JP2018070010A - Unmanned aircraft controlling system, controlling method and program thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mechanism for determining position of unmanned aircraft in order to photograph it when the unmanned aircraft has an abnormality.SOLUTION: There is provided an unmanned aircraft controlling system where an unmanned aircraft, a network camera capable of photographing the unmanned aircraft, and an information processing apparatus are communicated via a network, which comprises: abnormality detecting means for detecting an abnormality in the unmanned aircraft; network camera determining means for determining a network camera capable of photographing the unmanned aircraft in which the abnormality has been detected by the abnormality detecting means; and photographing means for photographing the unmanned aircraft in which the abnormality has been detected with the network camera determined by the network camera determining means.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an unmanned aerial vehicle control system capable of determining a communication method between an unmanned aerial vehicle and a remote control terminal according to a communication situation, a control method thereof, and a program.

  Conventionally, there is an unmanned aerial vehicle that is an aircraft on which a person is not on board. Unmanned aerial vehicles vary from large to small, but in recent years, small unmanned aerial vehicles (commonly called drones) that can be remotely controlled have attracted attention (hereinafter, small unmanned aerial vehicles are simply referred to as unmanned aerial vehicles). Called).

  An unmanned aerial vehicle is also called a quadcopter or a multicopter, and includes a plurality of rotor blades. By increasing or decreasing the number of rotations of the rotor blades, the unmanned aircraft advances, retreats, turns, and hovers. Such an unmanned aerial vehicle can be operated in response to an operation instruction from a remote operation terminal called a propo, and can be controlled from a console with an integrated monitor and input device.

  In addition, network cameras that can be connected to a network are used as weather cameras and surveillance cameras, and it is also possible to photograph unmanned aerial vehicles with a network camera.

  Since unmanned aircraft fly unmanned, there is a risk of crashing or harming the surroundings, such as when an abnormality occurs in the main unit and it becomes uncontrollable, and it is possible to record the situation at the time of the abnormality It has been demanded.

  In Patent Document 1, in a surveillance system including a surveillance camera that captures images from the ground and a flying device that includes a video unit that captures images from above, the image captured in the monitoring region is complemented, and the state of the region in the image A monitoring system that can obtain other images suitable for grasping the image has been proposed.

  Further, Patent Document 2 proposes a mechanism for transmitting image data of a monitoring camera installed in a disaster occurrence area from a monitoring center or the like to a user terminal when receiving an abnormal signal such as when a disaster occurs.

Japanese Patent Laid-Open No. 2006-118994 Japanese Patent Laid-Open No. 2006-72880

  In Patent Document 1, it is possible to photograph the flying device with a network camera, but it is necessary to always photograph.

  Moreover, in patent document 2, although it is possible to transmit the image data of the monitoring camera installed in the disaster occurrence area to the user terminal at the time of the disaster occurrence, the unmanned aircraft is installed because it is flying in the air. A surveillance camera may not always be able to photograph a desired unmanned aircraft.

  Therefore, an object of the present invention is to provide a mechanism capable of specifying and shooting the position of an unmanned aircraft to be photographed when an abnormality occurs in the unmanned aircraft.

  An unmanned aircraft control system in which an unmanned aircraft, a network camera capable of photographing the unmanned aircraft, and an information processing apparatus are connected via a network, wherein the abnormality detection means detects an abnormality of the unmanned aircraft, and the abnormality Network camera specifying means for specifying a network camera capable of shooting an unmanned aerial vehicle in which an abnormality is detected by the detecting means; and imaging means for shooting the unmanned aircraft in which the abnormality is detected by the network camera specified by the network camera specifying means It is characterized by having.

  ADVANTAGE OF THE INVENTION According to this invention, when abnormality generate | occur | produces in the unmanned aircraft, the mechanism which can pinpoint the position of the unmanned aircraft which should be image | photographed and can be image | photographed can be provided.

It is a figure which shows an example of the system configuration | structure of an unmanned aerial vehicle control system in embodiment of this invention. 2 is a diagram illustrating an example of a hardware configuration of an unmanned aircraft 101. FIG. 2 is a diagram illustrating an example of a hardware configuration of a network camera 103. FIG. It is a figure which shows an example of a function structure of an unmanned aircraft control system. It is a flowchart which shows an example of the 1st control processing in embodiment of this invention. It is a flowchart which shows an example of the abnormality detection process in embodiment of this invention. It is a figure which shows an example of the imaging | photography control of the camera in embodiment of this invention. It is a figure which shows an example of the positional information in embodiment of this invention. It is a flowchart which shows an example of the 2nd control processing in embodiment of this invention. It is a figure which shows an example of the prediction method of the fall point in embodiment of this invention. It is a figure which shows an example of the alert information in embodiment of this invention. It is a flowchart which shows an example of the 3rd control processing in embodiment of this invention. It is a figure which shows an example of the guidance method of the unmanned aerial vehicle in the embodiment of the present invention. It is a flowchart which shows an example of the 4th control processing in embodiment of this invention. It is a figure which shows an example of the process image of the unmanned aerial vehicle control system in embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. First, the first embodiment will be described.

