JP2019197475A - Flight device guide system - Google Patents

Abstract

To provide a flight device guide system which makes it easy for a surveying part to track a flight device again even when tracking is lost.SOLUTION: A flight system 10 includes: a flight device 11 having a retroreflective member 15; a surveying part 12 tracking the flight device 11 based on light reflected on the retroreflective member 15 to acquire flight data; and a ground base 13 controlling flight of the flight device 11 based on the flight data acquired at the surveying part 12. A tracking determination part 71 determines whether or not the surveying part 12 maintains the tracking of the retroreflective member 15. Upon lost determination, a lost position definition part 72 defines the flight position as a lost position. Upon the lost determination, a search control part 73 drives the surveying part 12 to search the retroreflective member 15 focusing on the lost position. Upon the lost determination, a stop control part 74 performs control of stopping the movement made following the flight of the flight device 11 and stopping the flight device 11 at the current position.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a flying device guidance system.

  In recent years, so-called drones have become popular. The flying device flies mainly by wireless or wired remote operation by an operator on the ground. When remotely operating the flying device in this way, it is necessary to acquire the current position of the flying device synchronously. In the case of patent document 1, the information of the obstacle which exists around a flight apparatus is acquired, and the safe flight range in which the safe flight of a flight apparatus is ensured based on the acquired information is set. Then, the surveying unit provided on the ground tracks the flying device flying in the safe flight range.

  However, when the surveying unit tracks the flying device in this way, depending on the flight posture and flight path of the flying device, a so-called tracking lost that causes the surveying unit to lose sight of the flying device may occur. When the tracking lost occurs, the flying device cannot receive guidance from the facilities on the ground, and there is a problem that the flying of the flying device becomes unstable.

Japanese Patent No. 5882951

  Therefore, an object of the present invention is to provide a flying device guidance system that facilitates re-tracking of a flying device by a surveying unit even when tracking loss occurs.

  In the first aspect of the invention, the tracking determination unit determines whether tracking by the surveying unit is maintained during the flight of the flying device. The lost position definition unit defines the lost position when tracking is not maintained by the tracking determination unit, that is, when the lost determination is made by tracking lost. The lost position is the flight position of the flying device when this lost determination is made. Then, when the lost determination is made, the search control unit searches for the retroreflective member provided in the flying device around the lost position. At the same time, the stop control unit stops the independent flight of the flying device and stops the flying device on the spot. Here, the stop of the flying device means a state in which the position and altitude are not changed while continuing the flight. As described above, when the lost determination is made, the flying device stops on the spot, and the surveying unit searches the flying device around the lost position by the search control unit. Thereby, the flying device is quickly searched by the surveying unit. Therefore, even when tracking loss occurs, re-tracking of the flying device by the surveying unit can be facilitated.

  In the second aspect of the invention, the tracking determination unit determines whether tracking by the surveying unit is maintained during the flight of the flying device. The lost position definition unit defines the lost position when tracking is not maintained by the tracking determination unit, that is, when the lost determination is made by tracking lost. The lost position is the flight position of the flying device when this lost determination is made. Then, when the lost determination is made, the search control unit searches for the retroreflective member provided in the flying device around the lost position. At the same time, the stop control unit returns the flying device to the lost position in consideration of the movement and stops it. By continuing the flight, the flying device may change its position after the tracking loss occurs until the lost determination is made. Therefore, when the lost determination is made, the stop control unit returns the flying device whose position has changed to the lost position and stops it. Here, the stop of the flying device means a state in which the position and altitude are not changed while continuing the flight. In this way, when the lost determination is made, the flying device returns to the lost position and stops, and the surveying unit searches the flying device around the lost position by the search control unit. Thereby, the flying device is quickly searched by the surveying unit. Therefore, even when tracking loss occurs, re-tracking of the flying device by the surveying unit can be facilitated.

  In the invention according to claim 4, the tracking determination unit determines whether or not tracking by the surveying unit is maintained during the flight of the flying device. The communication unit transmits the flight position of the flying device acquired by the position acquisition unit to the surveying unit when tracking is not maintained in the tracking determination unit, that is, when the lost determination is made by tracking lost. The flight position is the flight position of the flying device when this lost determination is made. Then, when the lost determination is made, the search control unit searches for the retroreflective member provided in the flying device around the transmitted flight position of the flying device. As described above, when the lost determination is made, the flying device transmits the flight position to the surveying unit. At the same time, the surveying unit searches for the flying device around the flying position transmitted from the flying device by the search control unit in addition to the lost position. Thereby, the flying device is quickly searched by the surveying unit. Therefore, even when tracking loss occurs, re-tracking of the flying device by the surveying unit can be facilitated.

1 is a block diagram showing a flying device guidance system according to a first embodiment. The schematic diagram which shows the structure of the flight apparatus guidance system by 1st Embodiment. Schematic which shows the flow of a process of the flying device guidance system by 1st Embodiment. Schematic which shows the flow of a process of the flying device guidance system by 2nd Embodiment. Schematic which shows the flow of a process of the flying device guidance system by 3rd Embodiment. Schematic which shows the flow of a process of the flying device guidance system by the modification of 3rd Embodiment. Schematic showing the flow of return processing in the flying device guidance system according to the embodiment

Hereinafter, a plurality of embodiments of a flying device guidance system will be described with reference to the drawings. Note that, in a plurality of embodiments, substantially the same components are denoted by the same reference numerals, and description thereof is omitted.
(First embodiment)
As shown in FIGS. 1 and 2, the flying device guidance system 10 according to the first embodiment includes a flying device 11, a surveying unit 12, and a ground base 13. As shown in FIG. 2, the flying device 11 includes a main body 14, a retroreflective member 15, and a thruster 16. The flying device 11 reflects the light emitted from the surveying unit 12 with the retroreflective member 15. The surveying unit 12 tracks the flying device 11 using the light reflected by the retroreflective member 15 and acquires flight data of the flying device 11.

