has captured the object. And an autonomous flight control unit that controls the flight state of the unmanned air vehicle so as to be in an autonomous flight state that does not depend on an external control signal when the detection unit detects capture of the object. Prepare.

  According to this configuration, when it is detected that other objects in the air have been captured, the flight state of the unmanned air vehicle is controlled so that it becomes an autonomous flight state that does not depend on an external control signal. Even when another object in the air such as a suspicious unmanned air vehicle is captured, an unmanned air vehicle that can fly appropriately can be realized.

  The unmanned air vehicle includes a communication unit that receives a control signal from the outside, a manual flight control unit that controls a flight state of the unmanned air vehicle based on the control signal, and the detection unit detects capture of the object. In this case, a control switching unit that switches from manual flight by the manual flight control unit to autonomous flight by the autonomous flight control unit may be further provided.

  According to this configuration, since the control signal from the outside is received and the flight state of the unmanned air vehicle is controlled based on the control signal, other objects in the air such as a suspicious unmanned air vehicle are manually operated. Can be captured. In addition, when the capture of an object is detected, the manual flight is switched from manual flight to autonomous flight.Therefore, after capturing other objects in the air, such as suspicious unmanned flight vehicles, sudden weight changes of unmanned flight vehicles Accidents due to manual operation by can be avoided.

  The unmanned air vehicle further includes a weight measurement unit that measures the weight of the capture unit, and the detection unit determines that the weight measured by the weight measurement unit is equal to or greater than a predetermined value. You may make it detect the capture of an object.

  According to this configuration, the capture of an object such as a suspicious unmanned air vehicle is detected because the capture of the object is detected by measuring the weight of the capture unit and determining that the measured weight is equal to or greater than a predetermined value. Can be detected with high accuracy.

  The unmanned aerial vehicle further includes a drive unit for flying the unmanned aerial vehicle, and a current measurement unit that measures a drive current of the drive unit, and the detection unit is measured by the current measurement unit. You may make it detect the capture of the said object by determining that a drive current is more than predetermined value.

  According to this configuration, since the drive current of the drive unit for flying the unmanned air vehicle is measured and it is determined that the measured drive current is equal to or greater than a predetermined value, the capture of the object is detected. Capture of objects such as suspicious unmanned air vehicles can be detected with high accuracy.

  The unmanned aerial vehicle further includes a drive unit for flying the unmanned aerial vehicle and a rotation speed measurement unit that measures the rotation speed of the drive unit, and the detection unit is measured by the rotation speed measurement unit. The capture of the object may be detected by determining that the rotational speed is equal to or greater than a predetermined value.

  According to this configuration, since the number of rotations of the driving unit for flying the unmanned air vehicle is measured, and the capture of the object is detected by determining that the measured number of rotations is a predetermined value or more, Capture of objects such as suspicious unmanned air vehicles can be detected with high accuracy.

  The unmanned air vehicle further includes a wind speed measuring unit that measures a wind speed relative to the unmanned air vehicle, and the detection unit changes the predetermined value according to the wind speed measured by the wind speed measuring unit. It may be.

  According to this configuration, the wind speed relative to the unmanned air vehicle is measured, and the predetermined value used for detecting the capture of the object is changed according to the measured wind speed. Capture of an object such as a flying object can be detected with high accuracy.

  The unmanned aerial vehicle further includes a storage unit that stores safe location information indicating a location of a safe location that is safe even when the object is landed or landed, and the autonomous flight control unit includes: The flight state of the unmanned aerial vehicle may be controlled so as to autonomously fly from the point where the capture of the object is detected to the safe place indicated by the safe place position information stored in the storage unit.

  According to this configuration, the safe location information indicating the location of the safe location that is safe even if the suspicious object is landed or landed is stored, and the safety location information indicated by the safe location information from the point where the capture of the object is detected is stored. Since the flight state of the unmanned aerial vehicle is controlled so as to autonomously fly to the ground, it is possible to reliably move to a safe place by autonomous flight after capturing an object such as a suspicious unmanned aerial vehicle.

  The communication unit may notify the safe location information indicating the location of the safe location where the unmanned air vehicle autonomously flies to the outside.

  According to this configuration, it is possible to notify the outside, for example, the driver of the unmanned air vehicle, that is, the pilot, the safe location information indicating the position of the safe location that is the destination to which the unmanned vehicle autonomously flies. It is possible to inform the pilots of where the body moves.

  The communication unit may notify the outside that the detection unit has detected capture of the object.

  According to this configuration, it is possible to notify the outside, for example, a driver of an unmanned air vehicle, i.e., a pilot, that the capture of an object has been detected, and a pilot or the like that has captured an object such as a suspicious unmanned air vehicle. Can let you know.

  After the detection of the capture of the object, the detection unit may detect the fall of the object by determining that the weight measured by the weight measurement unit is less than a predetermined value.

  According to this configuration, after detecting the capture of the object, the weight of the capture unit is measured, and the fall of the object is detected by determining that the measured weight is less than the predetermined value. The fall of an object such as a flying object can be detected with high accuracy.

  The communication unit may notify the outside that the detection unit has detected a fall of the object.

  According to this configuration, it is possible to notify the outside, for example, a driver of an unmanned aerial vehicle, that is, a pilot, that a fall of an object has been detected. Can let you know.

  The communication unit may notify the outside of fall position information indicating a location where the detection unit detects the fall of the object.

  According to this configuration, it is possible to notify the outside, for example, a driver of an unmanned aerial vehicle, that is, a pilot, the position of the fall of an object such as a suspicious unmanned air vehicle. Can be notified to the pilot.

  The unmanned aerial vehicle includes map information in which safe location information indicating a safe location that is safe even if the object is landed or landed and safety level information indicating the safety level of the safe location are associated with each other. With reference to the map information storage unit to be stored and the map information storage unit, the greater the increase in the weight measured by the weight measurement unit, the higher the safety level in the range closer to the current location. May be further provided with a target point management unit that sets as a destination target point of the autonomous flight.

  According to this configuration, the map information that associates the safe location information indicating the location of the safe area that is safe even if the suspicious object is landed or landed, and the safety level information indicating the safety level of the safe location is obtained. Refer to the map information storage unit to memorize, as the increase in the measured weight is larger, the safe place with the highest degree of safety in the range closer to the current location is set as the target destination point for autonomous flight. Depending on the weight of an object such as an unmanned air vehicle, autonomous flight can surely move to a safe place.

  The unmanned aerial vehicle includes a battery that supplies power to the unmanned aerial vehicle, a remaining amount measuring unit that measures a remaining amount of the battery, and a safe location that is safe even if the object is landed or landed. The map information storage unit that stores the map information that associates the safe location information indicating the safety level and the safety level information indicating the safety level of the safe area, and the remaining amount measuring unit with reference to the map information storage unit You may make it further provide the target point management part which sets the said safe place where the said safety degree is the highest in the range nearer from the present location as the arrival target point of the said autonomous flight, so that the measured remaining amount is small.

  According to this configuration, the remaining amount of the battery is measured, the safe location information indicating the location of the safe location that is safe even if the suspicious object is landed or landed, and the safety level indicating the safety level of the safe location. Refer to the map information storage unit that stores the map information associated with the information, and as the remaining battery level measured is smaller, the safe area with the highest degree of safety in the range closer to the current location is set as the target destination point for autonomous flight. Since it is set, it can move to a safe place by autonomous flight according to the remaining battery level.