  FIG. 1 is a diagram showing a system configuration of an unmanned aerial vehicle control system according to the present embodiment.

  The unmanned aerial vehicle control system according to the present embodiment includes an unmanned aircraft 101, a transmitter 102, a network camera 103, a relay BOX 104, a control computer 105, and a console 106, a network 110 and a wireless LAN (including a mobile communication network) 120. It is connected so that communication connection is possible via. Note that the system configuration in FIG. 1 is an example, and there are various configuration examples depending on the application and purpose.

  An unmanned aerial vehicle 101, also called a drone, is an unmanned aircraft that can be remotely controlled by a prop 102. In response to an instruction from the propo 102, the plurality of rotor blades are operated to fly.

  By increasing or decreasing the rotational speed of the rotor blades, the unmanned aircraft moves forward, backward, turns, hovers, and the like. Although the unmanned aircraft 101 shown in FIG. 1 has four rotor blades, the present invention is not limited to this. There may be three, six, or eight.

  The unmanned aerial vehicle 101 includes those that fly by radio and those that fly by wire. In the present invention, either method may be used.

  When flying in a wired manner, a wired connection is made from the arrival / departure point 130 via the cable 131. In this case, the departure / arrival point 130 is provided with a power supply unit and a communication unit for power supply and communication with respect to the unmanned aircraft 101. Further, a cable control unit for moving the unmanned aerial vehicle 101 by winding or pulling the cable 131 is provided.

  The cable 131 has a sufficient length so that the unmanned aerial vehicle 101 can freely fly, and can control the flight range of the unmanned aerial vehicle 101 by being controlled so as to be wound up in a reel shape. It is.

  The transmitter 102 is a transmitter (remote control terminal) for operating the unmanned aerial vehicle 101. Since it is a proportional system (proportional control system), the rotational speed of the rotor blades of the unmanned aerial vehicle 101 can be controlled in proportion to the amount of movement of the operation unit of the prop 102. The propo 102 may be a mobile terminal such as a so-called smartphone or tablet terminal.

  The network camera 103 is installed at a position where the unmanned aerial vehicle 101 can be photographed, and photographs the unmanned aircraft 101 or other photographing objects (the unmanned aircraft 101 flies over a position where the network camera 103 can photograph).

  For example, it can be used as a weather camera installed on the roof of a building, or can be used as a surveillance camera installed at the entrance of a building or in the city. Multiple units can be installed and connected in the same system.

  The network camera 103 incorporates a lens and a camera, and has a pan function for moving the camera lens to the left and right, a tilt for moving the camera up and down, and a zoom function for making it telephoto and wide-angle in order to change the shooting direction. However, it can be operated from a remote location (PTZ control).

  The relay BOX 104 has a function of supplying power to the network camera 103 and the unmanned aircraft 101 and transmitting a control signal from the console 106.

  The control computer 105 (information processing apparatus) and the console 106 may be installed in a remote place that is physically separated from the place where the network camera 103 is installed. The general distance may be set at a short distance that is not so far away.

  It is also possible to set a centralized management center that collectively manages a plurality of unmanned aircraft 101 and network cameras 103.

  The control computer is a device that connects the control lines of the console 106 for controlling the plurality of unmanned aircraft 101 and the network camera 103, and the console 106 is a device for controlling the unmanned aircraft 101 and the network camera 103. It is.

  The network 110 and the wireless LAN 120 are networks that connect each device of the unmanned aerial vehicle control system in a communicable manner, and each device is connected to the mobile communication network regardless of whether it is connected by a network or a wireless LAN. This system can be implemented even if connected by.

  FIG. 2 is a diagram illustrating a hardware configuration of the unmanned aerial vehicle 101. Note that the hardware configuration of the unmanned aerial vehicle 101 shown in FIG. 2 is an example, and there are various configuration examples depending on the application and purpose.

  The flight controller 200 is a microcontroller for performing flight control of the unmanned aerial vehicle 101, and includes a CPU 201, a ROM 202, a RAM 203, and a peripheral bus interface 204 (hereinafter referred to as a peripheral bus I / F 204).

  The CPU 201 comprehensively controls each device connected to the system bus. The external memory 280 connected to the ROM 202 or the peripheral bus I / F 304 stores a basic input / output system (BIOS) that is a control program of the CPU 201 and an operating system program.

  The external memory 280 (storage means) stores various programs and the like necessary for realizing the functions executed by the unmanned aircraft 101. A RAM 203 (storage means) functions as a main memory, work area, and the like for the CPU 201.

  The CPU 201 implements various operations by loading a program necessary for execution of processing into the RAM 203 and executing the program.

  The peripheral bus I / F 204 is an interface for connecting to various peripheral devices. Connected to the peripheral bus I / F 204 are a PMU 210, a SIM adapter 220, a wireless LAN BB unit 230, a mobile communication BB unit 240, a GPS unit 250, a sensor 260, a GCU 270, and an external memory 280.