  The flying device 11 includes a plurality of thrusters 16 provided on the main body 14. The thruster 16 is provided in the main body 14 formed in a radial or annular shape. Each of the thrusters 16 includes a motor 21, a shaft member 22, a propeller 23, and a pitch changing mechanism 24. The motor 21 is a drive source that drives the propeller 23. The motor 21 is driven by electric power supplied from a power source such as a battery 25 housed in the main body 14. The rotation of the motor 21 is transmitted to the propeller 23 through a shaft member 22 integrated with a rotor (not shown). The propeller 23 is rotationally driven by the motor 21. The pitch changing mechanism unit 24 changes the pitch of the propeller 23 by the driving force generated by the servo motor 26. The servo motor 26 is driven by electric power supplied from the battery 25. The thruster 16 generates a propulsive force by driving the propeller 23 with the motor 21. At this time, the magnitude of the thrust generated from the thruster 16 and the direction of the thrust are controlled by changing the rotation speed of the motor 21 and the pitch of the propeller 23.

  The retroreflective member 15 is provided on the main body 14 of the flying device 11. The retroreflective member 15 is provided at a position that is easily visible from the surveying unit 12, such as below the main body 14 in the direction of gravity. The retroreflective member 15 reflects the light emitted from the surveying unit 12 toward the surveying unit 12. That is, the retroreflective member 15 reflects the light emitted from the surveying unit 12 toward the surveying unit 12 that is a light source.

  The flying device 11 includes a control unit 30 and a communication unit 31. The control unit 30 includes a control calculation unit 32 and a storage unit 33 as shown in FIG. The control calculation unit 32 is configured by a microcomputer having a CPU, a ROM, and a RAM. The control arithmetic unit 32 controls the entire flying device 11 by executing a computer program stored in the ROM by the CPU. The control calculation unit 32 implements the state acquisition unit 34 and the flight control unit 35 by software by executing a computer program. The state acquisition unit 34 and the flight control unit 35 are not limited to software, and may be realized by hardware or by cooperation between software and hardware. The storage unit 33 has, for example, a nonvolatile memory. The storage unit 33 stores a preset flight plan as data. The flight plan includes, for example, a flight route on which the flying device 11 flies and a flight altitude. The communication unit 31 communicates with the ground base 13 by radio or wire.

  The state acquisition unit 34 acquires the flight state of the flying device 11 from the tilt of the main body 14 and the acceleration applied to the main body 14. Specifically, the state acquisition unit 34 is connected to the GPS sensor 41, the acceleration sensor 42, the angular velocity sensor 43, the geomagnetic sensor 44, the altitude sensor 45, and the like. The GPS sensor 41 receives a GPS signal output from a GPS satellite. The acceleration sensor 42 detects acceleration applied to the main body 14 in the three-dimensional three axial directions. The angular velocity sensor 43 detects the angular velocity applied to the main body 14 in the three-dimensional three axial directions. The geomagnetic sensor 44 detects the geomagnetism in the three-dimensional three axial directions. The altitude sensor 45 detects the altitude in the vertical direction. Among the various sensors, the GPS sensor 41 is an external sensor that acquires the position of the flying device 11 based on information from the outside of the flying device 11. On the other hand, the acceleration sensor 42, the angular velocity sensor 43, the geomagnetic sensor 44, and the altitude sensor 45 are internal sensors that acquire the position of the flying device 11 without depending on information from the outside of the flying device 11.

  The state acquisition unit 34 uses the GPS signal received by the GPS sensor 41, the acceleration detected by the acceleration sensor 42, the angular velocity detected by the angular velocity sensor 43, the geomagnetism detected by the geomagnetic sensor 44, etc. Detect flight speed. In addition, the state acquisition unit 34 independently detects the flight position of the main body 14 from the GPS signal detected by the GPS sensor 41 and the detection values obtained by various sensors without depending on the outside. Further, the state acquisition unit 34 detects the flight altitude of the main body 14 from the GPS signal received by the GPS sensor 41 and the altitude detected by the altitude sensor 45. Thus, the state acquisition unit 34 detects information necessary for the flight of the flying device 11 such as the flight posture, the flight position, and the flight altitude of the main body 14 as the flight state. The state acquisition unit 34 functions as a position acquisition unit that acquires the position of the flying device 11. In addition to these, the state acquisition unit 34 may be connected to a camera (not shown) that acquires a visible image, a LIDAR (Light Detection And Ranging) (not shown) that measures the distance to a surrounding object, or the like.

  The flight control unit 35 controls the flight of the flying device 11 in an automatic control mode or a manual control mode. The flight control unit 35 corresponds to a position control unit. The automatic control mode is a mode for automatically flying the flying device 11 regardless of the operation of the operator. In the automatic control mode, the flight control unit 35 automatically controls the flight of the flying device 11 in accordance with the flight plan stored in the storage unit 33 or transmitted from the ground base 13. That is, the flight control unit 35 controls the thrust force of the thruster 16 based on the flight state of the main body 14 detected by the state acquisition unit 34 in this automatic control mode. Thereby, the flight control unit 35 automatically causes the flight device 11 to fly along the flight plan stored in the storage unit 33 or the flight plan transmitted from the ground base 13, regardless of the operation of the operator.

  The manual control mode is a flight mode in which the flying device 11 is caused to fly according to the operation of the operator. In the manual control mode, the operator controls the flight state of the flying device 11 through the ground base 13 provided remotely from the flying device 11. The flight control unit 35 controls the thrust of the thruster 16 based on the operation input by the operator through the ground base 13 and the flight state acquired by the state acquisition unit 34. Thereby, the flight control unit 35 controls the flight of the flying device 11 in accordance with the intention of the operator.

  The surveying unit 12 includes an irradiation unit 51, a light receiving unit 52, and a data processing unit 53. The irradiation unit 51 irradiates light such as laser light. The irradiation unit 51 irradiates the laser beam continuously or periodically at a predetermined interval. The light receiving unit 52 receives light reflected by the retroreflective member 15 provided in the flying device 11. That is, the light receiving unit 52 receives the light emitted from the irradiation unit 51 and reflected by the retroreflective member 15 of the flying device 11.