  In addition, the present disclosure can be realized not only as an unmanned air vehicle having the above-described characteristic configuration but also an unmanned air vehicle that executes characteristic processing corresponding to the characteristic configuration included in the unmanned air vehicle. It can also be realized as a control method. Further, the characteristic processing included in such an unmanned air vehicle control method can also be realized as a computer program that causes a computer including a processor and a memory to be executed. Therefore, also in the following other modes, the same effect as the above unmanned air vehicle can be obtained.

  A control method according to another aspect of the present disclosure is a control method for an unmanned air vehicle flying in the air, and detects that a capture unit for capturing another object in the air has captured the object, When the capture of the object is detected, the flight state of the unmanned air vehicle is controlled so as to be in an autonomous flight state that does not depend on an external control signal.

  A control program according to another aspect of the present disclosure is a control program for causing a computer to function as a control device for an unmanned air vehicle flying in the air, and for capturing other objects in the air in the computer. Detecting that the capture unit has captured the object, and when detecting capture of the object, to control the flight state of the unmanned air vehicle so as to be in an autonomous flight state that does not depend on a control signal from the outside, Execute the process.

  Needless to say, the above-described computer program can be distributed via a computer-readable non-transitory recording medium such as a CD-ROM or a communication network such as the Internet.

  Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. Each of the embodiments described below shows a specific example of the present disclosure. The shapes, components, steps, order of steps, and the like shown in the following embodiments are merely examples, and are not intended to limit the present disclosure.

  In addition, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims indicating the highest concept are described as optional constituent elements. In all the embodiments, the contents can be combined. Furthermore, the present disclosure also includes various modifications in which the embodiments of the present disclosure are modified within the scope conceived by those skilled in the art without departing from the gist of the present disclosure.

(Embodiment 1)
A capture drone that is an example of an unmanned aerial vehicle in the present embodiment will be described. FIG. 1 is a block diagram illustrating an example of a configuration of a capture drone according to the first embodiment of the present disclosure. A capture drone 100 shown in FIG. 1 is remotely controlled using a propo (control device) 300. The capture drone 100 is an unmanned flying object capable of autonomous flight, and can perform autonomous flight without receiving a remote instruction from the propo 300.

  The capture drone 100 includes a control unit 101, a safe area map storage unit 102, a net weight sensor 103, a gyro sensor 104, a GPS (Global Positioning System) unit 105, a drive unit 106, and a communication unit 107. The control unit 101 includes a processor and the like, and includes a flight control unit 108, a weight capture determination unit 109, a control switching unit 110, and an autonomous flight control unit 111.

  2 is an external view of the capture drone 100 shown in FIG. 1 as viewed from above, and FIG. 3 is an external view of the capture drone shown in FIG. 1 as viewed from the front. As shown in FIGS. 2 and 3, the capture drone 100 further includes a main body portion A <b> 1, a support portion A <b> 2, and a capture net 112 in addition to the above configuration.

  Each drive part 106 is attached to the front-end | tip of support part A2 extended from the main-body part A1 to four directions, and generates the driving force of the drone 100 for capture. A GPS unit 105 is attached to the upper side of the main body part A1, and a net weight sensor 103 is attached to the lower side of the main body part A1. A control unit 101, a safe area map storage unit 102, a gyro sensor 104, and a communication unit 107 are provided inside the main body A1. The capture net 112 is composed of, for example, a net of 3 meters in length and 2 meters in width, and is attached to the lower side of the main body A1. In FIG. 2, the capture drone 100 includes four drive units 106, but is not limited thereto. For example, it may be 5 or more.

  FIG. 4 is a diagram illustrating an example of the capture drone 100 illustrated in FIG. 1 capturing a suspicious drone. As shown in FIG. 4, the capture drone 100 receives an operation from the propo 300 and moves itself to capture the suspicious drone 200 with the capture net 112. The suspicious drone 200 is caught in the air and captured by the capture net 112.

  Note that other objects in the air that the capture drone 100 captures with the capture net 112 are not only the suspicious drone 200 but also other objects as long as it is a flying object of a size that can be captured with the capture net 112. Good. In addition, the capture unit that captures other objects in the air is not particularly limited to the above-described capture net. For example, a plurality of arms that grip other objects in the air, and other objects in the air are sucked. Various traps such as a suction device that sticks other objects in the air, a rope that entangles other objects in the air, and a spear like a whaling gun that is driven into other objects in the air be able to.

  Referring to FIG. 1 again, the control unit 101 controls the net weight sensor 103, the gyro sensor 104, the GPS unit 105, the drive unit 106, and the communication unit 107.

  The communication unit 107 communicates with the transmitter 300 by using a communication technology such as a 2.4 GHz band ISM (Industry Science Medical) band, and transmits and receives information.

  The gyro sensor 104 detects the angle and angular velocity of the capture drone 100 and outputs angle information and angular velocity information to the control unit 101. The GPS unit 105 detects the current position of the capture drone 100 and outputs current position information indicating the detected current position to the control unit 101. The control unit 101 controls the drive unit 106 using the detected angle information, angular velocity information, current position information, and the like.

  The drive unit 106 receives an instruction from the control unit 101 and controls the movement of the capture drone 100 itself. Specifically, the drive unit 106 includes a propeller (see FIG. 2), a motor (not shown) that rotates the propeller, and the like. The control unit 101 controls the moving direction and flight state of the capture drone 100 by appropriately controlling the rotation speed of the propeller of the driving unit 106.

  The flight control unit 108 is an example of a manual flight control unit that controls the flight state of the capture drone 100 based on the control signal. The flight control unit 108 controls the drive unit 106 according to the operation signal from the propo 300 received by the communication unit 107. To do.

  The net weight sensor 103 is a sensor that measures the weight of the capture net 112. When the suspicious drone 200 is captured by the capture net 112, the weight of the capture net 112 includes the weight of the suspicious drone 200. In this case, the net weight sensor 103 captures the weight including the weight of the suspicious drone 200. The weight of the network 112 is measured.

  The weight capture determination unit 109 determines whether or not the suspicious drone 200 has been captured based on the weight measured by the net weight sensor 103. The weight capture determination unit 109 includes a low-pass filter, and filters an output value indicating the weight measured by the net weight sensor 103. When the weight capture determination unit 109 determines that the suspicious drone 200 has been captured, the weight capture determination unit 109 notifies the control switching unit 110 of the determination result.

  When the control switching unit 110 receives an input of the determination result, the control switching unit 110 does not receive an operation from the propo 300 and switches the flight control from manual flight by the flight control unit 108 to autonomous flight by the autonomous flight control unit 111. That is, the control switching unit 110 switches from manual flight by the flight control unit 108 to autonomous flight by the autonomous flight control unit 111 when the weight capture determination unit 109 detects capture of the suspicious drone 200.

  When the control switching unit 110 switches to autonomous flight, the autonomous flight control unit 111 controls the drive unit 106 by autonomous flight described later. Further, the autonomous flight control unit 111 notifies the propo 300 via the communication unit 107 that the suspicious drone 200 has been captured, the capture drone 100 has been switched to autonomous flight, and the like.

  The safe area map storage unit 102 includes a memory and the like. The safe area position information indicating the position of the safe area that is safe even if the suspicious object is landed or landed, and the safety degree indicating the safety degree of the safe area. A safe area map is stored in advance as map information that associates information (for example, information on safe areas, semi-safe areas, etc.).

  The autonomous flight control unit 111 determines the nearest safe place from the safe place map storage unit 102 based on the current position information of the capture drone 100 from the GPS unit 105, and generates a flight route to the nearest safe place. The autonomous flight control unit 111 controls the driving unit 106 based on the generated flight route, moves to the nearest safe place from the position where the suspicious drone 200 was captured, and causes the capture drone 100 to land or land, or Drop the suspicious drone 200 to land or land.

