JP2018010426A - Control device of small flying body, control method of small flying body, and computer program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately control altitude of a small flying body flying indoors.SOLUTION: A control device of a small flying body comprises: an altitude estimation unit for estimating information on altitude of the small flying body on the basis of a measurement result obtained from an upper sensor which measures distance to an object located above the small flying body and a measurement result obtained from a lower sensor which measures distance to an object located below the small flying body; and a flying control unit for controlling altitude by performing control on flight of the small flying body according to the estimation result obtained by the altitude estimation unit.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a technology for controlling a small aircraft capable of flying indoors.

  In recent years, small aircraft such as drones (hereinafter referred to as “small aircraft”) are becoming popular. Since it is often impossible for a pilot to get into a small flying object, various control techniques for flying autonomously to some extent have been proposed (see, for example, Patent Document 1). One specific example of such a control technique is advanced control processing. The small aircraft executes altitude control processing so as to maintain a predetermined altitude so as not to crash on the ground surface. As specific examples of such advanced control processing, a technique using GPS (Global Positioning System), a technique using an atmospheric pressure sensor, and a technique using an ultrasonic sensor have been proposed.

JP 2007-317165 A

  However, when a small flying object flies indoors, it may be difficult to fly only with conventional altitude control processing. The reason is as follows. There are cases where the sensitivity of the GPS signal is poor indoors, and in the technology using GPS, the accuracy may decrease. In addition, when flying indoors as compared to flying outdoors, there is a ceiling, so it is necessary to fly at a low altitude. For this reason, in the atmospheric pressure sensor, there is a case where the measurement result has a large error and the accuracy is lowered. There is a high possibility that obstacles such as chairs, desks and shelves are installed indoors. When flying over such an obstacle, a technique using an ultrasonic sensor sometimes detects an ultrasonic wave reflected by the obstacle, so that an incorrect altitude may be acquired.

  In view of the above circumstances, an object of the present invention is to provide a technique for controlling altitude with higher accuracy in a small aircraft flying indoors.

  One aspect of the present invention is a control apparatus for a small air vehicle, the measurement result by an upper sensor that measures a distance between an object located above the small air vehicle, and a position below the small air vehicle. An altitude estimation unit that estimates information about the altitude of the small flying object based on a measurement result of a lower sensor that measures a distance between the small flying object and the small flight according to the estimation result by the altitude estimation unit And a flight control unit that controls altitude by performing control related to flight of the body.

  One aspect of the present invention is the above-described control apparatus for a small aircraft, wherein the altitude estimation unit has a predetermined value measured by the upper sensor even when the measurement result by the lower sensor changes. If it is within the range, it is estimated that the altitude of the small aircraft has not changed.

  One aspect of the present invention is the above-described control apparatus for a small aircraft, wherein the altitude estimation unit includes a value measured by the upper sensor when the altitude reaches a predetermined value, and the subsequent upper sensor When the measurement results obtained by the above are equal, it is estimated that the altitude of the small aircraft has not changed.

  One aspect of the present invention is the control device for a small aircraft, wherein the altitude estimation unit does not use the measurement result by the upper sensor when the measurement result by the upper sensor is not obtained. When the measurement result by the upper sensor is obtained, the information on the altitude is estimated using the measurement result by the upper sensor.

  One aspect of the present invention is a method for controlling a small air vehicle, the measurement result by an upper sensor that measures the distance between an object located above the small air vehicle and the position below the small air vehicle. An altitude estimation step for estimating information relating to the altitude of the small aircraft based on a measurement result by a lower sensor that measures a distance between the small flying object, and the small flight according to the estimation result in the altitude estimation step And a flight control step for controlling the altitude by performing control related to the flight of the body.

  One aspect of the present invention is a control apparatus for a small air vehicle, the measurement result by an upper sensor that measures a distance between an object located above the small air vehicle, and a position below the small air vehicle. An altitude estimation unit that estimates information about the altitude of the small flying object based on a measurement result of a lower sensor that measures a distance between the small flying object and the small flight according to the estimation result by the altitude estimation unit A computer program for causing a computer to function as a control device for a small aircraft, comprising: a flight control unit that controls altitude by performing control related to flight of the body.

  According to the present invention, it is possible to control the altitude with higher accuracy in a small aircraft flying indoors.

