JP2020111146A - Unmanned flying body, control method, and program - Google Patents

Abstract

To provide an unmanned flying body capable of suppressing variations in an S/N ratio of collected sound data even when it is carried away by wind.SOLUTION: An unmanned flying body 1 includes: a microphone 101; a sound collection control unit 10 for controlling sound collection by the microphone 101; a first acquisition unit 11 for acquiring a first sound collection position set as a position for sound collection; a second acquisition unit 12 for acquiring a position of the unmanned flying body 1; a third acquisition unit 13 for acquiring a position of a sound source, which is a sound collection object; a determination unit 14 for determining whether or not the unmanned flying body 1 is located in a first region, which is a region corresponding to a range of position correction in a stand-by flight of the unmanned flying body 1 at the first sound collection position; and a movement control unit 15 for, when it is determined that the unmanned flying body 1 is not located in the first region, moving the unmanned flying body 1 with a second sound collection position set as a position for sound collection, which is a position whose distance from the position of the sound source is the same as the distance from the position of the sound source to the first sound collection position, as a target.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to an unmanned aerial vehicle capable of collecting sound, a control method and a program for the unmanned aerial vehicle.

When flying an unmanned aerial vehicle outdoors, the wind acts as a disturbance on the unmanned aerial vehicle. For example, Patent Document 1 discloses a technique of controlling an unmanned aerial vehicle so as not to be swept by the wind. According to the technique disclosed in Patent Document 1, as the wind is stronger, the rotor output is increased in order to move the unmanned aerial vehicle upwind.

Further, Patent Document 2 discloses a technique for collecting sound using an unmanned aerial vehicle equipped with a microphone.

Japanese Patent Publication No. 2015-514263 Japanese Patent Publication No. 2017-502568

However, when the unmanned aerial vehicle is controlled so that the unmanned aerial vehicle is not swept by the wind as in the invention disclosed in Patent Document 1, the noise generated by the flight from the unmanned aerial vehicle increases, and When the sound is picked up, the picked up quality is deteriorated. Further, in the invention disclosed in Patent Document 2, the fact that an unmanned aerial vehicle is swept by the wind is not taken into consideration, and therefore the sound collection quality may fluctuate due to a change in the distance between the unmanned aerial vehicle and the sound source. ..

Therefore, it is an object of the present disclosure to provide an unmanned aerial vehicle or the like that can suppress fluctuations in sound collection quality even if it is swept by the wind.

An unmanned aerial vehicle according to an aspect of the present disclosure is an unmanned aerial vehicle, and includes a microphone, a sound collection control unit that controls sound collection by the microphone, and a first sound collection set as a position for performing the sound collection. A first acquisition unit that acquires a position, a second acquisition unit that acquires a position of the unmanned aerial vehicle, a third acquisition unit that acquires a position of a sound source that is a target of the sound collection, and the aforesaid unmanned air vehicle A determination unit that determines whether or not the unmanned aerial vehicle is located in a first region, which is a region corresponding to a range of position correction in standby flight at the first sound collection position; and the unmanned vehicle in the first region. When it is determined that the flying body is not located, the distance from the position of the sound source to the first sound collection position and the distance from the position of the sound source are equal, and the sound collection position is set. A movement control unit that moves the unmanned aerial vehicle with the second sound collection position set as a target.

Note that these comprehensive or specific aspects may be realized by a system, a device, a method, an integrated circuit, a computer program, or a non-transitory recording medium such as a computer-readable CD-ROM. , An apparatus, a method, an integrated circuit, a computer program, and a recording medium.

According to the unmanned aerial vehicle according to an aspect of the present disclosure, it is possible to suppress fluctuations in sound collection quality even if the unmanned aerial vehicle is blown by the wind.

It is a block diagram showing composition of an unmanned aerial vehicle in an embodiment. 4 is a flowchart showing an example of the operation of the unmanned aerial vehicle in the embodiment. 7 is a flowchart showing an example of a specific operation of the unmanned aerial vehicle in the embodiment. It is a top view which shows the image of sound collection. It is a top view which shows the state where the sound collection was started. It is a top view showing the state where the unmanned aerial vehicle was made to flow in the 1st field. It is a top view showing the state where the unmanned aerial vehicle was made to flow outside the 1st field. It is a top view which shows the state which the unmanned air vehicle reached the 2nd sound collection position. 9 is a flowchart showing another example of a specific operation of the unmanned aerial vehicle in the embodiment. It is a top view showing the state where the unmanned aerial vehicle was made to flow outside the 2nd field.