  Next, a description will be given of the prop 300 that controls the capture drone 100 shown in FIG. FIG. 5 is a block diagram showing an example of the configuration of the propo 300 shown in FIG. 1, and FIG. 6 is an external view of the propo 300 shown in FIG. As shown in FIGS. 5 and 6, the propo 300 includes a control unit 301, a display unit 302, an input unit 303, and a communication unit 304.

  The control unit 301 controls the display unit 302, the input unit 303, and the communication unit 304.

  The display unit 302 displays various operation screens, notification screens, and the like. For example, the display unit 302 displays a notification screen for notifying that the capture drone 100 has captured the suspicious drone 200, and a notification screen for notifying that the capture drone 100 has started autonomous flight and does not accept an instruction from the propo 300. Etc. are used to notify the pilot.

  The input unit 303 receives an input instruction from the operator of the capture drone 100. For example, the input unit 303 includes two sticks shown in FIG. 6, and each stick is movable up and down and left and right.

  The communication unit 304 communicates with the capture drone 100 using a communication technology such as a 2.4 GHz band ISM band, transmits instruction information such as an operator's operation instruction from the input unit 303, and also captures Various notification information is received from the drone 100.

  Next, the weight capture determination unit 109 will be described in detail. FIG. 7 is a diagram for explaining an example of the determination method of the weight capture determination unit 109 for the output value of the net weight sensor 103 shown in FIG. In FIG. 7, the horizontal axis indicates time, and the vertical axis indicates the output value of the net weight sensor 103.

  When the operator of the capture drone 100 finds the suspicious drone 200, the pilot operates the propo 300 to raise the capture drone 100 and capture it. At this time, as shown in FIG. 7, the ascent of the capture drone 100 is completed from the start of the ascent of the capture drone 100 (time 0) to the ascent completion time T1, and then the capture drone 100 moves the suspicious drone 200. When captured, the output value WO of the net weight sensor 103 increases at the capture detection time T2.

  Here, noise or the like is superimposed on the output value WO of the net weight sensor 103, and the fluctuation range is large. However, the output value WL after the low-pass filter of the weight capture determination unit 109 is smooth because noise and the like are removed. And the total weight of the capture net 112 is accurately represented.

  The weight capture determination unit 109 presets a predetermined capture detection threshold Tw with respect to the weight (for example, an output value indicating the weight obtained by adding the weight of the capture net 112 and the weight of the suspicious drone 200). The weight capture determination unit 109 determines that the ascent is completed at the ascent completion time T1, and then determines that the output value WL after the low-pass filter is equal to or greater than the capture detection threshold Tw at the capture detection time T2. It is determined that 200 has been captured.

  In the above determination, the capture of the suspicious drone 200 is detected when the output value WL after the low-pass filter of the weight capture determination unit 109 is greater than or equal to the capture detection threshold Tw, but is not particularly limited to this example. The amount of increase in weight measured by the net weight sensor 103, that is, the amount of increase in the output value after the low-pass filter of the weight capture determination unit 109 (for example, from the average output value from the completion time T1 to the capture detection time T2) By determining that the (increased amount) is equal to or greater than a predetermined value, various changes such as detecting capture of the suspicious drone 200 are possible.

  Next, the autonomous flight control unit 111 will be described in detail. The autonomous flight control unit 111 notifies the propo 300 via the communication unit 107 that the suspicious drone 200 has been captured and that the capture drone 100 is switched to autonomous flight. When the propo 300 receives the notification of the capture drone 100 via the communication unit 304, the control unit 301 displays a message indicating that the suspicious drone 200 has been captured and that the capture drone 100 is switched to autonomous flight. The display unit 302 is controlled to do so.

  FIG. 8 is a diagram showing an example of a display screen of the propo 300 for notifying that the capture drone 100 is switched to autonomous flight after capturing the suspicious drone 200. As shown in FIG. 8, a message “Detected object capture detected.” A message indicating that the suspicious drone 200 has been captured and the capture drone 100 has been switched to autonomous flight is displayed on the display unit 302 of the propo 300. Will fly autonomously. ”Is displayed. By displaying such a display screen on the display unit 302, the operator can know that the suspicious drone 200 has been captured and the capture drone 100 has been switched to autonomous flight.

  Further, the autonomous flight control unit 111 of the capture drone 100 refers to the safe area map storage unit 102 to determine the closest safe area from the current position, and generates a flight route to the closest safe area. At this time, the autonomous flight control unit 111 notifies the destination of the suspicious drone 200 via the communication unit 107.

  When the propo 300 receives the notification of the capture drone 100 via the communication unit 304, the control unit 301 controls the display unit 302 to display the movement destination of the capture drone 100. In this case, as shown in FIG. 8, a message “Target landing position is x, y” indicating the destination of the suspicious drone 200 is displayed on the display unit 302 of the radio station 300. By displaying such a display screen on the display unit 302, the operator can know the destination of the suspicious drone 200 and the flight route until the suspicious drone 200 is moved, and can evacuate from the flight route.

  Note that the information such as the destination of the suspicious drone 200 may be notified not only to the propo 300 but also to other devices used by other operators who capture the suspicious drone 200 together with the pilot. The message displayed on the display unit 302 is not particularly limited to the above example. For example, the destination of the suspicious drone 200 may be displayed on a map, and the flight route including the destination of the suspicious drone 200 is also displayed. You may make it do.

  FIG. 9 is a diagram for explaining an example of a method for determining a destination and a flight route of a suspicious drone using the safe place map of the safe place map storage unit 102 shown in FIG. 1. As shown in FIG. 9, the safe area map storage unit 102 stores information on a safe area map SM whose hatched portion indicates a safe area SA such as a riverbank, a coast, a forest, a river, a lake, and the ocean. In the example shown in FIG. 9, the flight route FR connecting the current position CP of the capture drone 100 and the destination DP is shown on the safe area map SM.

  The autonomous flight control unit 111 detects position information indicating the current position CP of the capture drone 100 from the GPS unit 105. The autonomous flight control unit 111 determines the nearest safe area SA of the safe area map SM from the position information indicating the current position CP as the movement destination DP, and generates a route connecting the current position CP and the movement destination DP as the flight route FR. To do. In this way, the destination DP is set to the safe place closest to the current position CP.

  The autonomous flight control unit 111 controls the driving unit 106 based on the generated flight route FR, moves from the position where the suspicious drone 200 is captured (for example, the current position CP) to the nearest safe place, and captures the drone 100 for capture. Land or land the water or drop the suspicious drone 200.

  In addition, the autonomous flight control unit 111 notifies the capture drone 100 that the suspicious drone 200 has been moved to the destination DP via the communication unit 107. When receiving the notification of the capture drone 100 via the communication unit 304, the control unit 301 displays a message indicating that the capture drone 100 has moved the suspicious drone 200 to the destination DP. The display unit 302 is controlled.

  FIG. 10 is a diagram illustrating an example of a display screen of a transmitter for notifying that the capture drone 100 has been moved to a safe place after the suspicious drone 200 is captured. As shown in FIG. 10, a message indicating that the capture drone 100 has completed moving the suspicious drone 200 to the destination DP is displayed on the display unit 302 of the propo 300. The captured object has landed in a safe place. The position is x, y. ”Is displayed. By displaying such a display screen on the display unit 302, the operator can know that the capture drone 100 has moved the suspicious drone 200 to the destination DP.