  The PMU 210 is a power management unit and can control power supply from the battery included in the unmanned aircraft 101 to the ESC 211. The ESC 211 is an electronic speed controller and can control the rotation speed of the motor 212 connected to the ESC 211. By rotating the motor 212 using the ESC 211, the propeller 213 (rotary blade) connected to the motor 212 is rotated.

  Note that a plurality of sets of ESCs 211, motors 212, and propellers 213 are provided according to the number of propellers 213. For example, in the case of a quadcopter, the number of propellers 213 is four, so four sets are required.

  The SIM adapter 220 is a card adapter for inserting the SIM card 221. The type of the SIM card 221 is not particularly limited. Any SIM card 221 may be used depending on the carrier that provides the mobile communication network.

  The wireless LAN BB unit 230 is a baseband unit for performing communication via a wireless LAN. The wireless LAN BB unit 230 can generate a baseband signal from data or signals to be transmitted and send it to the modem circuit. Furthermore, original data and signals can be obtained from the received baseband signal.

  The wireless LAN RF unit 231 is an RF (Radio Frequency) unit for performing communication via a wireless LAN. The wireless LAN RF unit 231 can modulate the baseband signal transmitted from the wireless LAN BB unit 230 into the frequency band of the wireless LAN and transmit it from the antenna. Furthermore, when a signal in the wireless LAN frequency band is received, it can be demodulated into a baseband signal.

  The mobile communication BB unit 240 is a baseband unit for performing communication via a mobile communication network. The mobile communication BB unit 240 can generate a baseband signal from data or signals to be transmitted and send it to the modem circuit. Furthermore, original data and signals can be obtained from the received baseband signal.

  The mobile communication RF unit 241 is an RF (Radio Frequency) unit for performing communication via a mobile communication network. The mobile communication RF unit 241 can modulate the baseband signal transmitted from the mobile communication BB unit 240 into the frequency band of the mobile communication network and transmit it from the antenna. Further, when a signal in the frequency band of the mobile communication network is received, it can be demodulated into a baseband signal.

  The GPS unit 250 is a receiver that can acquire the current position of the unmanned aerial vehicle 101 using a global positioning system. The GPS unit 250 can receive a signal from a GPS satellite and estimate the current position.

  The sensor 260 is a sensor for measuring the tilt, direction, speed, and surrounding environment of the unmanned aircraft 101. The unmanned aircraft 101 includes a gyro sensor, an acceleration sensor, an atmospheric pressure sensor, a magnetic sensor, an ultrasonic sensor, and the like as the sensor 260. Based on the data acquired from these sensors, the CPU 201 controls the attitude and movement of the unmanned aerial vehicle 101.

  The GCU 270 is a gimbal control unit and is a unit for controlling the operations of the camera 271 and the gimbal 272. The unmanned aerial vehicle 101 will vibrate or become unstable when the unmanned aerial vehicle 101 flies. Therefore, the gimbal 272 absorbs the vibration of the unmanned aerial vehicle 101 so that the camera 271 does not shake when captured by the camera 271. Maintain level. Further, the camera 271 can be remotely operated by the gimbal 272.

  Various programs and the like used by the unmanned aerial vehicle 101 of the present invention to execute various processes, which will be described later, are recorded in the external memory 280 and are executed by the CPU 201 by being loaded into the RAM 203 as necessary. . Furthermore, definition files and various information tables used by the program according to the present invention are stored in the external memory 280.

  FIG. 3 is a configuration diagram illustrating a hardware configuration of the network camera 102.

  The CPU 301 comprehensively controls each device and controller connected to the system bus 304.

  Further, the ROM 302 or the external memory 305 is necessary for realizing the functions executed by the BIOS (Basic Input / Output System), the operating system program (hereinafter referred to as OS), and the image processing server 108, which are control programs of the CPU 301. Various programs to be described later are stored. A RAM 303 functions as a main memory, work area, and the like for the CPU 301.

  The CPU 301 implements various operations by loading a program or the like necessary for execution of processing into the RAM 303 and executing the program.

  The memory controller (MC) 306 is a compact connected via an adapter to a hard disk (HD) or PCMCIA card slot for storing a boot program, various applications, font data, user files, editing files, various data, image data, and the like. Controls access to an external memory 305 such as a flash (registered trademark) memory or a smart media (registered trademark).

  The camera unit 307 is connected to the image processing unit 308 and performs photoelectric conversion on the light obtained through the lens directed toward the monitoring target by a light receiving cell such as a CCD or CMOS, and then outputs an RGB signal. Or a complementary color signal is output to the image processing unit 308.

  The image processing unit 308 performs white balance adjustment, gamma processing, and sharpness processing based on the RGB signal and the color collection signal, and further performs YC signal processing to generate a luminance signal Y and a chroma signal (hereinafter referred to as YC signal). Then, the YC signal is compressed in a predetermined compression format (for example, JPEG format or Motion JPEG format), and the compressed data is temporarily stored in the external memory 305 as image data.