It is a figure which shows the specific example of the flight environment of a small air vehicle. 2 is a schematic block diagram illustrating a specific example of a functional configuration of the small flying object 10. FIG. 3 is a flowchart showing a flow of preprocessing of the small flying object 10. 3 is a flowchart showing a flow of flight processing of the small flying object 10. The specific example of the flowchart of the flight control process shown by step S206 of FIG. 4 is shown. It is a figure which shows the effect of the flight control process of the small air vehicle. It is a figure which shows the effect of the flight control process of the small air vehicle.

  FIG. 1 is a diagram showing a specific example of the flight environment of a small aircraft. The small flying object 10 can fly indoors. Indoor, for example, there are a ceiling surface 20, a floor surface 30, a chair 40, and a desk 50. The small aircraft 10 may be a manned aircraft or an unmanned aircraft.

  The ceiling surface 20 is configured by a substantially flat surface. However, a part of the ceiling surface 20 may be configured as an uneven portion instead of a flat surface by installing equipment, for example. Specific examples of equipment installed on the ceiling include equipment such as lighting, air conditioning, ventilation openings, various sensors, and sprinklers. Moreover, a part of the ceiling surface 20 may be configured by unevenness or mesh according to the design.

  The floor surface 30 is configured by a substantially flat surface. However, a part of the floor surface 30 may be configured as an uneven portion instead of a flat surface by installing equipment, for example. Specific examples of equipment installed on the floor include equipment such as lighting, air-conditioning outlets, and various sensors. Moreover, a part of the floor surface 30 may be configured by unevenness or mesh according to the design.

The chair 40 is installed on the floor surface 30. A plurality of chairs 40 may be installed.
The desk 50 is installed on the floor surface 30. A plurality of desks 50 may be installed. The chair 40 and the desk 50 are specific examples of obstacles. An obstacle different from the chair 40 and the desk 50 may be installed on the floor surface 30.

  FIG. 2 is a schematic block diagram showing a specific example of the functional configuration of the small aircraft 10. The small aircraft 10 includes an upper sensor 11, a lower sensor 12, a main body 13, and a plurality of propellers 14. The upper sensor 11 measures the distance between the upper sensor 11 and an object located above (for example, the ceiling surface 20). The upper sensor 11 is configured using, for example, an ultrasonic sensor or an infrared sensor. The lower sensor 12 measures a distance between the lower sensor 12 and an object (for example, the floor surface 30 or an obstacle) located below. The lower sensor 12 is configured using, for example, an ultrasonic sensor or an infrared sensor. The main body 13 is a main body of the small aircraft 10. The main body 13 drives a plurality of propellers 14 according to the measurement results of the upper sensor 11 and the lower sensor 12. The small aircraft 10 flies by driving the propeller 14 by the main body 13.

Next, the main body 13 will be described in detail. The main body 13 includes a control unit 131, a communication unit 132, a storage unit 133, and a drive unit 134.
The control unit 131 includes a processor, a memory, and an auxiliary storage device connected by a bus. The control unit 131 functions as the altitude estimation unit 135 and the flight control unit 136 by executing the flight control program. All or part of the functions of the altitude estimation unit 135 and the flight control unit 136 are realized using hardware such as an application specific integrated circuit (ASIC), a programmable logic device (PLD), and a field programmable gate array (FPGA). May be. The flight control program may be recorded on a computer-readable recording medium. The computer-readable recording medium is a portable medium such as a flexible disk, a magneto-optical disk, a ROM, a CD-ROM, a semiconductor storage device (for example, SSD: Solid State Drive), a hard disk built in a computer system, or a semiconductor storage. A storage device such as a device. The flight control program may be transmitted via a telecommunication line.

The altitude estimation unit 135 estimates information related to the altitude of the small aircraft 10 based on the measurement results of the upper sensor 11 and the lower sensor 12.
The flight control unit 136 executes control related to the flight of the small aircraft 10 based on the estimation result in the altitude estimation unit 135. By controlling this flight, the altitude of the small aircraft 10 is controlled. The flight control unit 136 flies while maintaining the altitude indicated by the altitude setting value, for example, when an altitude value (altitude setting value described later) to be maintained is set in advance.

  The communication unit 132 receives data indicating an instruction from the user by performing wired communication or wireless communication. The communication unit 132 receives, for example, an altitude setting value set by the user.