(Findings that form the basis of this disclosure)
As described above, in recent years, utilization as a movable communication tool has been considered as a new method of using an unmanned aerial vehicle. For example, a microphone or the like is mounted on the unmanned aerial vehicle to collect sound. .. When an unmanned aerial vehicle is flown outdoors, wind disturbance acts on the unmanned aerial vehicle. The closer the unmanned air vehicle is to the sound source, the louder the sound that is picked up and the sound pickup quality (for example, the S/N (Signal Noise) ratio of the sound pickup data) is improved, but from the viewpoint of safety, etc. Due to limitations, it is desirable that the unmanned aerial vehicle be position controlled so that it can maintain its position at the shortest allowable distance from the sound source even in the presence of wind. However, if an attempt is made to control the unmanned aerial vehicle so that it does not move away from the sound source that is the object of sound collection against the wind, or that it is not too close from the viewpoint of safety, the noise of the unmanned aerial vehicle itself (mainly The noise generated by the rotation of the rotor blades) becomes large, and the S/N ratio of the sound collection data deteriorates.

Therefore, an unmanned aerial vehicle according to an aspect of the present disclosure is an unmanned aerial vehicle, and is set as a microphone, a sound collection control unit that controls sound collection by the microphone, and a position at which the sound collection is performed. A first acquisition unit that acquires a sound collection position, a second acquisition unit that acquires a position of the unmanned air vehicle, a third acquisition unit that acquires a position of a sound source that is a target of the sound collection, and the unmanned air vehicle A determination unit that determines whether or not the unmanned aerial vehicle is located in a first area, which is an area corresponding to the range of position correction in standby flight at the first sound collection position, and When it is determined that the unmanned aerial vehicle is not located, the sound is collected at a position where the distance from the position of the sound source to the first sound collecting position and the distance from the position of the sound source are equal. A movement control unit that moves the unmanned aerial vehicle with the second sound collection position set as the position as a target.

According to this, when the unmanned aerial vehicle is not located in the first area, that is, when the unmanned air vehicle is swept out of the first area from the first sound collecting position by wind, for example, the wind moves to the windward first sound collecting position. The second sound pickup position is moved as a target without returning to the position of the second sound collection position. The second sound collection position is a position where the distance from the sound source position to the first sound collection position and the distance from the sound source position are equal, and the first sound collection position and the second sound collection position depend on the distance. Since the sound attenuation amounts are almost the same, the unmanned aerial vehicle can pick up sound as in the first sound pickup position. Further, since the direction from the position where the unmanned aerial vehicle is blown by the wind to the second sound collecting position intersects with the direction to the first sound collecting position (that is, the wind direction), the unmanned aerial vehicle emits wind from the front. It becomes harder to receive, in other words, more susceptible to cross wind. Therefore, when the unmanned aerial vehicle moves toward the second sound collecting position, the wind resistance is smaller than when moving toward the first sound collecting position, and the unmanned air vehicle can move with a low flight force. Therefore, since the noise of the unmanned aerial vehicle itself can be suppressed when moving toward the second sound collection position, it is possible to suppress the fluctuation of the sound collection quality even if the unmanned aerial vehicle is blown by the wind.

In addition, the unmanned aerial vehicle flies by rotation of the rotor blades, and the movement control unit, while the sound collection is performed, the upper limit of the fluctuation of the rotation speed of the rotor blades, or the rotation of the rotor blades. The upper limit of the number may be lowered.

According to this, as the noise of the unmanned aerial vehicle itself is mainly the noise generated by the rotation of the rotor blades, lowering such an upper limit will allow the unmanned aerial vehicle to pick up noise while sound is being collected. It is possible to suppress the noise of itself.

In addition, the second sound collection position is a distance from the position of the unmanned aerial vehicle among positions where the distance from the position of the sound source to the first sound collection position and the distance from the position of the sound source are equal. May be at the shortest position.

According to this, since the second sound collection position is the shortest from the position of the unmanned air vehicle, the unmanned air vehicle can quickly reach the position set as the position for collecting the sound. For example, it is possible to improve the sound collection quality sooner or to secure the safety by getting closer to the sound source sooner.

The movement control unit may move the unmanned aerial vehicle with the first sound collecting position as a target after the unmanned aerial vehicle reaches the second sound collecting position.

For example, the sound source may have directivity, and the first sound pickup position may have higher sound pickup sensitivity than the second sound pickup position. Therefore, the unmanned aerial vehicle can further improve the sound collection quality by moving toward the first sound collection position after reaching the second sound collection position.

The determination unit may be configured such that a length in a first direction that is a direction that approaches or leaves the sound source from the first sound collection position is shorter than a length in a second direction that is a direction orthogonal to the first direction, If the second region, which is a region including the first region, is calculated and it is determined that the unmanned aerial vehicle is not located within the first region, whether or not the unmanned aerial vehicle is located within the second region. The movement control unit determines that the unmanned aerial vehicle is not located in the second area, the higher flight force than the unmanned aerial vehicle is determined to be located in the second area. Then, the unmanned aerial vehicle may be moved with the second sound collection position as a target.