  A communication I / F controller (communication I / FC) 309 connects and communicates with an external device via a network, executes communication control processing on the network, and stores an image stored in the external memory 305. Data is transmitted to the external device by the communication I / F controller 309.

  FIG. 4 is a diagram illustrating an example of a functional configuration of the unmanned aerial vehicle control system. The functions of the control computer 105 (information processing apparatus) will be described.

  The unmanned aircraft control system has functions of an abnormality detection unit 411, an unmanned aircraft shooting control unit 412, a fall point acquisition unit 413, an alert output unit 414, an unmanned aircraft control unit 415, a parachute detection unit 416, and a cable pulling unit 417. .

  The abnormality detection unit 411 detects an abnormality of the unmanned aircraft. When an abnormality is detected, the unmanned aerial photography control unit 412 identifies the position of the unmanned aircraft and photographs the unmanned aircraft so that the situation at that time can be confirmed later.

  When an abnormality is detected by the abnormality detection unit 413, the fall point acquisition unit 413 acquires in which region the region falls when it falls in preparation for the worst situation.

  The alert output unit 414 performs control to determine and output an alert corresponding to the falling point acquired by the falling point acquisition unit 413. If you fall into a dangerous area, you will be warned with a loud sound, and if you fall into a mountainous area, the lights will turn on (blink) prominently so that you can easily collect them later.

  The unmanned aerial vehicle control unit 415 has a function of controlling the unmanned aerial vehicle so that the unmanned aircraft can be guided to a safe place by controlling the output of the propeller so that the unmanned aircraft control unit 415 is dropped in the safety zone.

  The parachute detection unit 416 detects whether or not the parachute (parachute) is open as it falls. In the fourth control process, the cable pulling process can be started on the condition that the parachute is open.

  The cable pulling unit 417 has a function of pulling the cable in order to drop it in the safety zone by adjusting the length of the connected cable when the unmanned aircraft drops.

  FIG. 5 is a flowchart illustrating an example of the first control process according to the embodiment of the present invention.

  In the first control process, when an abnormality occurs in the unmanned aircraft, the network camera capable of photographing the unmanned aircraft is controlled to photograph the unmanned aircraft.

  Processing is mainly performed by the CPU of the control computer 105. In step S501, the abnormality detection process for the uncentered aircraft is performed, and the process loops until an abnormality is detected.

  If an abnormality is detected in step S502, the process proceeds to step S503, where the position information acquisition unit acquires the position information of the unmanned aircraft that detected the abnormality, and the process proceeds to step S504.

  In step S504, the network camera specifying unit specifies a network camera capable of shooting the unmanned aerial vehicle in which the abnormality has occurred from the installed network cameras. A network camera capable of shooting the unmanned aerial vehicle is identified from the position information of the unmanned aircraft and the position information where the network camera is installed.

  In addition, when the network camera is previously installed so that the unmanned aircraft can be photographed, the network camera is a network camera capable of photographing.

  If it is determined in step S505 that there is a network camera capable of capturing an unmanned aerial vehicle in which an abnormality has been detected, the process proceeds to step S506, whereas if it is determined that there is no network camera capable of capturing, It progresses to step S507 and a process is complete | finished.

  In step S506, the unmanned aircraft is photographed by a network camera capable of photographing. When there are a plurality of network cameras that can be photographed, a plurality of network cameras may be photographed, or the nearest network camera may be photographed.

  In step S507, even if shooting is not possible, the closest camera is allowed to shoot, but this processing may be omitted.

  FIG. 6 is a flowchart showing an example of the abnormality detection process in the embodiment of the present invention.

  This process is started as the unmanned aircraft begins to fly. It may be processed by an unmanned aerial vehicle or may be processed by the control computer 105.

  In step S601, the process is repeated until the flight is completed. In step S602, it is determined whether the angle sensor of the unmanned aircraft is normal. If it is abnormal, the process proceeds to step S603, an abnormal flag is set, and the process proceeds to step S604. The abnormality flag may be managed by a table (not shown) or may be temporarily stored in a memory (the same applies to other abnormality flags).

  In step S604, it is determined whether the propeller of the unmanned aircraft is normal. If it is abnormal, the process proceeds to step S605, where an abnormality flag is set, and the process proceeds to step S606. Whether or not it is abnormal may be determined by receiving an abnormal signal, or may be abnormal when a predetermined number (for example, two or more) are stopped.

  In step S606, it is determined whether the altitude of the unmanned aircraft is normal. If the altitude is abnormal, the process proceeds to step S607, where an abnormality flag is set, and the process proceeds to step S608. Whether or not there is an abnormality may be determined as an abnormality when the altitude does not become as expected and the altitude continues to decrease.

  In step S608, it is determined whether or not the abnormality flag is greater than or equal to a predetermined value (for example, two or more). If there is an abnormality flag greater than or equal to the predetermined value, the process proceeds to step S609 to recognize the unmanned aircraft as an abnormality and Notify the system.

  The abnormality detection method is not limited to this, and may be determined by receiving an abnormality alert from an unmanned aerial vehicle, or may be determined to be abnormal as a result of image processing by shooting an unmanned aircraft, Moreover, you may make it receive the input to the effect of abnormality by a user.