  The storage unit 133 is configured using a storage device such as a magnetic hard disk device or a semiconductor storage device. The storage unit 133 stores data according to the control of the control unit 131. For example, the storage unit 133 stores the altitude setting value set by the user.

  The drive unit 134 is driven using electric power supplied from a power source (not shown) and supplies driving force to the propeller 14. The drive unit 134 is driven according to control by the control unit 131. As shown in FIG. 2, one drive unit 134 may be provided for one propeller 14, or one drive unit 134 may be provided for a plurality of propellers 14. A plurality of driving units 134 may be provided for one propeller 14.

  FIG. 3 is a flowchart showing the flow of preprocessing of the small aircraft 10. The preprocessing is processing that is executed in advance before the small flying object 10 flies. In the preprocessing, the user instructs the small aircraft 10 to set the altitude setting value. The altitude setting value is a value representing the altitude that the small aircraft 10 maintains during the flight.

  Such an instruction may be performed using an information processing apparatus such as a smartphone or a personal computer. In this case, the information processing apparatus and the small aircraft 10 may be instructed by wired communication using a USB (Universal Serial Bus) cable, WiFi (registered trademark) or Bluetooth (registered trademark). ) Or the like may be realized by wireless communication.

  The flight control unit 136 acquires the altitude setting value set by the user (step S101). The flight control unit 136 acquires, for example, a value received from another information processing apparatus by the communication unit 132 as an altitude setting value. The flight control unit 136 records the acquired altitude setting value in the storage unit 133 (step S102).

  FIG. 4 is a flowchart showing the flow of the flight process of the small aircraft 10. The flight process is a process executed when the small flying object 10 flies. First, the flight control unit 136 controls the drive unit 134 so that the altitude value measured by the lower sensor 12 increases until the altitude value reaches the altitude setting value (step S201). When the altitude value measured by the lower sensor 12 reaches the altitude setting value, the flight control unit 136 acquires the ceiling distance value measured by the upper sensor 11 at that time (step S202). The flight control unit 136 records the ceiling distance value acquired in step S202 in the storage unit 133 as the initial ceiling distance value (step S203). Then, the flight control unit 136 starts altitude maintenance processing based on the altitude estimation result by the altitude estimation unit 135 (step S204).

  When the altitude maintenance process is started, every time a predetermined timing arrives (step S205—YES), the flight control unit 136 executes the flight control process (step S206). On the other hand, when the landing operation is executed by the user (step S205—NO, step S207—YES), the flight control unit 136 ends the altitude maintenance process and executes the landing process (step S208). When the landing operation is not performed at a predetermined timing (step S205-NO, step S207-NO), the flight control unit 136 returns to the process of step S205 without executing the process related to the altitude.

  FIG. 5 shows a specific example of a flowchart of the flight control process shown in step S206 of FIG. First, the altitude estimation unit 135 acquires the altitude value measured by the lower sensor 12 (step S301). The altitude estimation unit 135 determines whether or not the acquired altitude value is equal to the altitude setting value (step S302). The altitude estimation unit 135 determines that the altitude value and the altitude setting value are equal when the absolute value of the difference between the altitude value and the altitude setting value is equal to or less than a predetermined threshold. When it is determined that the altitude value is equal to the altitude setting value (step S302—YES), the altitude estimation unit 135 estimates that the altitude is maintained. The altitude estimation unit 135 outputs the estimation result to the flight control unit 136. In this case, the flight control unit 136 performs control so as to maintain the current state of altitude (step S303).

  When the altitude is not equal to the altitude setting value in the process of step S302 (that is, when the absolute value of the difference between the altitude value and the altitude setting value is greater than or equal to a predetermined threshold: step S302—NO), the flight control unit 136 Performs different processing depending on whether or not the altitude is higher than the altitude setting value. When the altitude is higher than the altitude set value (step S304—NO), the altitude estimation unit 135 estimates that the altitude is higher than the altitude set value. In this case, the flight control unit 136 performs altitude adjustment processing (step S305). In the altitude adjustment process, the flight control unit 136 controls the operation of the drive unit 134 so that the altitude becomes a value equal to the altitude setting value. In this case, since the altitude is estimated to be higher than the altitude setting value, the flight control unit 136 controls the driving unit 134 so as to lower the altitude to the altitude setting value.