  The ground base 13 is communicably connected to the surveying unit 12 by wire or wireless. The ground base 13 includes a control calculation unit 61, a survey control unit 62, a storage unit 64, and a ground communication unit 65. The control calculation unit 61 is composed of a microcomputer having a CPU, a ROM, and a RAM. The control calculation unit 61 controls the surveying unit 12 and the ground base 13 by executing a computer program stored in the ROM by the CPU. The control calculation unit 61 implements the data processing unit 53 and the surveying control unit 62 provided in the surveying unit 12 by software by executing a computer program. The data processing unit 53 and the surveying control unit 62 are not limited to software, and may be realized by hardware or by cooperation between software and hardware. Further, the surveying unit 12 and the ground base 13 are not only configured separately as shown in FIG.

  The survey control unit 62 executes control of the survey unit 12. Specifically, the surveying control unit 62 drives the surveying unit 12 in an arbitrary direction using, for example, a motor or an actuator (not shown), and tracks the surveying unit 12 toward the flying device 11 that flies. At the same time, the surveying control unit 62 controls the irradiation unit 51 to execute light irradiation, and controls the light receiving unit 52 to receive light. In this way, the surveying control unit 62 controls the irradiation of the light to the flying device 11 and the reception of the reflected light while tracking the surveying unit 12 toward the flying device 11. The data processing unit 53 acquires flight data of the flying device 11 from the light received by the light receiving unit 52. This flight data includes at least the distance from the surveying unit 12 to the flying device 11 and the angle of the flying device 11 with respect to the surveying unit 12. That is, the data processing unit 53 acquires the distance to the flying device 11 and the angle of the flying device 11 from the light received by the light receiving unit 52 as flight data. Here, the angle of the flying device 11 is an angle in the horizontal direction and an angle in the vertical direction around the reference point with the surveying unit 12 as a reference point. That is, when the surveying unit 12 is used as a reference point, a horizontal angle of 0 to 360 ° is set in the horizontal direction, and a vertical angle of 0 to 90 ° is set in the vertical direction. In this case, “0 °” as a reference for the horizontal angle is arbitrarily set, for example, “north” in map coordinates. Further, “0 °” as a reference for the vertical angle is set to a plane parallel to the ground, for example. The data processing unit 53 acquires the horizontal angle and the vertical angle of the flying device 11 from the light received by the light receiving unit 52. Further, the data processing unit 53 creates transmission data by including the position coordinates of the flying device 11 in the above-described flight data. Here, as the position where the surveying unit 12 is installed, an absolute position on the earth is specified based on, for example, a GPS signal. The data processing unit 53 specifies the position coordinates of the flying device 11 based on the absolute position of the surveying unit 12 and the flight data acquired by the surveying unit 12. Then, the data processing unit 53 creates transmission data using these flight data and position coordinates.

  As described above, the data processing unit 53 creates the acquired flight data and position coordinates as transmission data. That is, the data processing unit 53 adds the position coordinates to the acquired flight data and creates transmission data. The ground communication unit 65 transmits the transmission data created by the data processing unit 53 to the flying device 11. At this time, the ground communication unit 65 transmits the flight plan stored in the storage unit 64 to the flying device 11 in addition to the transmission data. That is, the transmission data created by the data processing unit 53 is transmitted from the ground communication unit 65 to the communication unit 31 of the flying device 11. The flight control unit 35 of the flying device 11 that has received the transmission data in the communication unit 31 controls the thruster 16 with reference to the transmission data transmitted from the ground base 13. Thereby, the flying device 11 is autonomously controlled by the flight control unit 35 while referring to the flight data acquired at the ground base 13 and the flight data including the position coordinates and the flight plan transmitted from the ground base 13. To fly. The storage unit 64 includes, for example, a nonvolatile memory. The storage unit 64 stores a flight plan in which the flight path of the flying device 11 is set. This flight plan may be the same as or different from the flight plan stored in the storage unit 33 of the flying device 11. In addition, by transmitting the flight plan from the ground base 13 to the flying device 11, the flying device 11 can execute a flexible flight along the flight plan that is changed at the ground base 13 every moment.

  The flying device guidance system 10 includes a tracking determination unit 71, a lost position definition unit 72, a search control unit 73, and a stop control unit 74. Specifically, the flying device 11 or the ground base 13 executes a computer program in the control calculation unit 32 or the control calculation unit 61, thereby allowing the tracking determination unit 71, the lost position definition unit 72, the search control unit 73, and the stop control. The unit 74 is realized by software. Note that the tracking determination unit 71, the lost position definition unit 72, the search control unit 73, and the stop control unit 74 are not limited to software, and may be realized by hardware or by cooperation of software and hardware. . In the case of the first embodiment, the tracking determination unit 71, the lost position definition unit 72, and the search control unit 73 are provided in the ground base 13, and the stop control unit 74 is provided in the flying device 11. The tracking determination unit 71, the lost position definition unit 72, the search control unit 73, and the stop control unit 74 may be provided in any combination or both of the flying device 11 and the ground base 13, or as a separate device. Good.

  The tracking determination unit 71 determines whether or not the surveying unit 12 maintains the tracking of the flying device 11. Specifically, the tracking determination unit 71 receives light from the irradiation unit 51 of the surveying unit 12 and reflected by the retroreflective member 15 of the flying device 11 by the light receiving unit 52 when the flying device 11 is flying. It is determined whether or not it is possible. The surveying unit 12 is driven through the surveying control unit 62 to track the flying device 11 using the light irradiated from the irradiation unit 51 and reflected by the retroreflective member 15. That is, the light emitted from the irradiation unit 51 of the surveying unit 12 reciprocates between the retroreflective member 15 of the flying device 11. At this time, if the flight posture of the flying device 11 and obstacles around the flying device 11 prevent the light from traveling back and forth between the surveying unit 12 and the flying device 11, the light receiving unit 52 emits light from the irradiation unit 51. The received light cannot be received. Thus, the surveying unit 12 cannot recognize the flying device 11 and cannot track the flying device 11 when the reciprocation of light between the surveying unit 12 and the flying device 11 is hindered. That is, the surveying unit 12 is in a tracking lost state in which the flying device 11 is lost. When the surveying unit 12 cannot recognize the flying device 11, the tracking determination unit 71 performs “lost determination” on the assumption that tracking lost has occurred.