  Although the capture drone 100 has been described as having a safe area map, the present invention is not limited to this. The capture drone 100 may acquire a safe area map from the outside as necessary. For example, various modifications such as omitting the safe area map storage unit 102 and acquiring the safe area map from the external server or the like storing the safe area map via the communication unit 107 are possible.

  Moreover, although the capture drone 100 has been described as determining the destination of the suspicious drone 200, the present invention is not limited to this. For example, when the capture drone 100 captures the suspicious drone 200, the capture drone 100 notifies the external device such as a server of the location information of the capture drone 100, and determines the destination of the suspicious drone 200 by the external device. You may make it acquire the moved destination.

  In addition, when the autonomous flight control unit 111 cannot determine the nearest safe location from the current position by referring to the safe location map storage unit 102, the autonomous flight control unit 111 passes the communication unit 107 to the nearest safe location from the current location. The control switching unit 110 switches the flight control from the autonomous flight by the autonomous flight control unit 111 to the manual flight by the flight control unit 108, and the subsequent flight by the pilot's manual operation. May be performed. This is the same in the other embodiments.

  Next, the capture process of the suspicious drone 200 by the capture drone 100 will be described. FIG. 11 is a flowchart showing an example of the capture process of the suspicious drone 200 by the capture drone 100 shown in FIG.

  First, the communication unit 107 of the capture drone 100 receives an operation instruction (capture instruction for the suspicious drone 200) from the transmitter 300 (step S11).

  Next, the flight control unit 108 receives an operation instruction from the propo 300, controls the drive unit 106, and captures the suspicious drone 200 (step S12).

  Next, the weight capture determination unit 109 determines whether or not the suspicious drone 200 has been captured based on the weight of the capture net 112 measured by the net weight sensor 103 (step S13). If the weight capture determination unit 109 determines that the suspicious drone 200 is not captured (in the case of NG in step S13), the process returns to step S11 and the subsequent processing is continued.

  On the other hand, when it is determined that the suspicious drone 200 has been captured (in the case of OK in step S13), the weight capture determination unit 109 notifies the control switching unit 110 of the determination result, and the control switching unit 110 inputs the determination result. Acceptance and control of flight are switched from manual flight by the flight control unit 108 to autonomous flight by the autonomous flight control unit 111 (step S14). At this time, the autonomous flight control unit 111 notifies the propo 300 that the capture drone 100 is switched to autonomous flight via the communication unit 107.

  Next, the autonomous flight control unit 111 refers to the safe place map storage unit 102, determines the nearest safe place based on the position information from the GPS unit 105, and generates a flight route to the nearest safe place. (Step S15).

  Next, the autonomous flight control unit 111 controls the drive unit 106 based on the generated flight route, moves from the position where the suspicious drone 200 was captured to the nearest safe place, and landed or landed the capture drone 100. Or drop the suspicious drone 200 (step S16).

  As described above, the capture drone 100 according to the present embodiment is driven based on the communication unit 107 that receives an operation instruction of the capture drone 100, the drive unit 106 that causes the capture drone 100 to fly, and the operation instruction. A control unit 101 for controlling the unit 106, a capture net 112 for capturing an airborne object, and a net weight sensor 103 for detecting the weight of the capture net 112. The control unit 101 increases the weight. Switch to autonomous flight when above the specified value. Thereby, after the capture drone 100 captures the suspicious drone 200 which is an airborne object, it is possible to avoid a manual operation accident due to a sudden weight change.

  In addition, capture drone 100 according to the present embodiment further includes a GPS unit 105 that detects position information of the capture drone and a safe location map storage unit that stores a safe location map for moving suspicious drone 200. 102, the control unit 101 determines a destination that is the nearest safe place from the position information of the safe place map in autonomous flight, and moves the capture drone 100 toward the destination. Thereby, the drone 100 for capture can move to the safest place by the autonomous flight after capturing the suspicious drone 200.

  In the present embodiment, after it is determined that the capture drone 100 has captured the suspicious drone 200, the capture drone 100 performs control to switch to autonomous flight. However, the present invention is not limited to this. For example, the capture drone 100 is notified that the capture drone 100 has captured the suspicious drone 200, and the pilot performs an operation of switching the capture drone 100 from the propo 300 to autonomous flight. You may make it switch to autonomous flight.

  Further, it may be determined whether or not the capture drone 100 has captured the suspicious drone 200 using means other than the net weight sensor 103. For example, a current sensor, a rotation speed sensor, or the like may be used instead of the net weight sensor 103 as described below.

(Modification 1)
As a first modification of the present embodiment, an example in which a current sensor is used instead of a net weight sensor will be described. 12 is a block diagram illustrating an example of the configuration of the capture drone according to the first modification of the first embodiment of the present disclosure, and FIG. 13 is an external view of the capture drone illustrated in FIG. 12 as viewed from above. . In FIG. 12, for ease of illustration, the four current sensors 113 shown in FIG. 13 are illustrated as one current sensor 113.

  The capture drone 100a shown in FIGS. 12 and 13 is different from the capture drone 100 shown in FIGS. 1 and 2 in that a current sensor 113 is provided instead of the net weight sensor 103, and the control unit 101 is changed to the control unit 101a. The weight capture determination unit 109 of the control unit 101 is changed to the current capture determination unit 114 of the control unit 101a, and the other points are the same. Description is omitted.

  The control unit 101a controls the current sensor 113, the gyro sensor 104, the GPS unit 105, the driving unit 106, and the communication unit 107.

  The four current sensors 113 are sensors that measure drive currents flowing through four motors (not shown) included in the drive unit 106 of the capture drone 100a. When the suspicious drone 200 is captured by the capture net 112, the current flowing through the drive unit 106 of the capture drone 100a increases, and the current sensor 113 measures the increased drive current. Note that the current capture determination unit 114 performs the determination described later using the average value of the drive currents of the four motors measured by the four current sensors 113, but the configuration of the current sensor is not particularly limited to this example. Various changes such as measuring the total value of the drive currents of the four motors or measuring the drive current of one motor as a representative value are possible.

  The current capture determination unit 114 determines whether or not the suspicious drone 200 has been captured based on the average value of the current values measured by the four current sensors 113. The current capture determination unit 114 includes a low-pass filter, and filters the current value measured by the current sensor 113. When the current capture determination unit 114 determines that the suspicious drone 200 has been captured, the current capture determination unit 114 notifies the control switching unit 110 of the determination result.

  Next, the current capture determination unit 114 will be described in detail. FIG. 14 is a diagram for explaining an example of a determination method of the current capture determination unit 114 for the output value of the current sensor 113 illustrated in FIG. In FIG. 14, the horizontal axis represents time, and the vertical axis represents the average value of the output values of the four current sensors 113.

  When the operator of the capture drone 100a finds the suspicious drone 200, the pilot operates the propo 300 to raise the capture drone 100a and capture it. At this time, as shown in FIG. 14, the capture drone 100a rises from the start of the capture drone 100a (time 0) to the completion time T1, and then the capture drone 100a removes the suspicious drone 200. When captured, the output value CO of the current sensor 113 increases at the capture detection time T2.

  Here, noise or the like is superimposed on the average value CO of the output values of the four current sensors 113, and the fluctuation range is large, but the output value CL after the low-pass filter of the current capture determination unit 114 has noise or the like. It is removed and changes smoothly, and the average value of the drive current of the drive unit 106 is accurately represented.

