JP2018052341A - Flight robot control system and flight robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a flight robot control system that can prevent battery depletion during flight even in a great wind speed as much as possible.SOLUTION: A flight robot control system measures a wind speed around a flight robot and, when the wind speed is equal to or more than a reference value and measured remaining battery charge is less than a first threshold, re-generates a route. When the wind speed around the flight robot is not less than the reference value or battery charge is not less than the first threshold, the flight robot continues flight on the present route as it is.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a flying robot that flies on a preset flight route and a flying robot control system that controls the flight of the flying robot.

  Conventionally, as an autonomous mobile robot equipped with a rechargeable battery, for example, one disclosed in Patent Document 1 below is known. In the autonomous mobile robot disclosed in Patent Document 1, when the remaining battery level is equal to or lower than the first predetermined value, the power saving mode with low power consumption is set, and the operation moves to the charging station while continuing the work.

  In Patent Document 2 below, the remaining battery level of a mobile unit is measured, and when the remaining battery level is equal to or lower than a predetermined value, a route with a gentle slope on the road on which the mobile unit travels is selected. There is known a guidance device that provides guidance on energy supply.

JP 2000-047728 A JP 2014-202519 A

  By the way, a small flying robot such as a drone has a short movable time (battery holding) as compared to a ground-running robot, and it is extremely important to perform flight control in consideration of the remaining battery level.

  However, in this type of small flying robot, in a situation where the wind speed is high, battery consumption increases for posture control and maintenance of the flight route. In such a case, when the small flying robot tries to fly on the route set in advance, there is a risk that the battery will run out in the middle of the route and crash during the flight.

  The present invention is intended to solve the above-described problems, and an object of the present invention is to provide a flying robot control system and a flying robot that can prevent battery exhaustion during flight as much as possible.

In order to achieve the above-described object, a flying robot control system according to the present invention is a flying robot control system that controls a flying robot flying on a preset flight route.
A determination unit for determining whether the wind speed around the flying robot is equal to or higher than a reference value;
A measurement unit for measuring the remaining battery power of the flying robot;
With
When the wind speed around the flying robot is equal to or higher than a reference value and the remaining battery level is less than a first threshold, the subsequent flight route is changed to a flight route that consumes less battery than at present.

  The flying robot control system according to the present invention may set the first threshold value larger as the wind speed around the flying robot is higher.

  Furthermore, in the flying robot control system according to the present invention, even when the wind speed around the flying robot is less than the reference value, the stability of the airflow around the flying robot is low, and the remaining battery level is the first threshold value. If it is less, the subsequent flight route may be changed to a flight route that consumes less battery than the current one, and the first threshold value may be set larger as the stability of the airflow is lower.

  In the flying robot control system according to the present invention, when the flight route is changed, the flight route may be set to a shortened route that makes the total flight distance shorter than the currently set flight route.

  Furthermore, the flying robot control system according to the present invention may set the shortened route as a flight route that skips a preset point of low importance.

  Further, the flying robot control system according to the present invention calculates the flightable distance from the flight distance and the battery consumption in the current flight, and the route that can reach the destination point based on the flightable distance. It may be set.

  Furthermore, the flying robot control system according to the present invention provides a predetermined chargeable point when the remaining battery level is less than the second threshold value which is smaller than the first threshold value, regardless of the wind speed value around the flying robot. You may set to the flight route which makes the said flying robot fly.

Further, the flying robot according to the present invention is a flying robot that flies on a preset flight route,
A determination unit for determining whether the wind speed around the flying robot is equal to or higher than a reference value;
A measurement unit for measuring the remaining battery power of the flying robot;
With
When the wind speed around the flying robot is equal to or higher than a reference value and the remaining battery level is less than a first threshold, the subsequent flight route is changed to a flight route that consumes less battery than at present.

  According to the flying robot control system and the flying robot of the present invention, it is possible to set the flight route according to the flight environment and the remaining battery level of the flying robot, and it is possible to prevent the battery from running out as much as possible.