According to this, when the unmanned aerial vehicle is not located in the second region, that is, when the unmanned aerial vehicle is swept from the first sound collection position beyond the first region to the outside of the second region by wind, for example, strong wind causes It is assumed that unmanned air vehicles are being swept away. In this case, since the unmanned aerial vehicle may continue to be blown by the wind, it is possible to return to the second region by moving with a higher flight force than when the unmanned aerial vehicle is located in the second region.

The movement control unit may stop the control to lower the upper limit to move the unmanned aerial vehicle with the high flight force, targeting the second sound collection position.

According to this, if the upper limit is lowered, the unmanned aerial vehicle may continue to be swept even if the flight force is increased as compared with the case of being located in the second region, but in the second region rather than the generation of noise. By stopping the control for lowering the upper limit by giving priority to the movement to, it becomes easier to return to the second region.

Further, the determination unit, when it is determined that the unmanned aerial vehicle is not located in the second area, determines whether or not the unmanned aerial vehicle can move within the second area within a predetermined time, The sound collection control unit may stop the sound collection when it is determined that the unmanned aerial vehicle cannot move into the second area within the predetermined time.

According to this, if the unmanned aerial vehicle cannot return to the second region even if the wind power is strong and the flight force is increased, the sound collection can be stopped.

The first sound collection position may be a position where the sound collection is started.

According to this, when the unmanned aerial vehicle is flown out of the first area, the unmanned flight is performed at the second sound pickup position where sound can be picked up similarly to the first sound pickup position where the sound pickup is started. You can move your body.

A control method according to an aspect of the present disclosure is a method for controlling an unmanned aerial vehicle that is executed by a computer, and is a first sound collection position that is set as a position at which a microphone included in the unmanned aerial vehicle collects sound. To obtain the position of the unmanned aerial vehicle, obtain the position of the sound source that is the target of the sound collection, and correspond to the position correction range in the standby flight at the first sound collecting position of the unmanned aerial vehicle. It is determined whether or not the unmanned aerial vehicle is located in a first area, which is an area to be operated, and when it is determined that the unmanned aerial vehicle is not located in the first area, the first from the position of the sound source is determined. The unmanned aerial vehicle is moved with the distance to the sound collecting position and the distance from the position of the sound source being equal to each other, and the second sound collecting position set as the position for collecting the sound as a target. ..

According to this, it is possible to provide a control method capable of suppressing the fluctuation of the sound collection quality even if the unmanned air vehicle is swept by the wind.

A program according to one aspect of the present disclosure is a program for causing a computer to execute the above control method.

According to this, it is possible to provide a program capable of suppressing fluctuations in sound collection quality even when an unmanned aerial vehicle is swept by the wind.

Furthermore, these comprehensive or specific aspects may be realized by a system, a device, a method, an integrated circuit, a computer program, or a non-transitory recording medium such as a computer-readable CD-ROM. , An apparatus, a method, an integrated circuit, a computer program, and a recording medium.

Hereinafter, embodiments will be specifically described with reference to the drawings. It should be noted that each of the embodiments described below shows a comprehensive or specific example. Numerical values, shapes, materials, constituent elements, arrangement positions and connection forms of constituent elements, steps, order of steps, and the like shown in the following embodiments are examples, and are not intended to limit the scope of the claims. Further, among the constituent elements in the following embodiments, constituent elements not described in the independent claim showing the highest concept are described as arbitrary constituent elements.

Further, each drawing used in the following description is a schematic view and does not necessarily show the arrangement and size of the constituent elements strictly.

(Embodiment)
Embodiments will be described below with reference to FIGS. 1 to 10.

FIG. 1 is a block diagram showing a configuration of an unmanned aerial vehicle 1 in the embodiment.

As shown in FIG. 1, the unmanned aerial vehicle 1 includes a processor 100, a microphone 101, a sensor 102, and a driving unit 103.

The unmanned aerial vehicle 1 is also referred to as a drone, an unmanned aerial vehicle, or a UAV (Unmanned Aerial Vehicle). The unmanned aerial vehicle 1 is utilized, for example, as a communication tool. The unmanned aerial vehicle 1 can collect, for example, a voice uttered by a person or the like, and may be capable of photographing a person or the like.

The microphone 101 collects sound around the unmanned aerial vehicle 1 and converts the collected sound into an electric signal (collected sound data). For example, the microphone 101 picks up a voice generated by a sound source such as a person. The microphone 101 is, for example, a directional microphone. This is because noise of the unmanned aerial vehicle 1 itself is not collected as much as possible and the S/N ratio of the sound collection data of the sound source is improved. The microphone 101 may be an array microphone, and the position of the sound source may be specified by the array microphone.

The sensor 102 is, for example, an image sensor (camera or the like), a distance measuring sensor (infrared sensor, ultrasonic sensor or stereo camera or the like), a position sensor (GPS (Global Positioning System) or the like), etc. It is shown as sensor 102.