  In the process of step S304, when the altitude is lower than the altitude setting value (step S304-YES), the altitude estimation unit 135 acquires the value of the ceiling distance measured by the upper sensor 11. The altitude estimation unit 135 determines whether or not the acquired ceiling distance value is equal to the initial ceiling distance (step S306). The altitude estimation unit 135 determines that the ceiling distance value is equal to the initial ceiling distance when the absolute value of the difference between the ceiling distance value and the initial ceiling distance is equal to or less than a predetermined threshold. When it is determined that the ceiling distance value is equal to the initial ceiling distance (step S306—YES), the altitude estimation unit 135 estimates that the altitude is maintained. The altitude estimation unit 135 outputs the estimation result to the flight control unit 136. In this case, the flight control unit 136 performs control so as to maintain the current state of altitude (step S303).

  In the process of step S306, when the ceiling distance is not equal to the initial ceiling distance (that is, when the absolute value of the difference between the ceiling distance value and the initial ceiling distance is greater than or equal to a predetermined threshold: step S306-NO), flight control The unit 136 performs different processing depending on whether or not the ceiling distance is longer than the initial ceiling distance. When the ceiling distance is longer than the initial ceiling distance (step S307—YES), the altitude estimation unit 135 estimates that the altitude is lower than the altitude setting value. In this case, the flight control unit 136 performs altitude adjustment processing (step S305). In this case, since it is estimated that the altitude is lower than the altitude set value, the flight control unit 136 controls the drive unit 134 to increase the altitude to the altitude set value.

  In the process of step S307, when the ceiling distance is shorter than the initial ceiling distance (step S307-NO), the altitude estimation unit 135 outputs a value indicating an error to the flight control unit 136. In this case, the flight control unit 136 outputs an error to the user (step S308). The error output may be performed in any manner. For example, the flight control unit 136 may perform error output by transmitting a signal indicating an error to the information processing apparatus operated by the user via the communication unit 132. After the process of step S303, S305, or S308, the flight control process ends.

  6 and 7 are diagrams showing the effect of the flight control process of the small aircraft 10. In the specific examples of FIGS. 6 and 7, the small air vehicle 10 rises at the position A and starts flying. The altitude setting value is 200 cm, and the initial ceiling distance is 70 cm. When the small flying object 10 moves from the position A to the position B, an obstacle (desk 50) appears below the small flying object 10. Due to the presence of an obstacle, the altitude measured by the lower sensor 12 of the small aircraft 10 is not the distance from the floor 30 to the small aircraft 10 but the distance from the top plate of the desk 50 to the small aircraft 10. . The distance from the floor surface 30 to the top plate of the desk 50 is 120 cm. Therefore, the altitude measured by the lower sensor 12 of the small aircraft 10 is 80 cm.

  In this case, in the case of a conventional small aircraft, the altitude may be erroneously recognized as being lowered to 80 cm, and the altitude may be increased from the top plate of the desk 50 to an altitude of 200 cm. When such ascending is performed, the small flying object 10 may collide with the ceiling surface 20 in the environment shown in FIG.

  On the other hand, in the small aircraft 10 of the present embodiment, control based on the ceiling distance measured by the upper sensor 11 is performed, and as a result, altitude is maintained without increasing. Specifically, it is as follows. The altitude estimation unit 135 estimates the altitude based on whether the ceiling distance measured by the upper sensor 11 is equal to the initial ceiling distance. At position B in FIG. 6, the measured ceiling distance is 70 cm, which is equal to the initial ceiling distance. In this case, the altitude estimation unit 135 estimates that the altitude is maintained at 200 cm. As a result, the flight control unit 136 performs a process for maintaining the altitude. As described above, it is possible to control the altitude with higher accuracy in a small aircraft flying indoors. Therefore, unlike the conventional small aircraft 10, problems such as a collision with the ceiling surface 20 can be avoided.

  Next, processing when the altitude has actually decreased will be described. As shown in FIG. 7, it is assumed that the altitude has decreased when the small aircraft 10 moves from position A to position C. In this case, the altitude measured by the lower sensor 12 of the small aircraft 10 is 80 cm. However, unlike the case of FIG. 6, since the obstacle such as the desk 50 exists, the altitude is actually lowered instead of being measured erroneously.