It is an image figure which shows the outline | summary of the flying robot control system which concerns on this invention, Comprising: It is a figure which shows the patrol route which a flying robot patrols. It is a mimetic diagram showing the whole flight robot control system composition concerning the present invention. It is a block block diagram of the flying robot which concerns on this invention. It is a block block diagram of the flight control apparatus in the flying robot control system which concerns on this invention. It is an operation | movement flowchart at the time of the flight route change in the flying robot control system which concerns on this invention.

  Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to FIGS.

[Outline of the present invention]
The present invention relates to a flying robot that flies on a preset flight route (for example, a patrol route of a patrol schedule, a flight route that moves to an arbitrarily designated moving target position and collects security information, and the like) The present invention relates to a flying robot control system that controls the flight of the aircraft.

  The flying robot control system and the flying robot according to the present invention are preset when the flying robot is flying under a situation where the wind speed is expected to increase and the battery remaining amount is equal to or less than a predetermined value. Has a function of changing the flight route (changed to a shortened route / changed to a route less susceptible to wind). In this way, by changing the flight route when the wind speed and the remaining battery capacity satisfy the predetermined conditions, it is determined early so as to prevent the battery from running out while continuing to fly in a strong wind. It becomes possible.

[Configuration of flying robot control system]
As shown in FIGS. 1 and 2, the flying robot control system 1 of the present embodiment is constructed by a roboport 2, a flying robot 3, a flight control device 4, and a center device 5 in order to realize the above-described functions. In FIG. 1, the flying robot 3 in the flying robot control system 1 is, for example, the robot port 2 (reference position P0) → the monitoring point P1 → the monitoring point P2 → the monitoring point P3 → the monitoring point P4 → the monitoring point P5 → the monitoring point P6 → monitoring. When performing the tour of the tour number 1 in which the tour route is determined in the order of the point P7 → roboport 2 (reference position P0), after taking off from the roboport 2, the order of P1 → P2 → P3 → P4 → P5 → P6 → P7 The security information (for example, a photographed image) is collected in each of the areas E1 to E7 of the monitoring points P1 to P7 and returned to the robot port 2.

  Note that the flying robot 3 may collect security information even while the traveling route is moving. The security information collected by the flying robot 3 is transmitted to the center device 5 via the flight control device 4. The center device 5 displays security information transmitted from the flying robot 3 via the flight control device 4 on a monitor, and performs safety confirmation on the patrol route in the monitoring area E and whether there is an abnormality in the monitoring point.

[Roboport configuration]
The roboport 2 is a standby place for the flying robot 3, and has equipment for taking off and landing the flying robot 3 in response to an instruction from the flight control device 4. Further, the roboport 2 includes a mechanism for accommodating the flying robot 3 in the port when the flying robot 3 is landed. When the flying robot 3 is accommodated in the port, the robot port 2 is brought into contact or non-contact with the flying robot 3. Has a function of supplying power.

[Configuration of flying robot]
As shown in FIG. 3, the flying robot 3 includes a rotor 31, a rotor driving unit 32, an antenna 33, an altitude sensor 34, an imaging unit 35, a storage unit 36, a power supply 37, and a robot control unit 38.

  The rotor 31 is composed of, for example, four rotating bodies, and is driven by the rotor driving unit 32 so as to fly the body of the flying robot 3 such as ascending, descending, changing direction, and moving forward.

  The rotor driving unit 32 drives each rotating body of the rotor 31 under the control of the robot control unit 38 in order to fly the aircraft of the flying robot 3 such as ascending, descending, changing direction, and moving forward.

  The antenna 33 is provided in the robot body, and performs wireless communication with the flight control device 4 by low power wireless, Wi-Fi, or the like.

  The altitude sensor 34 measures the current altitude of the flying robot 3 based on the barometric pressure value of the barometric sensor and a laser beam projected and received vertically from the body of the flying robot 3 under the control of the robot controller 38.