The drive unit 103 is composed of, for example, a motor for generating a force to fly the unmanned aerial vehicle 1, a rotary wing, and the like. Perform flight operation 1. The drive unit 103 may use an engine instead of the motor. For example, when the flight force of the unmanned aerial vehicle 1 is increased, wind noise and motor noise due to the rotation of the rotor blades increase, and the noise of the unmanned aerial vehicle 1 itself increases.

The processor 100 is an electric circuit that performs information processing for controlling the unmanned aerial vehicle 1, and may be, for example, a microprocessor or the like. The unmanned aerial vehicle 1 includes a memory (not shown) such as a ROM and a RAM, and the memory stores a control program executed by the processor 100 and the like. The processor 100 includes a sound collection control unit 10, a first acquisition unit 11, a second acquisition unit 12, a third acquisition unit 13, a determination unit 14, and a movement control unit 15 as functional components. These functional components included in the processor 100 are realized by executing the control program.

The sound collection control unit 10 controls sound collection by the microphone 101. For example, the sound collection control unit 10 starts or stops sound collection of the unmanned aerial vehicle 1 by the microphone 101.

The 1st acquisition part 11 acquires the 1st sound collection position set as a position which collects sound. The second acquisition unit 12 acquires the position of the unmanned aerial vehicle 1. The third acquisition unit 13 acquires the position of the sound source that is the target of sound collection. The determination unit 14 determines whether or not the unmanned aerial vehicle 1 is located in the first area, which is an area corresponding to the range of position correction in standby flight at the first sound collection position of the unmanned aerial vehicle 1. When it is determined that the unmanned aerial vehicle 1 is not located in the first area, the movement control unit 15 determines that the distance from the position of the sound source to the first sound collecting position is equal to the distance from the position of the sound source. Therefore, the unmanned aerial vehicle 1 is moved with the second sound collecting position set as a position for collecting sound as a target. Details of the first acquisition unit 11, the second acquisition unit 12, the third acquisition unit 13, the determination unit 14, and the movement control unit 15 will be described with reference to FIG.

FIG. 2 is a flowchart showing an example of the operation of unmanned aerial vehicle 1 in the embodiment.

The 1st acquisition part 11 acquires the 1st sound collection position set as a position which collects sound (Step S1). The first sound collection position is, for example, a position that is neither too far nor too close to the sound source that is the object of sound collection. This is because it is difficult to correctly collect the sound if the position where the sound is collected is too far from the sound source, and if the position is too close to the sound source, the unmanned aerial vehicle 1 or its rotor may hit the sound source. The first sound collection position is a position, for example, about 1 to 2 m away from the sound source. Further, when the sound source is a person or the like, since the sound source has directivity, the S/N ratio of the sound collection data can be improved by collecting sound from the front direction of the sound source (people or the like). Therefore, the first sound collection position may be a position in front of the sound source (person or the like). For example, the first acquisition unit 11 may calculate and acquire the first sound collection position based on the position of the sound source. Further, for example, the first sound collection position may be a predetermined position, the position is stored in a memory, etc., and the first acquisition unit 11 acquires the first sound collection position from the memory. Good.

The second acquisition unit 12 acquires the position of the unmanned aerial vehicle 1 (step S2). For example, the second acquisition unit 12 acquires the position of the unmanned aerial vehicle 1 using GPS information and the like. The second acquisition unit 12 may acquire the position of the unmanned aerial vehicle 1 by a method other than the method using GPS information. The second acquisition unit 12 acquires the position of the unmanned aerial vehicle 1 by using, for example, a SLAM (Simultaneous Localization and Mapping) technique or a wireless signal such as Wi-Fi (registered trademark) or a beacon. Good.

The third acquisition unit 13 acquires the position of the sound source that is the target of sound collection (step S3). For example, the third acquisition unit 13 acquires the position of the sound source using the sensing result of the sensor 102. For example, the third acquisition unit 13 acquires the position of the sound source from the recognition result of the image by the image sensor, the distance measurement data by the distance measurement sensor, or the like. Further, for example, the third acquisition unit 13 may acquire the position of the sound source from the phase difference between the sounds picked up by the microphone 101 (for example, array microphone). The position of the sound source may be a predetermined position, the position may be stored in a memory or the like, and the third acquisition unit 13 may acquire the position of the sound source from the memory.

The processes from step S1 to step S3 may not be performed in the order shown in FIG. For example, when the position of the sound source is used when acquiring the first sound collection position, the process of step S3 may be performed before the process of step S1.