  The current capture determination unit 114 presets a predetermined capture detection threshold Tc for the drive current (for example, an output value indicating an average value of the drive current for flying the capture drone 100a after capturing the suspicious drone 200). Yes. Since a large current flows through the drive unit 106 at the start of flight, the current capture determination unit 114 detects the capture detection time after a predetermined time has elapsed after the start of flight, for example, after the ascent completion time T1 when it is determined that the ascent has been completed. It is determined that the suspicious drone 200 has been captured by determining that the output value CL after the low-pass filter is equal to or greater than the capture detection threshold Tc at T2.

  In the above determination, the capture of the suspicious drone 200 is detected when the output value CL after the low-pass filter of the current capture determination unit 114 is equal to or greater than the capture detection threshold Tc, but is not particularly limited to this example. , The increase amount of the drive current measured by the current sensor 113, that is, the increase amount of the output value after the low-pass filter of the current capture determination unit 114 (for example, from the average output value from the levitation completion time T1 to the capture detection time T2 By determining that the (increased amount) is equal to or greater than a predetermined value, various changes such as detecting capture of the suspicious drone 200 are possible.

(Modification 2)
As a second modification of the present embodiment, an example in which a rotation speed sensor is used instead of the net weight sensor will be described. 15 is a block diagram illustrating an example of the configuration of the capture drone according to the second modification of the first embodiment of the present disclosure, and FIG. 16 is an external view of the capture drone illustrated in FIG. 15 as viewed from above. . In FIG. 15, for ease of illustration, the four rotation speed sensors 115 shown in FIG. 16 are illustrated as one rotation speed sensor 115.

  The capture drone 100b shown in FIGS. 15 and 16 differs from the capture drone 100 shown in FIGS. 1 and 2 in that a rotation speed sensor 115 is provided instead of the net weight sensor 103, and the control unit 101 is connected to the control unit 101b. The weight capture determination unit 109 of the control unit 101 is changed to the rotation number capture determination unit 116 of the control unit 101b, and the other points are the same. Detailed description is omitted.

  The control unit 101b controls the rotation speed sensor 115, the gyro sensor 104, the GPS unit 105, the driving unit 106, and the communication unit 107.

  The four rotation speed sensors 115 are sensors that are connected to four motors (not shown) included in the drive unit 106 of the capture drone 100b and measure the rotation speed of each motor. When the suspicious drone 200 is captured by the capture net 112, the rotational speed of the motor of the drive unit 106 of the capture drone 100b increases, and the rotational speed sensor 115 measures the increased rotational speed. Note that the rotation speed capture determination unit 116 performs a determination to be described later using an average value of the rotation speeds of the four motors measured by the four rotation speed sensors 115. The configuration of the rotation speed sensor is particularly in this example. The present invention is not limited, and various changes such as determination using the rotation speed of one motor measured by one rotation speed sensor 115 as a representative value are possible.

  The rotation speed capture determination unit 116 determines whether or not the suspicious drone 200 has been captured based on the average value of the rotation speeds measured by the four rotation speed sensors 115. The rotation speed capture determination unit 116 includes a low-pass filter, and filters the rotation speed measured by the rotation speed sensor 115. When it is determined that the suspicious drone 200 has been captured, the rotation speed capture determination unit 116 notifies the control switching unit 110 of the determination result.

  Next, the rotation speed capture determination unit 116 will be described in detail. FIG. 17 is a diagram for explaining an example of a determination method of rotation speed capturing determination unit 116 for the output value of rotation speed sensor 115 shown in FIG. In FIG. 17, the horizontal axis indicates time, and the vertical axis indicates the average value of the output values of the four rotation speed sensors 115.

  When the operator of the capture drone 100b finds the suspicious drone 200, the pilot operates the propo 300 to raise the capture drone 100b and capture it. At this time, as shown in FIG. 17, the rising of the capture drone 100b is completed from the start of the ascent of the capture drone 100b (time 0) to the completion of the ascent time T1, and then the capture drone 100b removes the suspicious drone 200. When captured, the average value RO of the output values of the four rotation speed sensors 115 increases at the capture detection time T2.

  Here, noise or the like is superimposed on the average value RO of the output values of the four rotation speed sensors 115, and the fluctuation range is large, but the output value RL after the low-pass filter of the rotation speed capturing determination unit 116 is the noise. Etc. are removed and change smoothly, and the average value of the rotational speed of the motor of the drive unit 106 is accurately expressed.

  The rotation speed capture determination unit 116 presets a predetermined capture detection threshold Tr for the rotation speed (for example, an output value indicating an average value of the rotation speed for flying the capture drone 100b after capturing the suspicious drone 200). ing. At the start of flight, the rotation speed of the motor increases. Therefore, after a predetermined time has elapsed after the start of flight, the rotation speed capture determination unit 116 detects the capture detection time after, for example, the ascent completion time T1 when it is determined that the ascent is completed. It is determined that the suspicious drone 200 has been captured by determining that the output value RL after the low-pass filter is equal to or greater than the capture detection threshold Tr at T2.

  In the above determination, the capture of the suspicious drone 200 is detected when the output value RL after the low-pass filter of the rotation speed capture determination unit 116 is equal to or greater than the capture detection threshold Tr, but this is particularly limited to this example. First, the increase amount of the rotation speed measured by the rotation speed sensor 115, that is, the increase amount of the output value after the low-pass filter of the rotation speed capture determination unit 116 (for example, the average output from the levitation completion time T1 to the capture detection time T2) It is possible to make various changes such as detecting the capture of the suspicious drone 200 by determining that the increase amount from the value is equal to or greater than a predetermined value.

(Embodiment 2)
The capture drone 100 of the first embodiment determines whether or not the suspicious drone 200 is captured based on the weight detected by the net weight sensor 103. In the present embodiment, the capture drone 100 Taking into account the weight detected using the wind speed and the wind speed measured using the anemometer, it is determined whether or not the capture drone has captured the suspicious drone. In the present embodiment, a current sensor or a rotation speed sensor may be used instead of the net weight sensor, as in the first embodiment.

  18 is a block diagram illustrating an example of the configuration of the capture drone according to the second embodiment of the present disclosure, and FIG. 19 is an external view of the capture drone illustrated in FIG. 18 as viewed from above.

  The capture drone 100c shown in FIGS. 18 and 19 is different from the capture drone 100 shown in FIGS. 1 and 2 in that an anemometer 121 is added, the control unit 101 is changed to the control unit 101c, and the control unit 101 Since the weight capture determination unit 109 is changed to the wind speed consideration weight capture determination unit 122 of the control unit 101c and the other points are the same, the same parts are denoted by the same reference numerals and detailed description thereof is omitted. .

  The control unit 101c controls the anemometer 121, the net weight sensor 103, the gyro sensor 104, the GPS unit 105, the drive unit 106, and the communication unit 107.

  The anemometer 121 is fixed to the main body A1 and measures the wind speed relative to the capture drone 100c in the vicinity of the capture drone 100c. For example, when the capture drone 100c is moving at the speed A and the wind speed of the head wind is the wind speed B, the relative wind speed with respect to the capture drone 100c is the wind speed (A + B), and the wind speed of the tail wind is the wind speed C The relative wind speed with respect to the capture drone 100c is the wind speed (AC).

  The wind speed consideration weight capture determination unit 122 determines whether or not the suspicious drone 200 has been captured based on the weight measured by the net weight sensor 103 and the wind speed measured by the anemometer 121. The wind speed consideration weight capture determination unit 122 includes a low-pass filter, and filters the weight measured by the net weight sensor 103. When it is determined that the suspicious drone 200 has been captured, the wind speed consideration weight capture determination unit 122 notifies the control switching unit 110 of the determination result.