  When the tracking determination unit 71 performs “lost determination”, the lost position definition unit 72 defines the position of the flying device 11 when the “lost determination” is performed as the lost position P0. That is, the lost position definition unit 72 defines the flight position of the flying device 11 when the lost determination is made using the flight data acquired by the surveying unit 12 as the lost position P0. The lost position definition unit 72 stores the defined lost position P0 in the storage unit 64.

  When “lost determination” is made in the lost position definition unit 72, the flight control unit 35 determines whether or not the position of the flying device 11 can be estimated. That is, the flight control unit 35 determines whether the flight position of the flying device 11 can be estimated by the GPS sensor 41. When the flying device 11 has the GPS sensor 41, the flight position of the flying device 11 can be estimated by receiving a GPS signal with the GPS sensor 41. Therefore, the flight control unit 35 determines that the flight position of the flying device 11 can be estimated if the GPS sensor 41 can receive a GPS signal. On the other hand, even if the flying device 11 has the GPS sensor 41, when the GPS signal cannot be received by the GPS sensor 41, it is difficult to estimate the flight position of the flying device 11. For example, when the flying device 11 flies inside a structure such as a bridge or a tunnel, it is difficult for the GPS sensor 41 to receive a GPS signal. The flight control unit 35 determines that the flight position of the flying device 11 cannot be estimated if it is difficult for the GPS sensor 41 to receive a GPS signal. Unlike the present embodiment, the flying device 11 may not have the GPS sensor 41. Thus, when the flying device 11 does not have the GPS sensor 41, the flight control unit 35 determines that the flight position of the flying device 11 cannot be estimated.

  The search control unit 73 drives the surveying unit 12 through the surveying control unit 62. The search control unit 73 drives the surveying unit 12 around the lost position P0. Thereby, the surveying unit 12 searches for the retroreflective member 15 provided in the flying device 11 around the lost position P0.

  When the lost determination is made, the flight control unit 35 stops the flight along the flight plan set in the flight device 11. That is, when the flight apparatus 11 is controlled in accordance with the flight plan in the automatic control mode and the lost determination is made, the flight apparatus 11 stops the flight along the flight plan. And the stop control part 74 performs stop control which stops the flight apparatus 11 on the spot. In other words, after the lost determination is made, the stop control unit 74 immediately stops the flight of the flying device 11 and restricts the change of the flight position and the flight altitude of the flying device 11 such as hovering on the spot. . The stop control unit 74 performs stop control based on the GPS signal received by the GPS sensor 41 when it is determined by the flight control unit 35 that the flight position of the flying device 11 can be estimated.

  On the other hand, when the flight control unit 35 determines that the flight position of the flying device 11 is difficult to estimate, the stop control unit 74 uses the acceleration sensor 42, the angular velocity sensor 43, and the geomagnetic sensor 44 provided in the flying device 11. Stop control is performed based on the detected value. That is, when it is difficult for the GPS sensor 41 to receive a GPS signal, it is difficult to specify the flight position of the flying device 11 using the GPS signal. Therefore, the stop control unit 74 performs stop control using the acceleration sensor 42, the angular velocity sensor 43, and the geomagnetic sensor 44, which are inner sensors, instead of the GPS sensor 41, which is an outer sensor. At this time, the stop control unit 74 performs stop control on the altitude of the flying device 11 using the altitude detected by the altitude sensor 45 both when the GPS sensor 41 can receive the GPS signal and when it is difficult to receive the GPS signal. To do. Further, even when the GPS sensor 41 can receive a GPS signal, the stop control unit 74 also includes an acceleration sensor 42, an angular velocity sensor 43, and a geomagnetic sensor 44, which are internal sensors, in addition to the estimation of the position based on the GPS signal. It may be used to perform stop control.

  When the determination that the surveying unit 12 cannot track the flying device 11 is made, the flying device 11 is likely to exist in the vicinity of the lost position P0. If the flying device 11 continues to fly despite the lost determination, the difficulty of tracking the surveying unit 12 increases with time. Therefore, the stop control unit 74 stops the flight of the flying device 11 when the lost determination is made, and restricts the change of the flight position and the flight altitude of the flying device 11. Then, the search control unit 73 uses the surveying unit 12 to search for the retroreflective member 15 provided in the flying device 11 around the lost position P0. As a result, the surveying unit 12 searches for the flying device 11 that is stopped in the vicinity of the lost position P0, so that the discovery of the flying device 11 and the resumption of tracking of the flying device 11 are facilitated.

  The stop control unit 74 may be provided in either the flying device 11 or the ground base 13. That is, the stop control unit 74 is provided in the flying device 11, and autonomously stops the flying device 11 in the vicinity of the lost position P <b> 0 without performing communication with the ground base 13. Further, the stop control unit 74 is provided in the ground base 13 to stop the flying device 11 in the vicinity of the lost position P0 through communication through the communication unit 31 and the ground communication unit 65.

Hereinafter, the flow of processing in the flying device guidance system 10 configured as described above will be described with reference to FIG.
When the flying device 11 starts flying, the tracking determination unit 71 determines whether or not lost determination has been performed (S101). That is, the tracking determination unit 71 determines whether or not the surveying unit 12 maintains the tracking of the flying device 11, and performs a lost determination if a tracking loss has occurred. When the tracking determination unit 71 performs the lost determination (S101: Yes), the flight control unit 35 stops the flight according to the flight plan (S102). That is, when the lost determination is made, the flight control unit 35 stops the flight according to the flight plan in the automatic control mode. When the tracking determination unit 71 performs the lost determination, the ground communication unit 65 transmits a message to that effect to the flying device 11. The flight control unit 35 stops the flight according to the flight plan when the communication unit 31 receives a notification that the lost determination has been made from the ground communication unit 65.