  The imaging unit 35 is configured by, for example, a camera using an image sensor, and images the surroundings of the flying robot 3 (for example, forward and downward).

  The storage unit 36 temporarily stores detected object information and obstacle information from the flight control device 4. The storage unit 36 sequentially stores images captured by the imaging unit 35 when the flying robot 3 is flying.

  The power source 37 is composed of a rechargeable battery such as a lithium polymer battery, for example, and supplies necessary power to each part of the flying robot 3.

  The robot control unit 38 controls each part of the flying robot 3 and includes an imaging control unit 38a, a rotor control unit 38b, and an attitude control unit 38c.

  The imaging control unit 38a performs processing such as the start and end of imaging of the imaging unit 35, the control of the imaging angle of the imaging unit 35, the acquisition of images captured by the imaging unit 35, and the transmission of live images to the flight control device 4. .

  The rotor control unit 38b controls the rotor driving unit 32 to control the altitude and speed of the flying robot 3 while avoiding the obstacle according to the obstacle information received from the flight control device 4 and temporarily stored in the storage unit 36. Control is performed so that the target value instructed from the flight control device 4 is obtained.

  The attitude control means 38c controls the attitude of the flying robot 3 in flight based on the flight state (direction, attitude, acceleration, etc.), current position, and current altitude of the flying robot 3.

  The flying robot 3 configured as described above stands by at the roboport 2 in a normal state where the flight instruction is not received from the flight control device 4, and at a predetermined time, a predetermined flight route is set. Based on the information or an instruction from the center device 5, the camera autonomously flies while avoiding an obstacle and performs a photographing process (touring process).

  In addition, when various sensors such as an object detection sensor detect an abnormality and notify the flight control device 4, the flying robot 3 receives three-dimensional geographical information in the monitoring area E stored in advance according to an instruction from the flight control device 4. The vehicle autonomously flies toward the target position while avoiding the obstacle based on the above, and when it is determined that there is no obstacle in the vicinity of the target position, the descent control is performed to perform photographing or the like (anomaly handling process).

[Configuration of flight control device]
The flight control device 4 is installed, for example, in a predetermined location in the monitoring area E or in the vicinity of the monitoring area E, and controls the flight of the flying robot 3.

  The flight control device 4 includes an operation unit operated by the user. When the user performs an operation for starting or canceling monitoring of the monitoring area E using the operation unit, the monitoring area is monitored according to the operation. Set the monitoring state inside and outside the monitoring building of E to start or release. When this setting is made, a security start signal or a security release signal is transmitted to the object detection sensor, respectively.

  Further, the flight control device 4 determines the abnormality of the monitoring area E based on the detection signal of the object detection sensor in the state where the monitoring state is started, outputs an abnormality signal to the center device 5, and flies to the flying robot 3. A signal for giving an instruction, detected object information, and obstacle information are transmitted.

  Moreover, the flight control apparatus 4 is provided with the communication part 41, the memory | storage part 42, and the control part 43 as shown in FIG.

  The communication unit 41 performs wireless communication such as low power wireless and Wi-Fi communication with the flying robot 3, and information such as position (latitude, longitude, altitude), speed, and the like as flight state information from the flying robot 3. And various control signals corresponding to the received information are transmitted to the flying robot 3.

  In addition, when the communication unit 41 receives a flight instruction of the flying robot 3 from the monitoring console 5 a of the center device 5, the communication unit 41 transmits various control signals according to the flight instruction to the flying robot 3.

  Further, the communication unit 41 transmits the image captured by the imaging unit 35 of the flying robot 3 to the center device 5 via a virtual dedicated network (VPN) constructed on a wide area network (WAN) such as the Internet. The communication unit 41 receives detected object information from the object detection sensor.