  FIG. 7 is a diagram illustrating an example of shooting control of the camera according to the embodiment of the present invention.

  This figure explains a method for calculating a distance when the network camera 103 captures the drone 101 using the top view and the side view of the drone 101 and the network camera 103.

  The unmanned aerial vehicle control system first acquires the position information of the drone 101 and the position information of the network camera 103. Each position information is stored in a table as shown in FIG.

  FIG. 8 is a diagram showing an example of position information in the embodiment of the present invention.

  The position information table stores a drone position information table 800 and a network camera position information table 810.

  The drone position information table 800 stores information of drone No 801, latitude 802, longitude 803, altitude 804, time 805, and remarks 806.

  Drone No. 801 is assigned so that an unmanned aircraft can be uniquely identified. Latitude 802, longitude 803, and altitude 804 record information acquired by the unmanned aircraft by GPS or the like, and time 805 acquires position information. The recorded time is recorded.

  Remarks 806 records remarks. “After 1 second” means that the drone No. Since there is two position information of the unmanned aircraft which is 1, the time difference is recorded.

  “Power OFF” means that the drone No. Since the position information of the unmanned aircraft that is 2 is not acquired, it is determined that the power is OFF. These remarks 806 may be input automatically by the system, or may be input manually by the user.

  The network camera position information table 810 stores camera No 811, longitude 812, latitude 813, and altitude 814. These pieces of information are input when the network camera is installed. However, in the case of a mobile network camera or the like, it may be updated according to the installation position.

  The camera No. 811 is named so that the network camera can be uniquely identified, and the latitude 812, the longitude 813, and the altitude 814 store the position information where the network camera is installed. Returning to the description of FIG.

  In this embodiment, it is assumed that latitude 1 second is calculated as 30.86 m, longitude 1 second is calculated as 25.37 m, and drone No “No. 1” and camera No “No. 1” are used.

  When the drone No. “No. 1” and the camera No. “No. 1” are compared with each other as seen from above, there is a difference of +1 second in longitude and a difference of −1 second in latitude. There is a difference.

  Since the pan angle is tan θ = 25.37 m / 30.86 mθ = 39.4 °, if the pan angle is turned 39.4 ° to the left, the drone can be photographed.

The distance between the drone 101 and the network camera 103 is
sin 39.4 ° = 38.86 m / A A = 40.01 m is calculated.

  Next, a method for calculating the shooting distance and the tilt angle will be described with reference to a side view.

The difference in altitude between drone 101 and the network camera is 2.34m,
tan θ = 2.34 m / 40.01 m Therefore, θ = 3.45 °, and the drone 101 can be photographed by turning the tilt angle of the network camera downward by 3.45 °.

  Next, a method for calculating the shooting distance between the drone 101 and the network camera 103 will be described.

  cos θ = 40.01 m / B Therefore, B = 40.09 m, which is 40.09 m than that of the drone 101 and the network camera 103, and the focus position of the network camera is moved to 40.09 m. Specifically, the zoom is moved by applying a voltage corresponding to 40.09 m.

  Note that the drone shooting method using the network camera is not limited to this, and the drone may be recognized by image processing, and the recognized drone may be focused. An image in which a network camera actually captures a drone will be described with reference to FIG.

  FIG. 15 is a diagram illustrating an example of a processing image of the unmanned aerial vehicle control system according to the embodiment of the present invention.

  When an abnormality is detected from the drone 1500, the network cameras 1501 and 1511 capable of photographing the drone 1500 are controlled so as to photograph the drone 1500 within the photographing ranges 1502 and 1502.

  Further, even the network camera 1521 that cannot be photographed is controlled to photograph the direction 1522 of the drone 1500.

  FIG. 9 is a flowchart showing an example of the second control process in the embodiment of the present invention.

  In the second control process, when an abnormality of the unmanned aircraft is detected, control is performed so that a different alert is output according to the falling point.

  Processing is mainly performed by the CPU of the control computer 105. In step S901, the abnormality detection process for the uncentered aircraft is performed, and the process loops until an abnormality is detected.

  If an abnormality is detected in step S902, the process proceeds to step S903, and the parachute 132 is opened. Note that the process of opening the parachute 132 is not an essential process.

  In step S904, the falling point of the unmanned aircraft is acquired. Details will be described with reference to FIG.

  In step S905, the alert determination unit determines the type and level of the alert corresponding to the drop point. For the determination, the alert information of FIG. 11 is used. The alert information will be described.

  FIG. 11 is a diagram showing an example of alert information in the embodiment of the present invention.

  The alert information storage means includes information of alert type 1111, danger level information (danger information), danger zone information 1112, general zone information 1113, and safety zone information 1114. These pieces of information are managed as level 1 to level 3. The danger level is not limited to this, and it is possible to set more levels such as levels 4, 5,.

  The danger level of the falling point is determined according to the falling point of the unmanned aircraft. For example, level 1 can be set if the fall point is Minato-ku, Tokyo, level 2 if it is in Tokyo Bay, and level 3 if it is in the company's premises.