Next, the determination unit 14 determines whether or not the unmanned aerial vehicle 1 is located in the first area, which is an area corresponding to the position correction range in the standby flight (hovering) at the first sound collection position of the unmanned aerial vehicle 1. It is determined (step S4). For example, the unmanned aerial vehicle 1 is controlled so that the unmanned aerial vehicle 1 stays at a specific position while correcting the position using GPS information or the like. The first area is an area corresponding to a range in which movement by such position correction is possible. The first region is, for example, a region having a diameter of about 30 cm centering on the first sound collecting position, although it depends on the size and ability of the unmanned aerial vehicle 1. For example, the determination unit 14 determines that the current position of the unmanned aerial vehicle 1 acquired by the second acquisition unit 12 is within the first region calculated from the first sound collection position acquired by the first acquisition unit 11. It is determined whether to do. When the first sound collection position is a predetermined position, the first area may also be a predetermined area.

When it is determined that the unmanned aerial vehicle 1 is not located within the first area (No in step S4), the movement control unit 15 determines that the distance from the position of the sound source to the first sound collecting position and the distance from the position of the sound source. The unmanned aerial vehicle 1 is moved with the second sound collecting position, which is a position that is equidistant and is set as a position for collecting sound, as a target (step S5). When the unmanned aerial vehicle 1 is not located in the first area, that is, when the unmanned aerial vehicle 1 is swept out of the first area from the first sound collecting position by wind, for example, the unmanned aerial vehicle 1 is located at the first sound collecting position on the windward side. It moves toward the second sound collecting position as a target without returning to the wind. The second sound collection position is, for example, a position on a circle passing through the first sound collection position centered on the sound source, and is a position different from the first sound collection position. The second sound collection position is a position where the distance from the sound source position to the first sound collection position and the distance from the sound source position are equal, and the first sound collection position and the second sound collection position depend on the distance. The sound attenuation is almost the same. Therefore, even if the second sound collection position is set as the position for collecting sound instead of the first sound collection position, the unmanned aerial vehicle 1 operates in the same manner as the first sound collection position at the second sound collection position. Can pick up sound. In addition, since the first sound collection position and the second sound collection position are different positions, the position where the unmanned aerial vehicle 1 is blown by the wind (the current position of the unmanned aerial vehicle 1) changes to the second sound collecting position. Since the direction intersects the direction to the first sound collection position (that is, the wind direction), the unmanned aerial vehicle 1 is less likely to receive wind from the front, in other words, is more susceptible to cross wind. Therefore, when the unmanned aerial vehicle 1 moves toward the second sound collecting position, the wind resistance becomes smaller than that when moving toward the first sound collecting position, and the unmanned air vehicle 1 can move with a low flight force. Therefore, when moving toward the second sound collection position, for example, the rotational speed of the rotor blades can be lowered and the noise of the unmanned aerial vehicle 1 itself can be suppressed. The fluctuation of the S/N ratio can be suppressed.

When it is determined that the unmanned aerial vehicle 1 is located within the first area (Yes in step S4), the movement control unit 15 moves the unmanned aerial vehicle 1 with the first sound pickup position as a target (step S5). When the unmanned aerial vehicle 1 is located in the first region, that is, when there is no wind or weak wind, the unmanned aerial vehicle 1 returns to the first sound collecting position with a low flight force (for example, stays in the first sound collecting position and waits for standby flight). Therefore, the unmanned aerial vehicle 1 sets the first sound collection position as a movement target.

Next, the operation of the unmanned aerial vehicle 1 will be specifically described with reference to FIGS. 3 to 8. In the following, the first sound collection position is the first sound collection position P1, the sound source that is the sound collection target is the sound source 200, the first region is the first region A1, and the distance from the position of the sound source 200 to the first sound collection position P1. The equidistant line at which the distance from the position of the sound source 200 is equidistant will be described as an equidistant line L1 and the second sound collecting position will be described as a second sound collecting position P2.

FIG. 3 is a flowchart showing an example of a specific operation of unmanned air vehicle 1 in the embodiment. The process shown in FIG. 3 is started, for example, when the unmanned aerial vehicle 1 receives an instruction indicating the start of sound collection and starts sound collection.

The unmanned aerial vehicle 1 determines the upper limit of the rotation speed (rpm) of the rotary wings of the unmanned aerial vehicle 1 (step S11). The upper limit is a value smaller than the upper limit when the sound is not collected, and while the sound is collected, the rotor blade does not rotate beyond the upper limit, so that noise can be suppressed, and the sound is collected. The S/N ratio of data can be improved. For example, the upper limit is set in advance. Note that the movement control unit 15 may determine the upper limit of the fluctuation in the rotation speed of the rotor blades of the unmanned aerial vehicle 1. That is, the movement control unit 15 may determine the upper limit of the fluctuation amount that is allowed with respect to the current rotation speed. As described above, the unmanned aerial vehicle 1 (specifically, the movement control unit 15) lowers the upper limit of the fluctuation of the rotational speed of the rotary blade or the upper limit of the rotational speed of the rotary blade while sound is being collected. ..