  The storage unit 42 is composed of, for example, a ROM, a RAM, and the like, and includes a flight area map that expresses the area in which the flying robot 3 flies in three dimensions of latitude, longitude, and altitude, and monitoring area information that is various information related to the monitoring area E. Data for communicating with the flying robot 3, various parameters for controlling the flight of the flying robot 3, position information (latitude and longitude information) of the roboport 2, the type of the object detection sensor in the monitoring area E, and installation position information (Latitude and longitude information) and various programs for realizing the functions of the flight control device 4 are stored.

  The control unit 43 reads the software module from the storage unit 42, performs each process by a CPU or the like, and performs overall control of each unit. The flight control unit 43a, the imaging control unit 43b, the state confirmation unit 43c, and the wind speed determination unit 43d, battery remaining amount measuring means 43e, and flight route setting means 43f.

  The flight control unit 43a acquires flight state information, position information, and altitude information from the flying robot 3 via the communication unit 41, and sends control signals related to the flight of the flying robot 3 such as the target position P and speed of the flying robot 3. It transmits to the flying robot 3 via the communication unit 41 and controls the flight of the flying robot 3.

  The imaging control unit 43b controls imaging by the imaging unit 35 of the flying robot 3, and based on the current position acquired from the flying robot 3 via the communication unit 41, the imaging permission signal (imaging prohibition release signal) or imaging prohibition. The signal is transmitted to the flying robot 3 via the communication unit 41.

  The state confirmation means 43c is for confirming the state of the flying robot 3. When the flying robot 3 is waiting at the robot port 2, the function (including the charging state) of the flying robot 3 is regularly checked. Confirm.

  The wind speed determination unit 43d estimates the wind speed from the battery consumption with respect to the flight distance or flight time of the flying robot 3, or estimates the wind speed from the flight distance according to the number of rotations of the motor, and determines the wind speed around the flying robot 3. To do. Alternatively, information on the wind speed measured by an anemometer installed on or around the flight route may be received and determined as the wind speed around the flying robot 3.

  The battery remaining amount measuring means 43e measures the remaining amount of the battery of the flying robot 3. Further, the battery remaining amount measuring means 43e stores in advance a flightable distance corresponding to the remaining battery level, or calculates a flightable distance with the current remaining battery level from the flight distance and the battery consumption. .

  When the wind speed around the flying robot 3 is equal to or higher than the reference value and the remaining battery level is less than the first threshold, the flying route setting unit 43f sets a flight route that allows the flying robot 3 to complete the flight with the current remaining battery level. Set. Further, the flight route setting means 43f sets the flight route to fly to a predetermined rechargeable point when the remaining battery level of the flying robot 3 is less than the second threshold value which is smaller than the first threshold value.

[Configuration of center unit]
The center device 5 is provided in a facility such as a monitoring center operated by a security company, for example. The center device 5 includes a monitoring table 5a including one or a plurality of computers that receive images captured by the flying robot 3 via the flight control device 4 and display the received images. The monitoring console 5a of the center device 5 controls various devices, records the abnormality signal received from the flight control device 4, displays the abnormality information on the display, and a plurality of monitoring areas E to be monitored by the observer. To monitor.

  In addition, a flight instruction (flight route instruction, target position / speed instruction, take-off instruction, return instruction, ascending instruction, etc.) for directing the flying robot 3 to an arbitrary place by operating the monitoring console 5a at the discretion of the observer. It can also be done.

  In the flying robot control system 1 described above, the wind speed determination means 43d, the battery remaining amount measurement means 43e, and the flight route setting means 43f have been described as being provided in the flight control device 4. However, these wind speed determination means 43d, The amount measuring unit 43e and the flight route setting unit 43f may be provided in the flying robot 3.