  When the flight according to the flight plan is stopped in S102, the lost position definition unit 72 defines the lost position P0 (S103). That is, the lost position definition unit 72 defines the flight position of the flying device 11 when the lost determination is made as the lost position P0. Then, the stop control unit 74 performs stop control for stopping the flying device 11 at the lost position P0 (S104). That is, when the lost determination is performed, the ground communication unit 65 transmits the lost position P0 defined by the lost position definition unit 72 to the flying device 11. The stop control unit 74 acquires the lost position P0 from the ground communication unit 65 through the communication unit 31. And the stop control part 74 will transfer to the hovering in the state which maintained the flying apparatus 11 in the lost position P0, if a lost determination is received. If the lost determination is not performed in S101 (S101: No), tracking determination unit 71 repeats the process of S101 until the lost determination is performed.

  When the flight control unit 35 shifts to the stop control in S104, the flight control unit 35 determines whether or not the flight position of the flying device 11 can be estimated (S105). That is, the flight control unit 35 determines whether or not the flight position of the flying device 11 can be estimated based on the GPS signal received by the GPS sensor 41. When it is determined in S105 that the flight position can be estimated (S105: Yes), the stop control unit 74 performs control to stop the flying device 11 at the lost position P0 based on the GPS signal received by the GPS sensor 41. (S106). In this case, the stop control unit 74 may control the stop of the flying device 11 using the detected values of the acceleration sensor 42, the angular velocity sensor 43, and the geomagnetic sensor 44, which are internal sensors, in addition to the GPS signal. On the other hand, when it is determined in S105 that the flight position is difficult to estimate (S105: No), the stop control unit 74 is based on the detection values of the acceleration sensor 42, the angular velocity sensor 43, and the geomagnetic sensor 44 that are internal sensors. Control is performed to stop the flying device 11 at the lost position P0 (S107).

  When the stop control is performed in S106 or S107, the search control unit 73 drives the surveying unit 12 to search for the retroreflective member 15 (S108). That is, the search control unit 73 searches for the retroreflective member 15 provided in the flying device 11 stopped by the stop control. As a result, the search control unit 73 searches for the flying device 11 that is stopped centering on the lost position P0.

  In the first embodiment described above, the tracking determination unit 71 determines whether tracking by the surveying unit 12 is maintained during the flight of the flying device 11. The lost position definition unit 72 defines the lost position P0 when the tracking determination unit 71 makes a lost determination. Then, when the lost determination is made, the search control unit 73 searches for the retroreflective member 15 provided in the flying device 11 around the lost position P0. At the same time, the stop control unit 74 stops the flight according to the flight plan of the flying device 11 and stops the flying device 11 on the spot. Thereby, the flying device 11 is quickly searched by the surveying unit 12. Therefore, even when tracking loss occurs, re-tracking of the flying device 11 by the surveying unit 12 can be facilitated.

(Second Embodiment)
A flying device guidance system according to a second embodiment will be described.
The flying device guidance system 10 according to the second embodiment differs from the first embodiment in the processing flow in the lost position definition unit 72. When the tracking determination unit 71 performs “lost determination”, the lost position definition unit 72 according to the second embodiment acquires the time when the “lost determination” is performed as time T1. In addition, the lost position definition unit 72 acquires a period Td from time T1 to time T2 when the flight control unit 35 stops control according to the flight plan. That is, the period Td is Td = T2-T1. The lost position definition unit 72 detects time T1 and time T2 based on, for example, a timer (not shown) provided in the control calculation unit 61, and calculates a period Td. Further, the lost position definition unit 72 acquires the flight speed V of the flying device 11 in the period Td from time T1 to time T2.

  The lost position definition unit 72 acquires the flight speed V of the flying device 11 from the flight data acquired by the surveying unit 12 or the detection values of the acceleration sensor 42 and the angular velocity sensor 43 of the flying device 11. In this case, the lost position definition unit 72 may acquire the flight speed V from both the surveying unit 12 and the state acquisition unit 34, or may acquire the flight speed V from either one. The lost position definition unit 72 calculates the flight position of the flying device 11 at the time T1 when the lost determination is performed based on the period Td and the flight speed V. And the flight position of the flying device 11 at this time T1 is defined as the lost position P0.

  The flying device 11 always flies with a change in speed, and the flight position changes from moment to moment due to the influence of disturbance such as airflow. Therefore, it is conceivable that the flight position of the flying device 11 is moving from when the lost determination is performed until the flight according to the flight plan is stopped. As a result, even if the flight of the flying device 11 is stopped by the stop control, the position may be moved from the lost position P0. Therefore, the lost position definition unit 72 calculates the flight position of the flying device 11 at time T1, and defines this as the lost position P0. The stop control unit 74 performs stop control of the flying device 11 based on the lost position P0 defined by the lost position defining unit 72.

Hereinafter, based on FIG. 4, the flow of processing in the flying device guidance system 10 according to the second embodiment will be described. Note that description of processing that is common to the first embodiment is omitted.
When the flying device 11 starts flying, the tracking determination unit 71 determines whether or not the lost determination has been performed (S201). When the tracking determination unit 71 performs the lost determination (S201: No), the flight control unit 35 stops the flight according to the flight plan (S202).

  Then, the lost position definition unit 72 acquires time T1 when the lost determination is performed in S201 (S203). In addition, the lost position definition unit 72 acquires time T2 when the flight according to the flight plan is stopped in S202 (S204). Further, the lost position definition unit 72 acquires the flight speed V of the flying device 11 in the period Td from the time T1 acquired in S203 to the time T2 acquired in S204 (S205). The lost position definition unit 72 acquires the flight speed V based on the flight data acquired by the surveying unit 12 or the acceleration and angular velocity of the flying device 11 acquired by the state acquisition unit 34. The lost position definition unit 72 defines the flight position at the time T1 as the lost position P0 based on the time T1, the time T2, and the flight speed V (S206). The stop control unit 74 performs stop control for stopping the flying device 11 based on the lost position P0 defined in S206 (S207).