Next, the unmanned aerial vehicle 1 determines the position where the sound collection is started (for example, the position where the sound collection is started by receiving an instruction indicating the start of the sound collection) as the first sound collection position P1 (step S1). S12). That is, the unmanned aerial vehicle 1 collects sound while performing standby flight at a position where sound collection is started as a position (first sound collection position P1) at which sound is collected.

Next, the unmanned aerial vehicle 1 starts the direction control to the sound source 200 (step S13). This will be described with reference to FIG.

FIG. 4 is a top view showing an image of sound pickup.

For example, the microphone 101 is a directional microphone, and as shown in FIG. 4, in the unmanned aerial vehicle 1, the microphone 101 faces the sound source 200 (specifically, the sound source 200 exists in the direction in which the gain of the microphone 101 is high). Control the direction (direction) of the unmanned aerial vehicle 1. For example, the unmanned aerial vehicle 1 controls the direction of the sound source 200 according to the position of the sound source 200. Further, the unmanned aerial vehicle 1 controls the direction (direction) of the unmanned aerial vehicle 1 so that the microphone 101 faces the sound source 200 even when the position of the unmanned aerial vehicle 1 changes. Note that the microphone 101 does not have to be a directional microphone, and the unmanned aerial vehicle 1 does not have to control the direction of the sound source 200.

Next, the unmanned aerial vehicle 1 determines whether or not the unmanned aerial vehicle 1 is located within the first area A1 (step S14). The subsequent processing will be described with reference to FIGS. 5 to 8.

FIG. 5 is a top view showing a state in which sound collection is started. FIG. 6 is a top view showing a state in which the unmanned aerial vehicle 1 is flown in the first area A1. FIG. 7 is a top view showing a state in which the unmanned aerial vehicle 1 is flown outside the first area A1. FIG. 8 is a top view showing a state in which the unmanned aerial vehicle 1 has reached the second sound collection position P2. In each figure, the arrow pointing from the unmanned aerial vehicle 1 to the sound source 200 indicates the direction of the microphone 101.

As shown in FIG. 5, the unmanned aerial vehicle 1 basically collects sound while performing standby flight at the first sound collection position P1.

After that, for example, as shown in FIG. 6, when a weak wind blows and the unmanned aerial vehicle 1 is slightly swept in the first area A1, the unmanned aerial vehicle 1 uses the position correction function using GPS information or the like. Position correction is performed within the first area A1. Therefore, when it is determined that the unmanned aerial vehicle 1 is located within the first area A1 (Yes in step S14), the unmanned aerial vehicle 1 moves toward the first sound collection position P1 (step S15). In this case, the unmanned aerial vehicle 1 will return to the windward first sound collecting position P1 against the wind, but since the wind is assumed to be weak, it exceeds the upper limit of the rotational speed of the rotor blades. You can move so that you don't. That is, it is possible to suppress deterioration of the S/N ratio of the collected sound data.

For example, as shown in FIG. 7, a strong wind may blow and the unmanned aerial vehicle 1 may be flown outside the first area A1. In this case, it is difficult for the unmanned aerial vehicle 1 to return to the windward first sound collecting position P1 against the strong wind at a rotational speed within the upper limit of the determined rotational speed of the rotor blades. Further, if the control for lowering the upper limit is stopped, the unmanned aerial vehicle 1 may be able to return to the first sound collection position P1 against the strong wind, but due to the noise of the unmanned aerial vehicle 1 itself. The S/N ratio of sound data deteriorates. Therefore, when the unmanned aerial vehicle 1 determines that the unmanned aerial vehicle 1 is not located within the first area A1 (No in step S14), it is determined whether or not the unmanned aerial vehicle 1 is located on the equidistant line L1. Yes (step S16). The processing in step S16 will be described later.

When the unmanned aerial vehicle 1 determines that the unmanned aerial vehicle 1 is not located on the equidistant line L1 (No in step S16), the target moving destination (that is, the position set as the position for collecting sound) is set to the first position. The second sound collecting position P2 is determined instead of the first sound collecting position P1 (step S17), and the second sound collecting position P2 is moved to (step S18). For example, the second sound collection position P2 is a position where the distance from the position of the sound source 200 to the first sound collection position P1 is equal to the distance from the position of the sound source 200 (that is, the position on the equidistant line L1). The position where the distance from the position of the unmanned aerial vehicle 1 is the shortest. As a result, the unmanned aerial vehicle 1 can quickly reach the position set as the position for collecting sound, and for example, the S/N ratio of the sound collecting data can be improved more quickly. If the unmanned aerial vehicle 1 is swept away by the wind so as to approach the sound source 200, the distance from the sound source 200 can be secured more quickly to ensure safety.