[How to determine the wind speed]
When the wind speed is determined by the flying robot 3 or the flight control device 4, the determination can be made according to the flight distance during the time when the flying robot 3 is flying at a predetermined speed or higher. Specifically, it is determined that the shorter the flight distance, the higher the wind speed. Here, it is preferable that the predetermined speed or higher is a speed larger than the speed when the flying robot 3 is hovering. Further, the rotational speed of the motor of the flying robot 3 when there is no wind and the value of the moving distance / moving speed in this case are measured in advance, and the current speed of the motor and the actual moving distance / The wind speed around the flying robot 3 may be determined by estimating the current wind speed by obtaining the value of the moving speed and comparing the two. Furthermore, it may be determined that the wind speed is high when the number of times the flying robot 3 has deviated from the flight route during the predetermined period is equal to or greater than the predetermined number. When the wind speed is determined by using these methods, the approximate wind speed around the flying robot 3 can be determined without installing an anemometer, which leads to weight reduction of the flying robot and reduces battery consumption. It can be suppressed.

  Further, the wind speed at each position of the flight route of the flying robot 3 may be measured using a plurality of fixed anemometers installed on the ground surface or wall surface. In this case, an anemometer that uses a rotor such as a propeller and converts the wind speed according to the number of revolutions of the propeller, an electric anemometer that uses an ultrasonic method, a laser Doppler method, etc. Various anemometers can be used. Information on the wind speed and the wind direction measured using the anemometer is notified to the flight control device 4 or the flying robot 3 by low-power radio, Wi-Fi communication, or the like.

  Furthermore, the flying robot 3 itself may be equipped with an anemometer. In this case, it is preferable to correct the output of the anemometer in consideration of information related to movement control such as its own movement speed and obtain a value close to the actual wind speed.

[How to determine the stability of airflow]
The determination of the stability of the airflow around the flying robot 3 is performed based on the degree of attitude control in various directions in a short period of time. It is determined that the greater the number of posture controls and / or the greater the direction of posture control, the lower the stability of the air current, that is, the air current is unstable. This determination may be performed by the flying robot 3 itself, or posture control information (for example, the number of times the posture control is performed) is communicated between the flying robot 3 and the flight control device 4. May be performed.

[Flight route change process]
The flight route change process is performed when the wind speed around the flying robot 3 is equal to or higher than the reference value and the remaining battery level is less than the first threshold value. The first threshold value for changing the flight route is preferably set to be larger as the wind speed is higher or the stability of the airflow is lower. Thereby, when the wind speed is high and the battery consumption increases compared to the normal time, it is possible to set the flight route with a sufficient remaining battery capacity and to prevent the battery from running out as much as possible. At this time, it is preferable to set the first threshold value in consideration of the remaining distance of the current flight route. Specifically, the first threshold may be set to a smaller value as the remaining distance is shorter.

  The reference value of the wind speed is set to a wind speed that affects the flight of the flying robot 3 such that the flying robot 3 deviates from the flight route or loses its posture. This value may be experimentally determined according to the performance of the flying robot 3 and is set to 3 m / s, for example.

  The first threshold value is experimentally determined according to the flight distance per battery consumption of the flying robot 3 in the normal time, the total distance of the flight route, and the like. For example, in a normal flight, a value that allows the flying robot 3 to fly a predetermined distance (for example, 500 m) or a distance corresponding to 30% of the total distance is set to a value that can fly. In addition, the present invention is not limited to this, and the normal flight time may be set to a value that allows flight for a predetermined time (for example, 2 minutes). The first threshold value set in this way may be a variable value corresponding to the wind speed and the stability of the airflow. In this case, the first threshold value is set larger as the wind speed is higher or the stability of the air current is lower. In setting the first threshold, it is preferable to consider the remaining distance of the current flight route. Further, in consideration of the wind direction, the first threshold value may be increased in the case of head wind or cross wind.

  Furthermore, when the flight route is changed, it is preferable to reduce the first threshold according to the shortened distance. At this time, when the first threshold value is set to a value less than the second threshold value, the flight route flies toward a predetermined chargeable point when the first threshold value is less than the second threshold value, regardless of the first threshold value. change. A method for setting the second threshold will be described later.