  In addition, the alert type 1111 can be set as a type of alert, such as a warning sound by sound, a warning light by light, and music.

  It is also possible to set a combination of alert types and levels. In the level 1 area, it is also possible to notify a plurality of alerts such as a high warning sound and a red warning light. As a result, it is possible to alert a person who is at a falling point with a high volume, or to make the warning light stand out and make it stand out when collecting the unmanned aircraft later. Returning to the description of FIG.

  In step S905, the type and level of the acquired alert are determined, and the alert output control means proceeds to step S906 if it is level 1, proceeds to step S907 if it is level 2, and proceeds to step S908 if it is level 3. Proceed, output an alert according to each setting, and end the process.

  FIG. 10 is a diagram illustrating an example of a falling point prediction method according to the embodiment of the present invention.

  Drone No. 801 is No. A description will be given by using <side view> as one unmanned aerial vehicle.

  Comparing the position information at 12:00 with the position information one second later, the difference in latitude is -0.08 seconds, the difference in longitude is 0, and the difference in altitude is -2.0 m.

  From this, it can be seen that the direction is falling from north to south, and the altitude has changed by -2.0 m (latitude 1 second is 30.86 m, longitude 1 second is 25.37 m). When calculated, the drop angle can be calculated as follows:

tan θ = 2.0 m / 2.47 m to 39 °
Based on this, if the drone's falling time and point are predicted, the altitude information will drop 2.0m per second, and if the altitude of the shooting area is 5.0m, the drone's time to reach the ground is calculated. Then it will be 3.67 seconds later as follows.

(12.34m-5.0m) /2.0m=3.67 seconds This allows the drone to fall at the latitude “35 ° 37'31.75 ″” longitude “139 ° 44′25.45 ″” altitude. Expected to be “5.0m”. The danger level information is determined using the position information of the falling point.

  In addition, when a parachute is utilized, not only this but a fall point can be estimated by acquiring wind direction, wind speed information, etc. from the outside.

  In addition, it is also possible to use information such as a weather forecast and a ash fall forecast that provides a range of ash fall instead of actually predicting the fall point from the drone fall situation.

  It is also possible to accumulate past fall information according to altitude, wind speed, etc., and predict the fall point from the history closest to the situation.

  FIG. 12 is a flowchart illustrating an example of a third control process according to the embodiment of the present invention.

  In the third control process, when an abnormality of the unmanned aircraft is detected, if the falling point is dangerous, control is performed so as to guide to a safe zone.

  Processing is mainly performed by the CPU of the control computer 105. In step S1201, an abnormality detection process for the uncentered aircraft is performed, and the process loops until an abnormality is detected.

  If an abnormality is detected in step S1202, the process proceeds to step S1203 and the parachute 132 is opened. Note that the process of opening the parachute 132 is not an essential process.

  In step S1204, the fall point is acquired, and in step S1205, the danger zone determination unit determines whether the fall point is a danger zone. Whether it is a danger zone is determined using the acquired fall point and the danger level information of FIG.

  In step S1205, it is determined whether or not the falling point is a dangerous zone. If it is not a dangerous zone, the process is terminated. If it is a dangerous zone, an unmanned aircraft is guided to the safety zone in step S1206. Guides and ends the process. A method of guiding to the safe zone will be described with reference to FIG.

  FIG. 13 is a diagram illustrating an example of a method for guiding an unmanned aerial vehicle according to an embodiment of the present invention.

  In the unmanned aerial vehicle control system, an area (an area that is not a safety zone or a danger zone) that may fall in advance with respect to the unmanned aircraft is set. In the example of the figure, the latitude “35 ° 37′30.75 ″” and the longitude “139 ° 44′24.45 ″” are set as the center coordinates of the area where the drop may occur.

  The difference between the predicted fall point (latitude “35 ° 37′31.75 ″” longitude “139 ° 44′25.45 ″” altitude “5.0 m”) acquired in FIG. When calculating with 1.00 second and longitude minus 1.00 seconds, latitude 1 second is 30.86 m, and longitude 1 second is 25.37 m, latitude −38.86 m and longitude −25.37 m are obtained.

  The angle to the destination point is calculated as tan θ = 25.37 m / 30.86 m, and θ = 39.42 °.

  If it is dropped at this angle, it can be dropped into a safe zone, so that the output of the operable drone propeller is varied to be directed to the drop area. By changing the output of the propeller, the drone's posture changes, and a faith angle corresponding to 39.42 ° can be obtained.

  This will be described using the drone 1300. It is assumed that the drone 1300 is equipped with four propellers, a propeller 1301 to a propeller 1304.

  When the output is increased by rotating the propeller 1302, the drone's posture is tilted and proceeds in the direction of the arrow 1305. At this time, when the outputs of the propeller 1301 and the propeller 1304 are the same, the propeller 1301 moves at an angle of 45 °.

  When it is desired to move at an angle of 39.42 ° as in the embodiment, the output level of the propeller 1301 and the propeller 1304 is adjusted.