  Next, the wind speed consideration weight capture determination unit 122 will be described in detail. FIG. 20 is a diagram illustrating an example of a determination method of the wind speed consideration weight capture determination unit 122 for the output value of the net weight sensor 103 illustrated in FIG. In FIG. 20, the horizontal axis indicates time, and the vertical axis indicates the output value of the net weight sensor 103.

  When the operator of the capture drone 100c finds the suspicious drone 200, the pilot operates the propo 300 to raise the capture drone 100c and capture it. At this time, as shown in FIG. 20, the capture drone 100c rises from the start of the capture drone 100c (time 0) to the completion time T1, and then the capture drone 100c removes the suspicious drone 200. When captured, the output value WO1 of the net weight sensor 103 when the wind speed is low and the output value WO2 of the net weight sensor 103 when the wind speed is high increase at the capture detection time T2.

  Here, noise or the like is superimposed on the output value WO1 of the net weight sensor 103 when the wind speed is low and the output value WO2 of the net weight sensor 103 when the wind speed is high, and the fluctuation range is large, but the wind speed is low. In the case, the output value WL1 after the low-pass filter of the wind speed considering weight capture determining unit 122 and the output value WL2 after the low-pass filter of the wind speed considering weight capturing determining unit 122 when the wind speed is high are smoothly changed with noises removed. And accurately represents the total weight of the capture net 112.

  The wind speed-considered weight capture determination unit 122 preliminarily sets a predetermined capture detection threshold Tw1 for the weight when the wind speed relative to the capture drone 100c is small, and a predetermined capture detection threshold Tw2 (Tw1 <Tw2) for the weight when the wind speed is large. It is set.

  When the relative wind speed is small, the wind speed considering weight capture determination unit 122 determines that the ascent is completed at the ascent completion time T1, and then the output value WL1 after the low-pass filter is equal to or greater than the capture detection threshold Tw1 at the capture detection time T2. By determining that there is, it is determined that the suspicious drone 200 has been captured. When the relative wind speed is high, the wind speed considering weight capture determination unit 122 determines that the ascent is completed at the ascent completion time T1, and then the output value WL2 after the low-pass filter is detected as the capture detection threshold Tw2 at the capture detection time T2. By determining that this is the case, it is determined that the suspicious drone 200 has been captured.

  Note that the capture detection threshold used by the wind speed considering weight capture determination unit 122 does not need to be a binary value when the relative wind speed is small and when the relative wind speed is large, and the capture detection threshold is set according to the wind speed. It may be determined. FIG. 21 is a diagram illustrating an example of the relationship between the relative wind speed and the capture determination threshold value. In FIG. 21, the horizontal axis indicates the wind speed, and the vertical axis indicates the capture detection threshold.

  As shown in FIG. 21, the capture detection threshold increases in proportion to the relative wind speed. The wind speed-considered weight capture determination unit 122 stores in advance a linear function indicating the relationship between the relative wind speed and the capture determination threshold shown in FIG. 21, and increases the capture detection threshold when the relative wind speed increases. A capture detection threshold is determined, and capture of the suspicious drone 200 is determined using the determined capture detection threshold. In this case, the capture of the suspicious drone 200 can be more accurately determined in consideration of the relative wind speed. The relationship between the relative wind speed and the capture determination threshold is not particularly limited to the above example, and other relationships such as a quadratic function and an exponential function may be used.

  As described above, the capture drone 100c in the present embodiment is driven based on the communication unit 107 that receives an operation instruction of the capture drone 100c, the drive unit 106 for causing the capture drone 100c to fly, and the operation instruction. A control unit 101c that controls the unit 106, a capture net 112 for capturing an airborne object, a net weight sensor 103 that detects the weight of the capture net 112, and an anemometer that measures the wind speed near the capture drone 121, and the control unit 101c sets a larger predetermined value (capture determination threshold) as the wind speed increases, and switches to autonomous flight when the increase in weight is equal to or greater than the predetermined value. Thereby, after the capture drone 100c captures the suspicious drone 200 which is an airborne object, it is possible to avoid a manual operation accident due to a sudden weight change.

  Further, capture drone 100c in the present embodiment further includes a GPS unit 105 that detects position information of capture drone 100c, and a safe location map storage that stores a safe location map for moving suspicious drone 200. The control unit 101c determines a destination that is the nearest safe place from the position information of the safe place map in autonomous flight, and moves the capture drone 100c toward the destination. Thereby, the capture drone 100c can move to the fastest and safe place by autonomous flight after capturing the suspicious drone 200.

(Embodiment 3)
In the present embodiment, similar to the capture drone 100 of the first embodiment, after capturing the suspicious drone 200, it is suspicious based on the weight detected by the net weight sensor 103 while moving to the destination by autonomous flight. It is determined whether or not the drone 200 has fallen. In the present embodiment, a current sensor or a rotation speed sensor may be used instead of the net weight sensor, as in the first embodiment.

  FIG. 22 is a block diagram illustrating an exemplary configuration of a capture drone according to the third embodiment of the present disclosure. The capture drone 100d shown in FIG. 22 is different from the capture drone 100 shown in FIG. 1 in that the control unit 101 is changed to the control unit 101d and a weight drop determination unit 131 is added to the control unit 101d. Since other points are the same, the same parts are denoted by the same reference numerals, and detailed description thereof is omitted.

  The control unit 101d controls the net weight sensor 103, the gyro sensor 104, the GPS unit 105, the driving unit 106, and the communication unit 107.

  Based on the weight measured by the net weight sensor 103, the weight drop determination unit 131 determines whether or not the suspicious drone 200 has been dropped while moving to the destination. The weight drop determination unit 131 includes a low-pass filter, and filters the weight measured by the net weight sensor 103. Further, when the weight drop determination unit 131 determines that the suspicious drone 200 has dropped, the current drop position information indicating the location where the suspicious drone 200 has been dropped is indicated as the current position of the capture drone 100 from the GPS unit 105. Get location information.

  Next, the weight drop determination unit 131 will be described in detail. FIG. 23 is a diagram for explaining an example of the fall determination method of the weight drop determination unit 131 with respect to the output value of the net weight sensor shown in FIG. In FIG. 23, the horizontal axis represents time, and the vertical axis represents the output value of the net weight sensor 103.

  The capture drone 100d moves to a safe place by autonomous flight after capturing the suspicious drone 200, but the suspicious drone 200 may fall during the movement. At this time, as shown in FIG. 23, when the suspicious drone 200 falls after the capture detection time T2 when the suspicious drone 200 is captured, the output value WO of the net weight sensor 103 decreases at the fall detection time T3.

  Here, noise or the like is superimposed on the output value WO of the net weight sensor 103, and the fluctuation range is large. However, the output value WF after the low-pass filter of the weight drop determination unit 131 is smooth because noise and the like are removed. And the total weight of the capture net 112 is accurately represented.

  Similar to the weight capture determination unit 109, the weight drop determination unit 131 presets a predetermined capture detection threshold Tw for the weight. The weight drop determination unit 131 determines that the suspicious drone 200 has fallen by determining that the output value WF after the low-pass filter is below the capture detection threshold Tw after the capture detection time T2.

  In the above determination, the drop of the suspicious drone 200 is detected when the output value WF after the low-pass filter of the weight drop determination unit 131 is less than the capture detection threshold Tw. However, the present invention is not particularly limited to this example. The amount of decrease in weight measured by the net weight sensor 103, that is, the amount of decrease in the output value after the low-pass filter of the weight drop determination unit 131 (for example, the amount of decrease from the average output value after the capture detection time T2) is predetermined. By determining that it is less than the value, various changes such as detecting the capture of the suspicious drone 200 are possible.