  The flight route is set to a shortened route that shortens the flight distance or flight time than the preset route, or a route that is not easily affected by wind, for example, less distance that receives crosswind based on the current wind direction It is preferable to set the route to be predicted. Thereby, in the setting of a flight route, a route with less battery consumption can be set.

  In setting a route that is not easily affected by wind, the route may be set by comprehensively considering the degree of influence on the flight of the flying robot 3 based on the wind speed, wind direction, airflow stability, and the like. For example, if the wind speed is high, the crosswind condition, or the airflow stability is low, the impact level is high, and if the wind speed is low, the tailwind condition, or the airflow stability is high, the impact level is low. And Based on the importance set in this way, the influence of the wind on the flight route is estimated, and the route having the least influence may be set. Further, specific conditions may be preferentially considered.

  In the flight route change processing, the flightable distance with the current remaining battery level is calculated and estimated from the flight distance and battery consumption in the current flight, and the flight route is set within the flightable distance. When a flight route that falls within the flightable distance range cannot be generated, the flight route is set to a flight route to a predetermined rechargeable point (including Roboport 2).

  Note that if the wind speed of a predetermined speed or more continues for a predetermined time or longer (for example, the wind speed of 5 m / s continues for 3 seconds or more), the flying of the flying robot 3 is dangerous. Or take off control before takeoff.

  Even if the wind speed is less than the reference value and the wind speed is not large, it is determined that the stability of the air flow is low and the flight route is changed when the remaining battery level is less than the first threshold. Also good. As a result, when the airflow is unstable and the battery consumption increases compared to the normal time, the flight route can be set with a sufficient remaining battery capacity, and battery exhaustion during flight can be prevented as much as possible. The first threshold value is preferably set larger as the airflow stability is lower.

  Furthermore, in the shortened route, for each monitoring point, the importance is set according to the degree of priority to be monitored, and a route that gives priority to the higher importance point is set. You may make it skip a low point or not perform specific processes, such as imaging | photography. For example, importance is set such as high importance, medium importance, and low importance, and points with high importance are preferentially included in the shortened route. In this case, a point with low importance skipped this time or an unexecuted specific process is set to high importance at the next flight. For example, skipped low importance points are set to medium importance only during the next flight. As a result, even when the remaining amount of the battery is low and it is not possible to monitor all points, it is possible to monitor all points that should be monitored with priority. In addition, skipped low-importance points or unexecuted specific processes are set to high importance during the next flight, so that the same point or unexecuted specific processes are continuously excluded from the monitoring target. Can be prevented.

  When the remaining battery level is less than the second threshold value, which is smaller than the first threshold value, the flying robot 3 is placed at a predetermined rechargeable point (including the roboport 2) set on or around the flight route regardless of the wind speed. Set the flight route to fly. Thereby, the flying robot in flight can be made to fly to a chargeable point without crashing. Further, in this case, since the flying robot 3 in flight has a risk of crashing due to a decrease in the remaining battery power, a chargeable point closest to the current flight position of the flying robot 3 is set as the flight route and It is preferred to avoid danger. Thereby, the flight robot 3 can return to the route before the route shift and continue the flight when the charging at the chargeable point is completed.

  The second threshold value is set to a value that allows the flying robot 3 to fly to a predetermined rechargeable point. In other words, considering the flight route and a predetermined rechargeable point, even if it falls below the second threshold at any point, the value can be reached to a predetermined rechargeable point without crashing during the flight. It is preferable to set. Note that the second threshold may be increased when the wind speed is high or the stability of the airflow is low.

  Further, if the remaining battery level is less than the first threshold value, the flightable distance with the current battery level is calculated and estimated from the flight distance and battery consumption in the current flight. It is also possible to set a shortened route that can reach a destination point (for example, a charging point or a safe point) based on the distance. Thereby, according to the flight environment of the flying robot and the remaining battery level, it is possible to set a flight route that allows all points on the shortened route to fly while preventing the battery from running out during flight as much as possible. Also, in this case, after the flight robot 3 reaches the destination point and charging is completed, if the flight route is changed back to the previous flight route and set, the entire flight will continue from the state before the change. And return to Roboport 2.