  When the output of the propeller 1301 is 100, when the output of the propeller 1304 is set to 78, the attitude of the drone body is inclined and moves at an angle of 39.42 °. Note that this embodiment is processed when the propeller operates normally.

  Further, as a guidance method, in the case of an unmanned aerial vehicle to which the cable 131 is connected, it is possible to guide to a safe area by pulling the cable. In that case, it is desirable from the viewpoint of safety that the parachute is opened in step S1203.

  FIG. 14 is a flowchart illustrating an example of a fourth control process according to the embodiment of the present invention.

  In the fourth control process, when an abnormality of the unmanned aircraft is detected, the length of the cable is controlled so that the unmanned aircraft can fall into a safe area.

  Processing is mainly performed by the CPU of the control computer 105. In step S1401, an abnormality detection process for the uncentered aircraft is performed, and the process loops until an abnormality is detected.

  If an abnormality is detected in step S1402, the process proceeds to step S1403 and the parachute 132 is opened.

  In step S1404, a safe zone is acquired. As shown in FIG. 13, the safety zone may be obtained by setting <area where it may fall>, or as shown in FIG. 15, from the center of the base station 1530 corresponding to the unmanned aircraft. It may be within a predetermined radius.

  In step S1405, it is determined whether the cable length of the unmanned aerial vehicle is within a predetermined distance from the base station 1503. If it is determined that the cable length is within the safe zone, the process proceeds to step S1407. If it is determined that it does not fit, the process proceeds to step S1406. The cable 1532 will be described with reference to FIG.

  The base station 1503 is connected to a cable 1532 for performing power supply and communication with an unmanned aerial vehicle (drone) 1500. The cable can be taken up by the take-up device 1531, and the length of the cable from the base station 1503 to the drone 1500 can be acquired.

  When the parachute 1534 is used, it can be safely guided to the safety zone by pulling with the cable. However, if the parachute 1534 is away from the safety zone, it may not be possible to adjust the cable distance. While it is necessary to increase the speed, if the altitude is low, it may be dangerous to pull the cable at high speed, so it is desirable to decrease the speed. Returning to the description of FIG.

  In step S1406, cable adjustment processing for determining the length of the cable to be wound and cable pulling processing for adjusting the length of the cable so as to be within the safety zone using the winding device 1531 are performed.

  In step S1407, the altitude is acquired from the position information of the unmanned aircraft, and the process proceeds to step S1408. In step S1408, the process is repeated until the unmanned aircraft has landed.

  In step S1409, it is determined whether the length of the cable is within the safe area. If it is determined that the cable is not within the safe area, the process proceeds to step s1411 where the cable is pulled at a higher speed. If it is determined that the cable is connected, the process proceeds to step S1410 and the cable is pulled at a low speed.

  Note that the high speed and low speed may be relative speeds such as high speed and low speed as compared with the past, or may be absolute speeds in which each speed is determined and towed at that speed. In addition, the present invention includes control that makes a difference in speed depending on whether the length of the cable is within the safety zone or not.

  In addition to the processing in step S1409, the altitude information acquisition means can acquire the altitude of the unmanned aircraft, and the cable pulling speed can be varied depending on whether the height is higher or lower than a predetermined height. Note that either the determination of whether the cable length in step S1409 is within the safety zone and the determination of whether the height is a predetermined height may be executed, or both may be executed. Also good.

  In order to prevent the main body from being scratched, the winding of the cable may be stopped when the unmanned aircraft is about 5 meters before dropping, or the winding of the cable is stopped after landing. It is also effective.

  As described above, the present invention has been described by using the embodiments. However, the present invention can be implemented as, for example, a system, an apparatus, a method, a program, a storage medium, or the like. You may apply to the system comprised, and may apply to the apparatus which consists of one apparatus.

  Note that the present invention includes a software program that implements the functions of the above-described embodiments directly or remotely from a system or apparatus. The present invention also includes a case where the system or the computer of the apparatus is achieved by reading and executing the supplied program code.

  Therefore, in order to realize (executable) the functional processing of the present invention by a computer, the program code itself installed in the computer also realizes the present invention. That is, the present invention also includes a computer program for realizing the functional processing of the present invention.

  In that case, as long as it has the function of a program, it may be in the form of object code, a program executed by an interpreter, script data supplied to the OS, or the like.

  Examples of the recording medium for supplying the program include a flexible disk, hard disk, optical disk, magneto-optical disk, MO, CD-ROM, CD-R, and CD-RW. In addition, there are magnetic tape, nonvolatile memory card, ROM, DVD (DVD-ROM, DVD-R), and the like.

  As another program supply method, a browser on a client computer is used to connect to an Internet home page. The computer program itself of the present invention or a compressed file including an automatic installation function can be downloaded from the homepage by downloading it to a recording medium such as a hard disk.

  It can also be realized by dividing the program code constituting the program of the present invention into a plurality of files and downloading each file from a different homepage. That is, a WWW server that allows a plurality of users to download a program file for realizing the functional processing of the present invention on a computer is also included in the present invention.