Then, the unmanned aerial vehicle 1 determines whether the sound collection is completed (step S19). When the unmanned aerial vehicle 1 determines that the sound collection has not ended (No in step S19), the processing from step S14 is performed again. That is, the unmanned aerial vehicle 1 repeats the processing from step S14 to step S19 until the sound collection ends. For example, as shown in FIG. 7, the unmanned aerial vehicle 1 moves toward the second sound collection position P2 while receiving wind (for example, cross wind). At this time, the unmanned aerial vehicle 1 moves toward the second sound collecting position P2 with the second sound collecting position P2 determined in step S17 as a target. Can be washed away. Therefore, the second sound collection position P2 determined in step S17 will not be the shortest position on the equidistant line L1 from the unmanned aerial vehicle 1 due to the unmanned aerial vehicle 1 being swept during the movement. There is. On the other hand, since the processing from step S14 to step S19 is repeated, the second sound collection position P2 is updated according to the movement of the unmanned aerial vehicle 1. That is, the unmanned aerial vehicle 1 moves toward the second sound collecting position P2, which is the shortest time at that time.

By repeating the processing from step S14 to step S19, as shown in FIG. 8, the unmanned aerial vehicle 1 reaches the second sound collection position P2 (on the equidistant line L1). As a result, the unmanned aerial vehicle 1 determines that the unmanned aerial vehicle 1 is located on the equidistant line L1 (Yes in step S16), and moves toward the first sound pickup position P1 (step S15). For example, when the sound source 200 is a person or the like, it may have directivity (specifically, the sound becomes louder in the front direction of the person), and the first sound collection position P1 is the second sound collection position. The sound pickup sensitivity may be higher than that of the sound position P2. Therefore, the unmanned aerial vehicle 1 can further improve the S/N ratio by moving toward the first sound collecting position P1 after reaching the second sound collecting position P2. For example, when the wind is strong and it is difficult to move toward the first sound collecting position P1, the unmanned aerial vehicle 1 collects sound while performing standby flight at the second sound collecting position P2 until the wind stops, After the wind has settled, it may move toward the first sound collection position P1. As described above, the unmanned aerial vehicle 1 (specifically, the movement control unit 15) targets the first sound collecting position P1 after the unmanned aerial vehicle 1 reaches the second sound collecting position P2. To move.

When the unmanned aerial vehicle 1 is collecting sound at the first sound collecting position P1, it may happen that the wind blows to a position outside the first area A1 and on the equidistant line L1. is there. In this case, since the unmanned aerial vehicle 1 is already located at the second sound collecting position P2, the processing in steps S17 and S18 is not performed and the unmanned aerial vehicle 1 moves toward the first sound collecting position P1.

When the unmanned aerial vehicle 1 determines that the sound collection is completed (Yes in step S19), the direction control to the sound source 200 is completed (step S20), and the upper limit of the rotational speed of the rotor is released (step S21). .. Note that the unmanned aerial vehicle 1 releases the upper limit of the fluctuation in the rotational speed of the rotary blade when the upper limit of the fluctuation in the rotational speed of the rotary blade is lowered. Since the sound collection is completed, the unmanned aerial vehicle 1 can fly without worrying about the noise of the unmanned aerial vehicle 1 itself, and thus the upper limit can be canceled.

Note that the unmanned aerial vehicle 1 may be flown further away by the strong wind. Such a case will be described with reference to FIGS. 9 and 10.

FIG. 9 is a flowchart showing another example of a specific operation of unmanned air vehicle 1 in the embodiment. The processing from step S31 to step S35 in FIG. 9 is performed when it is determined that the unmanned aerial vehicle 1 is not located within the first area A1, and is performed instead of step S18 in FIG. 3, for example. That is, the process shown in FIG. 9 may be started after the process of step S17 in FIG.

FIG. 10 is a top view showing a state in which the unmanned aerial vehicle 1 is flown outside the second area A2. In the unmanned aerial vehicle 1 (specifically, the determination unit 14), the length in the first direction (the vertical direction on the paper surface of FIG. 10) that is the direction approaching or moving away from the first sound collection position P1 is the first direction. A second area A2, which is an area including the first area A1 and shorter than the length in the second direction (the left-right direction on the paper surface of FIG. 10) which is the orthogonal direction, is calculated. The length of the second region A2 in the first direction is, for example, about 60 cm, and the length in the second direction is, for example, about 2 to 4 m. The second region A2 may have a rectangular shape or a thick arc shape (a shape obtained by cutting a part of a donut or the like) or the like as long as the length in the first direction is shorter than the length in the second direction. The shape is not limited.

For example, as shown in FIG. 10, strong wind may blow and the unmanned aerial vehicle 1 may flow outside the first area A1 and further outside the second area A2. On the other hand, the unmanned aerial vehicle 1 (specifically, the determination unit 14) determines whether or not the unmanned aerial vehicle 1 is located within the second area A2 (step S31).