  In addition, the weight drop determination unit 131 performs the determination using the capture detection threshold value Tw similarly to the weight capture determination unit 109, but is not particularly limited to this example, and a fall detection threshold value different from the capture detection threshold value Tw is set. Various changes such as use can be made.

  When the weight drop determination unit 131 determines that the suspicious drone 200 has dropped, the weight change determination unit 131 notifies the control switching unit 110 of the determination result, and the control switching unit 110 controls the flight from the autonomous flight by the autonomous flight control unit 111. Switching to manual flight by the flight control unit 108, and after dropping, the operator may manually operate the capture drone 100d.

  In addition, the weight drop determination unit 131 detects a place where the capture drone 100d has fallen on the propo 300 while moving the suspicious drone 200 to the destination and the suspicious drone 200 has been dropped via the communication unit 107. Notify the drop position information shown. When the propo 300 receives the notification of the capture drone 100d via the communication unit 304, the control unit 301 detects that the suspicious drone 200 has been dropped while moving to the destination, and that the suspicious drone 200 has been dropped. The display unit 302 is controlled to display a message indicating the fall position information indicating the place.

  FIG. 24 is a diagram illustrating an example of a display screen of the transmitter 300 for notifying that a suspicious drone 200 has been dropped after the suspicious drone 200 is captured. As shown in FIG. 24, on the display unit 302 of the propo 300, the fall position information indicating that the capture drone 100d has fallen while moving the suspicious drone 200 to the destination, and the location where the suspicious drone 200 is detected to fall. Is displayed. “The fall of the captured object has been detected. The drop positions are a and b.” By displaying such a display screen on the display unit 302, the operator can know that the suspicious drone 200 has dropped during movement and the dropping position of the suspicious drone 200.

  As described above, capture drone 100d in the present embodiment is driven based on communication unit 107 that receives an operation instruction for capture drone 100d, drive unit 106 for flying capture drone 100d, and the operation instruction. A control unit 101d for controlling the unit 106, a capture net 112 for capturing an object in the air, a net weight sensor 103 for detecting the weight of the capture net 112, and a GPS for detecting position information of the capture drone 100d Unit 105 and a safe area map storage unit 102 that stores a safe area map for moving the suspicious drone 200, and the control unit 101d switches to autonomous flight when the increase in weight is equal to or greater than a predetermined value. , Determine the destination that is the nearest safe place from the location information of the safe place map, move the capture drone 100d toward the destination, And determines that the reduction in weight is greater than a predetermined value, suspicious drone 200 is dropped. As a result, after capturing the suspicious drone 200, the capture drone 100d starts flying to the fastest and safe place by autonomous flight, and further determines whether the suspicious drone 200 has fallen during the movement. Can do.

(Embodiment 4)
In the present embodiment, similar to the capture drone 100 of the first embodiment, the suspicious drone 200 is captured when the destination is determined by autonomous flight after capturing the suspicious drone 200 and further capturing the suspicious drone 200. The destination is determined in consideration of the weight of the battery and the remaining amount of its own battery.

  FIG. 25 is a block diagram illustrating an exemplary configuration of a capture drone according to the fourth embodiment of the present disclosure. The capture drone 100e shown in FIG. 25 is different from the capture drone 100 shown in FIG. 1 in that a battery 142 and a remaining amount measurement unit 141 are added, the control unit 101 is changed to the control unit 101e, and the control unit 101e has a target. Since the point management unit 143 is added and the other points are the same, the same parts are denoted by the same reference numerals and detailed description thereof is omitted. The battery 142 is also provided in a capture drone other than the present embodiment.

  The control unit 101e controls the net weight sensor 103, the gyro sensor 104, the GPS unit 105, the driving unit 106, the communication unit 107, and the remaining amount measuring unit 141.

  The battery 142 supplies necessary power to the drive unit 106 and the like of the capture drone 100e. The remaining amount measuring unit 141 measures the remaining amount of the battery 142 and outputs the measurement result to the target point managing unit 143.

  The target location management unit 143 determines the destination in consideration of the weight of the suspicious drone 200 and the remaining amount of the battery 142. Specifically, the target location management unit 143 refers to the safe location map storage unit 102, and the safety level is the highest in the range closer to the current location as the remaining amount measured by the remaining amount measurement unit 141 is smaller. Set the ground as the destination for autonomous flight.

  FIG. 26 is a diagram for explaining an example of a method for determining the destination and flight route of a suspicious drone using the safe place map of the safe place map storage unit 102 shown in FIG. As shown in FIG. 26, in the safe area map storage unit 102, hatched portions from the upper right to the lower left indicate the safe areas SA such as rivers, coasts, forests, rivers, lakes, and oceans, and from the upper left to the lower right. The hatched portion of the hatched line stores information of a safe area map SM indicating a semi-safe area SS (a safe area having a lower degree of safety than the safe area SA) such as a square or a park.

  In the example shown in FIG. 26, the flight route F1 connecting the current position CP of the capture drone 100e and the destination D1 in the safe area SA, and the current position CP of the capture drone 100e and the destination D2 in the semi-safe area SS. The flight route F2 connecting the two is shown on the safe area map SM. In this case, the destination D2 is not a destination in the safe area SA closest to the current position CP of the capture drone 100e, but a destination in the semi-safe area SS closest to the current position CP of the capture drone 100e. .

  In addition, as the safety degree information indicating the safety degree of the safe place of the safe place map stored in the safe place map storage unit 102, the two-stage information of the safe place and the semi-safe place is used. The present invention is not limited, and various modifications such as storing safety degree information indicating safety degrees of three or more levels are possible.

  The target point management unit 143 includes the remaining amount of the battery 142 measured by the remaining amount measurement unit 141 and the increase in the weight of the capture net 112 measured by the net weight sensor 103 (the capture network by capturing the suspicious drone 200). The maximum distance that can fly (the maximum distance to the destination point) is calculated on the basis of the net weight increase value that represents the weight increase amount 112.

  FIG. 27 is a diagram illustrating an example of the relationship between the maximum distance to the destination target point, the net weight increase value, and the battery remaining amount. The example shown in FIG. 27 shows the relationship between the maximum distance to the three types of arrival target points and the net weight increase value when the remaining amount of the battery 142 is large, intermediate, and small. The maximum distance to the destination target point becomes shorter as the net weight increase value becomes larger, and becomes shorter in the order of when the remaining amount of the battery 142 is large, in the middle, and small. For example, the target point management unit 143 determines the maximum distance to the destination target point having the relationship as shown in FIG.

  Further, the target point management unit 143 detects position information indicating the current position CP of the capture drone 100e from the GPS unit 105. The target point management unit 143 determines the nearest safe area SA of the safe area map SM as the movement destination D1 from the position information indicating the current position CP within the range of the maximum flightable distance, and the current position CP and the movement destination D1. Is generated as a flight route F1.

  On the other hand, when there is no safe area SA within the range of the maximum flightable distance, the target point management unit 143 determines the most of the safe area map SM from the position information indicating the current position CP within the range of the maximum flightable distance. The near semi-safe area SS is determined as the destination D2, and a route connecting the current position CP and the destination D2 is generated as the flight route F2.

  As described above, the target point management unit 143 sets the closest quasi-safe place as the destination target point, not the nearest safe place, according to the increase in weight due to the capture of the suspicious drone 200. In addition, when the remaining amount of the battery 142 is reduced on the way to the destination target point, the target point management unit 143 sets the closest quasi-safe place as the destination target point instead of the nearest safe place.