  In addition, the program of the present invention is encrypted, stored in a storage medium such as a CD-ROM, distributed to users, and key information for decryption is downloaded from a homepage via the Internet to users who have cleared predetermined conditions. Let It is also possible to execute the encrypted program by using the downloaded key information and install the program on a computer.

  Further, the functions of the above-described embodiments are realized by the computer executing the read program. In addition, based on the instructions of the program, an OS or the like running on the computer performs part or all of the actual processing, and the functions of the above-described embodiments can also be realized by the processing.

  Further, the program read from the recording medium is written in a memory provided in a function expansion board inserted into the computer or a function expansion unit connected to the computer. Thereafter, the CPU of the function expansion board or function expansion unit performs part or all of the actual processing based on the instructions of the program, and the functions of the above-described embodiments are realized by the processing.

  The above-described embodiments are merely examples of implementation in carrying out the present invention, and the technical scope of the present invention should not be construed as being limited thereto. That is, the present invention can be implemented in various forms without departing from the technical idea or the main features thereof.

101 Unmanned Aircraft 102 Propo 103 Network Camera 105 Control Computer 131 Cable 132 Parachute

Claims (8)

An unmanned aircraft control system in which an unmanned aircraft, a network camera capable of photographing the unmanned aircraft, and an information processing apparatus are connected via a network,
An abnormality detecting means for detecting an abnormality of the unmanned aircraft;
Network camera specifying means for specifying a network camera capable of shooting an unmanned aerial vehicle in which an abnormality is detected by the abnormality detecting means;
Imaging means for imaging the unmanned aerial vehicle in which the abnormality is detected by the network camera specified by the network camera specifying means;
An unmanned aerial vehicle control system. It further comprises position information acquisition means for acquiring position information of the unmanned aerial vehicle in which an abnormality is detected by the abnormality detection means,
The unmanned aerial vehicle control system according to claim 1, wherein the photographing unit photographs the unmanned aerial vehicle whose position information is acquired by the position information acquiring unit. A plurality of network cameras are connected to the unmanned aircraft control system,
When the network camera that can photograph the unmanned aircraft cannot be identified by the network camera identifying means, the photographing means causes the network camera closest to the unmanned aircraft to photograph the direction in which the unmanned aircraft exists. The unmanned aircraft control system according to claim 1 or 2. An information processing apparatus connectable to an unmanned aircraft and a network camera capable of photographing the unmanned aircraft,
An abnormality detecting means for detecting an abnormality of the unmanned aircraft;
Network camera specifying means for specifying a network camera capable of shooting an unmanned aerial vehicle in which an abnormality is detected by the abnormality detecting means;
Imaging means for imaging the unmanned aerial vehicle in which the abnormality is detected by the network camera specified by the network camera specifying means;
An information processing apparatus comprising: A control method of an unmanned aircraft control system in which an unmanned aircraft, a network camera capable of photographing the unmanned aircraft, and an information processing apparatus are connected via a network,
An anomaly detecting step for detecting an anomaly of the unmanned aerial vehicle;
A network camera specifying step for specifying a network camera capable of photographing the unmanned aerial vehicle in which an abnormality is detected by the abnormality detecting step;
A photographing step of photographing the unmanned aerial vehicle in which the abnormality is detected by the network camera identified by the network camera identifying step;
A control method for an unmanned aerial vehicle control system, comprising: A method for controlling an unmanned aerial vehicle and an information processing apparatus connectable with a network camera capable of photographing the unmanned aerial vehicle,
An anomaly detecting step for detecting an anomaly of the unmanned aerial vehicle;
A network camera specifying step for specifying a network camera capable of photographing the unmanned aerial vehicle in which an abnormality is detected by the abnormality detecting step;
A photographing step of photographing the unmanned aerial vehicle in which the abnormality is detected by the network camera identified by the network camera identifying step;
An information processing apparatus comprising: A program readable by an unmanned aerial vehicle control system in which an unmanned aircraft, a network camera capable of photographing the unmanned aircraft, and an information processing apparatus are connected via a network,
The unmanned aerial vehicle control system,
An abnormality detecting means for detecting an abnormality of the unmanned aircraft;
Network camera specifying means for specifying a network camera capable of shooting an unmanned aerial vehicle in which an abnormality is detected by the abnormality detecting means;
Imaging means for imaging the unmanned aerial vehicle in which the abnormality is detected by the network camera specified by the network camera specifying means;
A program for causing an unmanned aircraft control system to function. There is a program readable by an information processing device connectable with an unmanned aerial vehicle and a network camera capable of photographing the unmanned aircraft,
The information processing apparatus;
An abnormality detecting means for detecting an abnormality of the unmanned aircraft;
Network camera specifying means for specifying a network camera capable of shooting an unmanned aerial vehicle in which an abnormality is detected by the abnormality detecting means;
Imaging means for imaging the unmanned aerial vehicle in which the abnormality is detected by the network camera specified by the network camera specifying means;
A program for causing a computer to function as an information processing apparatus.

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