  Further, when the flight route is changed continuously a predetermined number of times or more within a predetermined period, a preset flight route may be regenerated. This makes it possible to generate a flight route that matches the battery capacity of the flying robot in advance.

  Next, the above-described change of the flight route will be described in detail using the example of the flight route in FIG. Here, the flight route which flies each point in the order of P0 (Roboport) -P1-P2-P3-P4-P5-P6-P7-P0 (Roboport) is set, and the importance of each point is as follows It shall be stipulated in. High importance P1, P7, medium importance P2, P3, P4, P6, low importance P5. It is assumed that when the flying robot 3 is flying on such a flight route, the wind speed is equal to or higher than the reference value and the remaining battery level is lower than the first threshold value when reaching the point P4. In this case, if it is going to fly all the remaining P5 to P7, there is a possibility that the battery runs out on the way and falls. Therefore, the flight route that was originally planned is changed to fly. Specifically, in order to shorten the flight distance, the flight route is changed to the flight route skipping the P6 point, and the flight is performed in the order of P4 to P5 to P7 to P0. Alternatively, the flight route may be changed so as to skip the less important P5 point in consideration of the importance of each point, and may fly in the order of P4 to P6 to P7 to P0. Even in these flight routes, when the flight distance calculated from the current battery remaining amount is exceeded, it is preferable to skip the P6 point of medium importance and go directly from P4 to P7. It is. Thereby, the danger that the flying robot 3 may crash during the flight can be reduced.

  Further, when the remaining battery level becomes less than the second threshold during the flight between P5 and P6, the aircraft flies toward the chargeable P0 point regardless of the current wind speed. If there is a point where charging is possible closer to the current position than P0, it is preferable to fly toward that point.

  Furthermore, it is assumed that the flight route is continuously changed a plurality of times (for example, three times or more) in this flight route. In such a case, it is determined that this flight route is not suitable for the battery capacity of the flying robot 3, and the flight route is regenerated. Specifically, in order to shorten the flight distance, the P5 point is excluded from this flight route, and P0 to P1 to P2 to P3 to P4 to P6 to P7 to P0 are generated as new flight routes for subsequent flights. Uses this flight route. This flight route regeneration may be performed by the flight control device 4 or an instruction signal for regenerating the flight route from the flight control device 4 to the center device 5 may be transmitted.

[Operation when changing flight route]
Next, the operation when the flight route is changed by the flying robot control system 1 will be described with reference to the flowchart of FIG.

  First, the flying robot 3 takes off from the roboport 2 and starts flying when the patrol time arrives or there is an instruction from the center device 5 (ST1).

  When the flying robot 3 starts to fly, the wind speed determining unit 43d determines whether or not the wind speed around the flying robot 3 is equal to or higher than a reference value (ST2).

  When it is determined that the wind speed around the flying robot 3 is equal to or higher than the reference value (ST2-Yes), it is determined whether or not the current remaining battery level measured by the remaining battery level measuring unit 43e is less than the first threshold value. (ST3).

  If it is determined that the current remaining battery level measured by the remaining battery level measuring unit 43e is less than the first threshold value (ST3-Yes), the wind speed around the flying robot 3 and the remaining battery level are determined according to the flight route change process described above. The flight route is changed based on the amount (ST4), and the flight is continued. Then, it is determined whether or not the flight of the flying robot 3 has been completed (ST5). If it is determined that the flight has been completed (ST5-Yes), the flight route change is completed, and if it is determined that the flight has not been completed (ST5-No), the process returns to ST2 and the same processing is repeated.

  When it is determined that the wind speed around the flying robot 3 is not equal to or higher than the reference value (ST2-No), it is determined that the current remaining battery level measured by the remaining battery level measuring unit 43e is not less than the first threshold value. Sometimes (ST3-No), the flight is continued with the current flight route (ST6), and the process proceeds to a process for determining whether or not the flight of the flying robot 3 of ST5 is completed.