  In this case, in the small aircraft 10 of the present embodiment, control based on the ceiling distance measured by the upper sensor 11 is performed, and as a result, altitude is maintained by performing altitude adjustment processing. Specifically, it is as follows. The altitude estimation unit 135 estimates the altitude based on whether the ceiling distance measured by the upper sensor 11 is equal to the initial ceiling distance. At position C in FIG. 7, the measured ceiling distance is 190 cm, which is a value larger than the initial ceiling distance. In this case, the altitude estimation unit 135 estimates that the altitude is lower than the altitude setting value. As a result, the flight control unit 136 performs a process of adjusting the altitude, and the small aircraft 10 is raised so that the altitude becomes the altitude set value. As described above, it is possible to control the altitude with higher accuracy in a small aircraft flying indoors. Therefore, it is possible to accurately detect that the altitude has actually decreased while avoiding problems such as a collision with the ceiling surface 20.

(Modification)
The altitude estimation unit 135 may determine that it is flying outdoors when the ceiling distance cannot be measured by the upper sensor 11. In this case, the altitude estimation unit 135 estimates the altitude based on the altitude measured by the lower sensor 12 without using the measurement result by the upper sensor 11. With this configuration, the altitude can be accurately controlled when the small flying object 10 is flying outdoors. In other words, since there is no ceiling surface outdoors, if an altitude is estimated using the measurement result of the upper sensor 11, there is a risk that an erroneous estimation is made based on noise. Such a problem can be solved by performing the processing as described above.

  On the other hand, the altitude estimation unit 135 may determine that the aircraft is flying indoors when the ceiling distance can be measured by the upper sensor 11. In this case, the altitude estimation unit 135 estimates the altitude using the measurement result obtained by the upper sensor 11 as described above. In this way, the altitude estimation unit 135 automatically determines whether it is indoor or outdoor, and if it is indoor, altitude estimation using the measurement result by the upper sensor is performed, so that the flight environment is improved. Altitude control with high accuracy is possible.

DESCRIPTION OF SYMBOLS 10 ... Small air vehicle, 11 ... Upper sensor, 12 ... Lower sensor, 13 ... Main body, 14 ... Propeller, 20 ... Ceiling surface, 30 ... Floor surface, 40 ... Chair, 50 ... Desk, 131 ... Control part, 132 ... Communication 133, storage unit, 134, drive unit, 135, altitude estimation unit, 136, flight control unit

Claims (6)

A control device for a small aircraft,
A measurement result by an upper sensor that measures a distance between an object located above the small aircraft, and a measurement result by a lower sensor that measures a distance between an object located below the small aircraft; An altitude estimation unit for estimating information on the altitude of the small aircraft based on
In accordance with the estimation result by the altitude estimation unit, a flight control unit that controls the altitude by controlling the flight of the small aircraft,
A control apparatus for a small air vehicle.   Even if the measurement result by the lower sensor changes, the altitude estimation unit does not change the altitude of the small aircraft if the measurement result by the upper sensor is within a predetermined value range. The control apparatus of the small air vehicle of Claim 1 which presumes that there is no.   The altitude estimation unit changes the altitude of the small air vehicle when the value measured by the upper sensor when the altitude reaches a predetermined value and the subsequent measurement result by the upper sensor are equal. The control apparatus of the small air vehicle according to claim 2, which is estimated not to exist.   The altitude estimation unit estimates the information about the altitude without using the measurement result by the upper sensor when the measurement result by the upper sensor is not obtained, and when the measurement result by the upper sensor is obtained, The control apparatus of the small air vehicle as described in any one of Claim 1 to 3 which estimates the information regarding the said altitude using the measurement result by an upper sensor. A control method for a small aircraft,
A measurement result by an upper sensor that measures a distance between an object located above the small aircraft, and a measurement result by a lower sensor that measures a distance between an object located below the small aircraft; An altitude estimation step for estimating information on the altitude of the small vehicle based on
A flight control step of controlling the altitude by performing control related to the flight of the small aircraft according to the estimation result in the altitude estimation step;
A method for controlling a small air vehicle. A control device for a small aircraft,
A measurement result by an upper sensor that measures a distance between an object located above the small aircraft, and a measurement result by a lower sensor that measures a distance between an object located below the small aircraft; An altitude estimation unit for estimating information on the altitude of the small aircraft based on
In accordance with the estimation result by the altitude estimation unit, a flight control unit that controls the altitude by controlling the flight of the small aircraft,
A computer program for causing a computer to function as a control device for a small aircraft.

Images