  When the flight control unit 35 shifts to the stop control in S207, the flight control unit 35 determines whether or not the flight position of the flying device 11 can be estimated (S208). When it is determined that the flight position can be estimated (S208: Yes), the stop control unit 74 performs control to stop the flying device 11 at the lost position P0 based on the GPS signal received by the GPS sensor 41 (S209). ). On the other hand, when it is determined that the flight position is difficult to estimate (S208: No), the stop control unit 74 performs control to stop the flying device 11 at the lost position P0 based on the detection value of the internal sensor (S210). ). When the stop control is performed in S209 or S210, the search control unit 73 drives the surveying unit 12 to search for the retroreflective member 15 (S211). As a result, the search control unit 73 searches for the flying device 11 that is stopped centering on the lost position P0.

  In the second embodiment, the lost position definition unit 72 defines the lost position P0 in consideration of the movement of the flying device 11 over time. And the stop control part 74 returns the flying device 11 to the lost position P0 which considered the movement, and stops it. By continuing the flight, the flying device 11 may change its position between the time when the lost determination is made and the time when the flight according to the flight plan is stopped until the time when the lost determination is made. is there. Accordingly, when the lost determination is made, the stop control unit 74 calculates a change in the position of the flying device 11, stops the flying device 11 whose position has changed to the lost position P0. As described above, when the lost determination is made, the flying device 11 returns to the lost position P0 and stops, and the surveying unit 12 searches the flying device 11 around the lost position P0 by the search control unit 73. Thereby, the flying device 11 is quickly searched by the surveying unit 12. Therefore, even when tracking loss occurs, re-tracking of the flying device 11 by the surveying unit 12 can be facilitated.

(Third embodiment)
A flying device guidance system according to a third embodiment will be described.
The flying device guidance system 10 according to the third embodiment is common in configuration to the first embodiment shown in FIGS. 1 and 2. In the case of the flying device guidance system 10 according to the third embodiment, the communication unit 31 uses the ground base 13 to indicate the flight position of the flying device 11 acquired by the state acquisition unit 34 when the tracking determination unit 71 performs the lost determination. This is transmitted to the surveying unit 12. That is, when the tracking determination unit 71 performs the lost determination, the state acquisition unit 34 acquires the flight position at that time. Then, the communication unit 31 transmits the flight position acquired by the state acquisition unit 34 to the ground base 13. The search control unit 73 that drives the surveying unit 12 searches the retroreflective member 15 of the flying device 11 with reference to the flight position acquired from the flying device 11 through the ground base 13. As a result, the search control unit 73 searches for the retroreflective member 15 with reference to the flight position of the flying device 11 when the lost determination is performed in addition to the lost position P0. As a result, even when tracking lost occurs, the re-tracking of the flying device 11 by the surveying unit 12 becomes easier.

Hereinafter, a flow of processing in the flying device guidance system 10 according to the third embodiment will be described with reference to FIG. Note that description of processing that is common to the second embodiment is omitted.
When the flying device 11 starts flying, the tracking determination unit 71 determines whether or not lost determination has been performed (S301). When the tracking determination unit 71 performs the lost determination (S301: No), the flight control unit 35 stops the flight according to the flight plan (S302). Then, the lost position definition unit 72 acquires the time T1 when the lost determination is performed in S301 (S303). In addition, the lost position definition unit 72 acquires time T2 when the flight according to the flight plan is stopped in S302 (S304). Further, the lost position definition unit 72 acquires the flight speed V of the flying device 11 in the period Td from the time T1 acquired in S303 to the time T2 acquired in S304 (S305). The lost position defining unit 72 defines the flight position at the time T1 as the lost position P0 based on the time T1, the time T2, and the flight speed V (S306). The stop control unit 74 performs stop control for stopping the flying device 11 based on the lost position P0 defined in S306 (S307).

  When the flight control unit 35 shifts to the stop control in S307, the flight control unit 35 determines whether or not the flight position of the flying device 11 can be estimated (S308). When it is determined that the flight position can be estimated (S308: Yes), the stop control unit 74 performs control to stop the flying device 11 at the lost position P0 based on the GPS signal received by the GPS sensor 41 (S309). ). Then, the communication unit 31 transmits the flight position of the flying device 11 based on the GPS signal received by the GPS sensor 41 to the ground base 13 (S310). That is, the state acquisition unit 34 acquires the flight position of the flying device 11 based on the GPS signal received by the GPS sensor 41. The communication unit 31 transmits the flight position of the flying device 11 acquired by the state acquisition unit 34 to the ground base 13.

  On the other hand, when it is determined that the flight position is difficult to estimate (S308: No), the stop control unit 74 performs control to stop the flying device 11 at the lost position P0 based on the detection value of the internal sensor (S311). ). When the stop control is performed in S309 or S310, the search control unit 73 drives the surveying unit 12 to search for the retroreflective member 15 (S311). At this time, the search control unit 73 searches the retroreflective member 15 with reference to the flight position of the flying device 11 transmitted from the communication unit 31 in S310. As a result, the search control unit 73 searches the flying device 11 that has stopped using the latest flight position centered on the lost position P0.

  In the third embodiment, the communication unit 31 determines the flight position of the flying device 11 acquired by the state acquisition unit 34 when tracking is not maintained by the tracking determination unit 71, that is, when the lost determination is made by tracking lost. The information is transmitted to the surveying unit 12 through the ground base 13. Then, when the lost determination is made, the search control unit 73 searches the retroreflective member 15 provided in the flying device 11 around the transmitted flight position of the flying device 11 in addition to the lost position P0. In this way, when the lost determination is made, the flying device 11 transmits the flight position to the surveying unit 12, and the surveying unit 12 centers on the flight position transmitted from the flying device 11 by the search control unit 73. Search for. Thereby, the flying device 11 is quickly searched by the surveying unit 12. Therefore, even when tracking lost occurs, re-tracking of the flying device 11 by the surveying unit 12 can be made easier.