  In the flowchart of FIG. 5, it is determined whether the wind speed around the flying robot 3 in ST2 is equal to or higher than the reference value, and the current battery remaining amount measured by the battery remaining amount measuring unit 43e in ST3 is less than the first threshold value. The determination as to whether or not may be performed in parallel.

  If it is determined that the wind speed around the flying robot 3 is not equal to or higher than the reference value (ST2-No), the current battery measured by the battery remaining amount measuring means 43e is low and the stability of the airflow around the flying robot 3 is low. When it is determined that the remaining amount is less than the first threshold, the flight route may be regenerated.

  In the present embodiment, the magnitude of the wind speed and the stability of the airflow are determined, but the degree of influence varies depending on the magnitude of the wind speed and the stability of the airflow depending on the performance of the flying robot. Therefore, these determinations are preferably made according to the performance of the flying robot.

  Although the best mode of the flying robot control system and the flying robot according to the present invention has been described above, the present invention is not limited by the description and drawings according to this mode. That is, it is a matter of course that all other forms, examples, operation techniques, and the like made by those skilled in the art based on this form are included in the scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Flying robot control system 2 Roboport 3 Flying robot 4 Flight control apparatus 5 Center apparatus 5a Monitoring table 31 Rotor 32 Rotor drive part 33 Antenna 34 Altitude sensor 35 Imaging part 36 Storage part 37 Power supply 38 Robo control part 38a Imaging | photography control means 38b Rotor control Means 38c Attitude control means 41 Communication part 42 Storage part 43 Control part 43a Flight control means 43b Imaging control means 43c State confirmation means 43d Wind speed judgment means 43e Battery remaining amount measurement means 43f Flight route setting means E Monitoring area E1, E2, E3 E4, E5, E6, E7 Area P Target position P0 Reference position P1, P2, P3, P4, P5, P6, P7 Monitoring point

Claims (8)

In a flying robot control system for controlling a flying robot flying on a preset flight route,
A determination unit for determining whether the wind speed around the flying robot is equal to or higher than a reference value;
A measurement unit for measuring the remaining battery power of the flying robot;
With
When the wind speed around the flying robot is equal to or higher than a reference value and the remaining battery level is less than a first threshold, the subsequent flight route is changed to a flight route that consumes less battery than the current flight. Robot control system. The flying robot control system according to claim 1, wherein the first threshold value is set to be larger as the wind speed around the flying robot is higher. Even if the wind speed around the flying robot is less than the reference value, if the stability of the airflow around the flying robot is low and the remaining battery level is less than the first threshold, the subsequent flight route is 3. The flying robot control system according to claim 1, wherein the flight robot control system changes to a flight route that reduces battery consumption, and sets the first threshold value larger as the stability of the airflow is lower. The flying robot control system according to any one of claims 1 to 3, wherein the change of the flight route is set to a shortened route in which a total flight distance is shorter than a currently set flight route. The flying robot control system according to claim 4, wherein the shortened route is set to a flight route that skips a preset point of low importance. 6. The flying robot according to claim 4, wherein the shortened route calculates a flightable distance from a flight distance and battery consumption in a current flight, and is set to a route that can reach a destination point based on the flightable distance. Control system. Regardless of the value of the wind speed around the flying robot, if the remaining battery level is less than the second threshold value, which is smaller than the first threshold value, the flight route for flying the flying robot to a predetermined rechargeable point is set. The flying robot control system according to any one of claims 1 to 6. In a flying robot flying on a preset flight route,
A determination unit for determining whether the wind speed around the flying robot is equal to or higher than a reference value;
A measurement unit for measuring the remaining battery power of the flying robot;
With
When the wind speed around the flying robot is equal to or higher than a reference value and the remaining battery level is less than a first threshold, the subsequent flight route is changed to a flight route that consumes less battery than the current flight. robot.

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