  If the target location management unit 143 cannot determine the nearest safe location and quasi-safe location from the current location with reference to the safe location map storage unit 102, the target location management unit 143 receives the current location via the communication unit 107. , The control switching unit 110 switches the flight control from the autonomous flight by the autonomous flight control unit 111 to the manual flight by the flight control unit 108 to control the flight. Subsequent flight may be performed by a person's manual control.

  As described above, the capture drone 100e according to the present embodiment is driven based on the communication unit 107 that receives an operation instruction of the capture drone 100e, the drive unit 106 for flying the capture drone 100e, and the operation instruction. A control unit 101e for controlling the unit 106, a capture net 112 for capturing an airborne object, a net weight sensor 103 for detecting the weight of the capture net 112, and a GPS for detecting position information of the capture drone 100e. A safe area map storage unit 102 that stores a safe area map that associates safe area position information that indicates the position of a safe area and safety degree information that indicates the degree of safety of the safe area. Referring to the safe location map storage unit 102, the larger the increase in the weight of the capture net 112 measured by the net weight sensor 103, the greater the current location. Rayori to set the safety degree is the highest safety areas as reaching the target point of the autonomous flight at close range. Accordingly, the capture drone 100e can reliably move to a safe place by autonomous flight according to the weight of the suspicious drone 200.

  The capture drone 100e in the present embodiment further includes a battery 142 that supplies power to the capture drone 100e, and a remaining amount measurement unit 141 that measures the remaining amount of the battery 142, and the control unit 101e includes: As the remaining amount measured by the remaining amount measuring unit 141 is smaller, a safe place with the highest degree of safety in a range closer to the current location is set as an arrival target point for autonomous flight. As a result, the capture drone 100e can reliably move to a safe place by autonomous flight according to the remaining amount of the battery 142.

  The unmanned air vehicle, the control method, and the control program according to the present disclosure can fly appropriately even when other objects in the air such as a suspicious unmanned air vehicle are captured. The present invention is useful as an unmanned air vehicle, a control method, and a control program for capturing other objects in the air such as an unmanned air vehicle.

100, 100a to 100e Capture drone 101, 101a to 101e Control unit 102 Safety location map storage unit 103 Net weight sensor 104 Gyro sensor 105 GPS unit 106 Drive unit 107 Communication unit 108 Flight control unit 109 Weight capture determination unit 110 Control switching unit DESCRIPTION OF SYMBOLS 111 Autonomous flight control part 112 Capture network 113 Current sensor 114 Current capture determination part 115 Rotation speed sensor 116 Rotation speed capture determination part 121 Anemometer 122 Wind speed consideration weight capture determination part 131 Weight fall determination part 141 Remaining quantity measurement part 142 Battery 143 Target point management unit 300 Propo 301 Control unit 302 Display unit 303 Input unit 304 Communication unit

In the above determination, the drop of the suspicious drone 200 is detected when the output value WF after the low-pass filter of the weight drop determination unit 131 is less than the capture detection threshold Tw. However, the present invention is not particularly limited to this example. The amount of decrease in weight measured by the net weight sensor 103, that is, the amount of decrease in the output value after the low-pass filter of the weight drop determination unit 131 (for example, the amount of decrease from the average output value after the capture detection time T2) is predetermined. By determining that the value is greater than or equal to the value, various changes such as detection of a suspicious drone 200 falling are possible.

Claims (16)

An unmanned air vehicle flying in the air,
A capture unit for capturing other objects in the air;
A detection unit for detecting that the capture unit has captured the object;
When the detection unit detects the capture of the object, an autonomous flight control unit that controls the flight state of the unmanned air vehicle so as to be in an autonomous flight state that does not depend on an external control signal,
Unmanned air vehicle. A communication unit for receiving an operation signal from the outside;
A manual flight control unit for controlling a flight state of the unmanned air vehicle based on the control signal;
A control switching unit that switches from manual flight by the manual flight control unit to autonomous flight by the autonomous flight control unit when the detection unit detects capture of the object;
The unmanned aerial vehicle according to claim 1. A weight measuring unit for measuring the weight of the capturing unit;
The detection unit detects capture of the object by determining that the weight measured by the weight measurement unit is greater than or equal to a predetermined value.
The unmanned aerial vehicle according to claim 1 or 2. A drive unit for flying the unmanned air vehicle,
A current measurement unit that measures the drive current of the drive unit;
The detection unit detects capture of the object by determining that the drive current measured by the current measurement unit is equal to or greater than a predetermined value.
The unmanned aerial vehicle according to claim 1 or 2. A drive unit for flying the unmanned air vehicle,
A rotation speed measurement unit that measures the rotation speed of the drive unit;
The detection unit detects capture of the object by determining that the rotation number measured by the rotation number measurement unit is equal to or greater than a predetermined value.
The unmanned aerial vehicle according to claim 1 or 2. A wind speed measuring unit that measures a wind speed relative to the unmanned air vehicle;
The detection unit changes the predetermined value according to the wind speed measured by the wind speed measurement unit.
The unmanned aerial vehicle according to any one of claims 3 to 5. A storage unit that stores safe location information indicating the location of a safe location that is safe even when landing or landing the object;
The autonomous flight control unit is configured to fly the unmanned air vehicle so that it autonomously flies from the point where the detection unit detects capture of the object to the safe location indicated by the safe location information stored in the storage unit. Control the state,
The unmanned aerial vehicle according to any one of claims 2 to 6. The communication unit notifies the safe location information indicating the location of the safe location where the unmanned air vehicle flies autonomously to the outside.
The unmanned air vehicle according to claim 7. The communication unit notifies the outside that the detection unit has detected capture of the object.
The unmanned aerial vehicle according to any one of claims 2 to 8. The detection unit detects the fall of the object by determining that the weight measured by the weight measurement unit is less than a predetermined value after detecting the capture of the object.
The unmanned aerial vehicle according to claim 3. The communication unit notifies the outside that the detection unit has detected the fall of the object.
The unmanned aerial vehicle according to claim 10. The communication unit notifies the outside of the fall position information indicating the location where the detection unit has detected the fall of the object.
The unmanned air vehicle according to claim 10 or 11. A map information storage unit that stores map information in which safe location information indicating the location of a safe location that is safe even if the object is landed or landed and safety level information indicating the safety level of the safe location are associated with each other When,
With reference to the map information storage unit, the larger the increase in the weight measured by the weight measurement unit, the higher the safety level in the range closer to the current location is the target location of the autonomous flight. And a target point management unit set as
The unmanned aerial vehicle according to claim 3. A battery for supplying power to the unmanned air vehicle;
A remaining amount measuring unit for measuring the remaining amount of the battery;
A map information storage unit that stores map information in which safe location information indicating the location of a safe location that is safe even if the object is landed or landed and safety level information indicating the safety level of the safe location are associated with each other When,
Referring to the map information storage unit, as the remaining amount measured by the remaining amount measuring unit is smaller, the safe place having the highest degree of safety in a range closer to the current location is set as the arrival target point of the autonomous flight. A target point management unit to be set;
The unmanned aerial vehicle according to claim 2. A method for controlling an unmanned air vehicle flying in the air,
Detecting that the capture unit for capturing another object in the air has captured the object,
When the capture of the object is detected, the flight state of the unmanned air vehicle is controlled so as to be in an autonomous flight state that does not depend on an external control signal.
Control method. A control program for causing a computer to function as a control device for an unmanned air vehicle flying in the air,
In the computer,
Detecting that the capture unit for capturing another object in the air has captured the object,
When the capture of the object is detected, the flight state of the unmanned air vehicle is controlled so as to be in an autonomous flight state that does not depend on an external control signal.
A control program that executes processing.

Images