(Modification of the third embodiment)
In 3rd Embodiment, the communication part 31 demonstrated the example which transmits the flight position of the flying apparatus 11 based on the GPS signal acquired by the GPS sensor 41 among the flight positions acquired by the state acquisition part 34. FIG. Here, the communication unit 31 transmits not only the flight position of the flying device 11 based on the GPS signal but also the flight position based on the detected values of the acceleration sensor 42, the angular velocity sensor 43, and the geomagnetic sensor 44, which are internal sensors, to the ground base 13. You may send it.

Hereinafter, the flow of processing in the flying device guidance system 10 according to a modification of the third embodiment will be described with reference to FIG. Note that a description of processes common to the third embodiment will be omitted.
The processing from S401 to S411 is common to the processing from S301 to SS311 in the third embodiment shown in FIG. In the case of the fourth embodiment, when it is determined that the flight position is difficult to estimate (S408: No), the stop control unit 74 stops the flying device 11 at the lost position P0 based on the detected value of the internal sensor. Control is performed (S411). And the communication part 31 transmits the flight position of the flying apparatus 11 based on the detected value detected by the internal sensor to the ground base 13 (S412). That is, the state acquisition unit 34 acquires the flight position of the flying device 11 based on detection values detected by internal sensors such as the acceleration sensor 42, the angular velocity sensor 43, and the geomagnetic sensor 44. The communication unit 31 transmits the flight position of the flying device 11 acquired by the internal sensor of the state acquisition unit 34 to the ground base 13.

  When the stop control is being performed in S409 or S411, the search control unit 73 drives the surveying unit 12 to search for the retroreflective member 15 (S413). At this time, the search control unit 73 searches the retroreflective member 15 with reference to the flight position of the flying device 11 transmitted from the communication unit 31 in S410 or S412. As a result, the search control unit 73 searches the flying device 11 that has stopped using the latest flight position centered on the lost position P0. Therefore, even when tracking lost occurs, re-tracking of the flying device 11 by the surveying unit 12 can be made easier.

(Return processing from tracking lost)
A return process until tracking of the flying device 11 by the surveying unit 12 returns after tracking loss has occurred in the first to third embodiments will be described. This return processing is executed after searching for the retroreflective member 15 (S108, S211, S312 and S413) according to the first to third embodiments. The return process is executed by a return control unit (not shown) provided in the flying device 11 or the ground base 13. The return control unit is realized in software by executing a computer program by the control calculation unit 32 of the flying device 11 or the control calculation unit 61 of the ground base 13. Note that the return control unit may be realized by hardware or by cooperation of software and hardware.

Hereinafter, the flow of the return process will be described with reference to FIG.
The return control unit determines whether tracking of the flying device 11 has been resumed (S501). That is, the return control unit determines whether or not the tracking lost of the flying device 11 by the surveying unit 12 is canceled through the tracking determination unit 71 and the tracking of the flying device 11 by the surveying unit 12 is resumed. When the tracking of the flying device 11 is resumed (S501: Yes), the return control unit determines whether the GPS signal can be used (S502). That is, the return control unit receives the GPS signal by the GPS sensor 41 and determines whether or not the flight position of the flying device 11 can be estimated based on the received GPS signal.

  When the return control unit determines that the GPS signal can be used (S502: Yes), it acquires the flight position of the flying device 11 based on the GPS signal (S503), and the surveying unit 12 obtains the flight data of the flying device 11 from the surveying unit 12. Obtain (S504). Then, the return control unit calculates the difference between the flight position and flight data based on these GPS signals (S505). That is, the return control unit acquires a GPS signal from the state acquisition unit 34 of the flying device 11 and acquires the flight position of the flying device 11 based on the GPS signal. At the same time, the return control unit acquires flight data by the surveying unit 12 that tracks the flying device 11. The return control unit calculates the difference between the flight position based on these GPS signals and the flight data acquired by the surveying unit 12.

  The return control unit determines whether or not the difference calculated in S505 is within a preset setting range (S506). When the return control unit determines in S506 that the difference is within the set range (S506: Yes), the return control unit changes the control mode of the flying device 11 to the automatic control mode (S507). That is, when the difference is within the set range, the return control unit determines that the tracking of the flying device 11 by the surveying unit 12 has returned to the extent that it can be remotely operated, and changes the flight to the automatic control mode. Thereby, the flight control unit 35 of the flying device 11 shifts to control of the flying device 11 in the automatic operation mode. As a result, the flying device 11 flies autonomously with reference to transmission data from the ground base 13. Here, the setting range can be arbitrarily set according to the performance of the flying device guidance system 10 including the flying device 11.

  On the other hand, when the return control unit determines that the GPS signal cannot be used in S502 (S502: No), or the difference is outside the set range in S506 (S506: No), the speed allowed in the flight of the flying device 11 and The acceleration is limited (S508). That is, the return control unit reduces the maximum values of the speed and acceleration of the flying device 11 when the GPS signal cannot be used or the difference is out of the setting range. In this case, the return control unit may reduce only one of the maximum values of the speed and acceleration of the flying device 11, or may decrease both. The return control unit changes the control mode of the flying device 11 to the automatic control mode in a state where the maximum values of the speed and acceleration allowed for the flying device 11 are lowered in this way (S509). Thereby, the flight control unit 35 of the flying device 11 shifts to the control of the flying device 11 in the automatic control mode in a state where the maximum values of the speed and the acceleration are lowered. As a result, the flying device 11 flies independently with limited speed and acceleration.

  When the surveying unit 12 is tracking the flying device 11, the flight position based on the GPS signal and the flight data acquired by the surveying unit 12 match or become smaller. That is, when the surveying unit 12 is tracking the flying device 11, the flying device 11 is captured by the surveying unit 12. Therefore, it is considered that there is no significant difference between the flight position based on the GPS signal and the flight data acquired by the surveying unit 12. On the other hand, when the GPS signal cannot be used, even if the surveying unit 12 tracks the flying device 11, whether or not the flight data grasped by the surveying unit 12 matches the actual flight position of the flying device 11. Cannot be determined. That is, it cannot be determined whether or not the surveying unit 12 is tracking the flying device 11 reliably. Similarly, even when the difference between the flight position and the flight data is outside the set range, it cannot be determined whether or not the surveying unit 12 is tracking the flying device 11 reliably. As a result, when the flying device 11 has a large maneuver, that is, a flight at high speed or a change in flight position at high acceleration, the surveying unit 12 may easily lose sight of the flying device 11, that is, may cause tracking loss. Therefore, when the GPS signal cannot be used, or when the difference between the flight position and the flight data is outside the set range, the return control unit decreases the maximum speed and acceleration allowed by the flying device 11. Thereby, the flying device 11 does not cause a large maneuver in a short time. Therefore, the surveying unit 12 can reduce tracking loss even when the automatic control mode is entered.

The present invention described above is not limited to the above-described embodiment, and can be applied to various embodiments without departing from the gist thereof.
For example, in the case of the above embodiments, the flying device 11 has been described as having the GPS sensor 41 that receives GPS signals. However, the flying device 11 may not have the GPS sensor 41. In this case, the flying device 11 cannot use the GPS sensor 41 that is an external sensor. From this, the stop control part 74 can perform stop control using the acceleration sensor 42, the angular velocity sensor 43, and the geomagnetic sensor 44 which are internal sensors as demonstrated by several embodiment.

  Although the present disclosure has been described with reference to the embodiments, it is understood that the present disclosure is not limited to the embodiments and structures. The present disclosure includes various modifications and modifications within the equivalent range. In addition, various combinations and forms, as well as other combinations and forms including only one element, more or less, are within the scope and spirit of the present disclosure.

  In the drawings, 10 is a flying device guidance system, 11 is a flying device, 12 is a surveying unit, 13 is a ground base, 15 is a retroreflective member, 31 is a communication unit, 34 is a state acquisition unit (position acquisition unit), and 35 is a flight. A control unit, 71 is a tracking determination unit, 72 is a lost position definition unit, 73 is a search control unit, and 74 is a stop control unit.

Claims (5)

A flying device (11) having a retroreflective member (15) for reflecting light to the irradiation source;
While irradiating light to the flying device (11) and tracking the flying device (11) from the light reflected by the retroreflective member (15), the distance to the flying device (11) and the flying device A surveying unit (12) for acquiring the flight angle of (11) as flight data;
In a flying device guidance system comprising: a ground base (13) that controls flight of the flying device (11) based on flight data acquired by the surveying unit (12);
A tracking determination unit (71) for determining whether the surveying unit (12) maintains tracking of the retroreflective member (15) during the flight of the flying device (11);
When the tracking determination unit (71) makes a lost determination that the tracking of the retroreflective member (15) is not maintained, the flight position of the flying device (11) for which the lost determination has been made is defined as a lost position. A lost position definition section (72);
A search control unit (73) for driving the surveying unit (12) to search for the retroreflective member (15) around the lost position when the lost determination is made;
A stop control unit (74) for controlling the stop of the flying device (11) on the spot by stopping the movement of the flying device (11) when the lost determination is made;
A flying device guidance system comprising: A flying device (11) having a retroreflective member (15) for reflecting light to the irradiation source;
While irradiating light to the flying device (11) and tracking the flying device (11) from the light reflected by the retroreflective member (15), the distance to the flying device (11) and the flying device A surveying unit (12) for acquiring the flight angle of (11) as flight data;
In a flying device guidance system comprising: a ground base (13) that controls flight of the flying device (11) based on flight data acquired by the surveying unit (12);
A tracking determination unit (71) for determining whether the surveying unit (12) maintains tracking of the retroreflective member (15) during the flight of the flying device (11);
A lost position defining unit (72) for defining a position where the lost determination is made as a lost position when the tracking determination unit (71) makes a lost determination that the tracking of the retroreflective member (15) is not maintained; ,
A search control unit (73) for driving the surveying unit (12) to search for the retroreflective member (15) around the lost position when the lost determination is made;
When the lost determination is made, stop control is performed to stop the movement of the flying device (11) along with the flight and return the lost flying device (11) to the lost position and stop the flying device (11). Part (74);
A flying device guidance system comprising: A position acquisition unit (34) provided in the flying device (11) for independently acquiring its own flight position;
A position control unit (35) that is provided in the flight device (11) and controls flight based on the flight position acquired by the position acquisition unit (34) when the lost determination is made;
The flying device guidance system according to claim 1, further comprising: A flying device (11) having a retroreflective member (15) for reflecting light to the irradiation source;
While irradiating light to the flying device (11) and tracking the flying device (11) from the light reflected by the retroreflective member (15), the distance to the flying device (11) and the flying device A surveying unit (12) for acquiring the flight angle of (11) as flight data;
In a flying device guidance system comprising: a ground base (13) that controls flight of the flying device (11) based on flight data acquired by the surveying unit (12);
A position acquisition unit (34) provided in the flying device (11) for independently acquiring its own flight position;
A tracking determination unit (71) for determining whether the surveying unit (12) maintains tracking of the retroreflective member (15) during the flight of the flying device (11);
When the tracking determination unit (71) performs a lost determination that the tracking of the retroreflective member (15) is not maintained, the flight position acquired by the position acquisition unit (34) is sent to the surveying unit (12). A communication unit (31) for transmitting;
A search control unit (73) for driving the surveying unit (12) to search for the retroreflective member (15) around the flight position transmitted to the surveying unit (12) through the communication unit (31). When,
A flying device guidance system comprising:   A flight control unit (11) that is provided in the flight device (11) and continues the flight of the flight device (11) based on the flight position acquired by the position acquisition unit (34) when the lost determination is made. 35. The flying device guidance system according to claim 4, further comprising: 35).

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