When it is determined that the unmanned aerial vehicle 1 is not located within the second area A2 (No in step S31), the unmanned aerial vehicle 1 (specifically, the movement control unit 15) determines that the unmanned aerial vehicle 1 is in the second area A2. The unmanned aerial vehicle 1 is moved with a higher flight force than when it is determined that the unmanned aerial vehicle 1 is located inside (step S32). When the unmanned aerial vehicle 1 is not located in the second area A2, the unmanned aerial vehicle 1 is too far away from the sound source 200 or is too close to the unmanned aerial vehicle 1 and needs to immediately return to the equidistant line L1. This is because. Further, it is assumed that the wind is blowing strongly, and even if the wind does not move directly against the wind, the force that hinders the movement of the unmanned aerial vehicle 1 by the wind is strong and a certain high flight force is required.

Regarding the shape of the second region A2, the length in the first direction is shorter than the length in the second direction. When the unmanned aerial vehicle 1 is flown in the first direction, the unmanned air vehicle 1 moves to the first sound collection position P1 or the equidistant line L1 around the first sound collection position P1. In this case, when the unmanned aerial vehicle 1 moves on the equidistant line L1 around the first sound collection position P1, the component of the side wind to the unmanned aerial vehicle 1 is small and the component in the direction in which the unmanned aerial vehicle 1 hinders the movement becomes large, and Since 1 moves directly against the wind, increasing the length in the first direction makes it more difficult to move onto the equidistant line L1. Therefore, the length in the first direction is shorter than the length in the second direction.

On the other hand, when the unmanned aerial vehicle 1 is flown in the second direction, the unmanned air vehicle 1 returns to the equidistant line L1 in a direction different from the first sound collecting position P1. In this case, when the unmanned aerial vehicle 1 moves on the equidistant line L1, the component of the side wind to the unmanned aerial vehicle 1 is large and the component in the direction in which the movement is obstructed decreases, so that the unmanned aerial vehicle 1 does not oppose the wind. Therefore, even if the length in the second direction is increased, it is difficult to move onto the equidistant line L1. Therefore, the length in the second direction is longer than the length in the first direction.

As described above, when the unmanned aerial vehicle 1 is not located in the second area A2, that is, when the unmanned aerial vehicle 1 is flown from the first sound collecting position P1 over the first area A1 to the outside of the second area A2 by wind, for example, It is assumed that the unmanned aerial vehicle 1 is being swept by the strong wind. In this case, since the unmanned aerial vehicle 1 may continue to be blown by the wind, it is possible to return to the second area A2 by moving with a higher flight force than when the unmanned aerial vehicle 1 is located in the second area A2. ..

Further, the unmanned aerial vehicle 1 (specifically, the movement control unit 15) stops the control for lowering the upper limit of the fluctuation of the rotational speed of the rotary blade or the upper limit of the rotational speed of the rotary blade, so that the second flight can be performed with high flight force. The unmanned aerial vehicle 1 may be moved with the sound pickup position P2 as a target. The unmanned aerial vehicle 1 may continue to be flown if the upper limit is lowered, even if the flying force is increased as compared with the case where the unmanned aerial vehicle 1 is located in the second area A2. By stopping the control for lowering the upper limit by giving priority to the movement into the second area A2, it becomes easier to return to the second area A2.

Next, when it is determined that the unmanned aerial vehicle 1 is not located within the second area A2, the unmanned aerial vehicle 1 (specifically, the determination unit 14) determines that the unmanned aerial vehicle within the second area A2 is within a predetermined time. It is determined whether 1 can be moved (step S33). For example, the unmanned aerial vehicle 1 acquires the position of the unmanned aerial vehicle 1, and the unmanned aerial vehicle 1 is detected in the second area A2 within a predetermined time based on the change amount of the distance between the position and the second area A2 over time. It is determined whether it is possible to move.

If the unmanned aerial vehicle 1 (specifically, the sound collection control unit 10) determines that the unmanned aerial vehicle 1 cannot move within the second area A2 within the predetermined time (No in step S33), the sound collection is stopped. Yes (step S34). The case where the unmanned aerial vehicle 1 cannot move into the second area A2 within a predetermined time is, for example, the case where the wind is too strong to return to the second area A2 with the flight capability of the unmanned aerial vehicle 1. In such a case, abandon sound collection. In this way, if the unmanned aerial vehicle 1 cannot return to the second area A2 even if the wind is strong and the flight power is increased, the sound collection can be stopped.

When it is determined that the unmanned aerial vehicle 1 can move within the second area A2 within the predetermined time (No in step S33), the process proceeds to step S19 in FIG. 3 and sound collection is continued.

When it is determined that the unmanned aerial vehicle 1 is located in the second area A2 (Yes in step S31), the unmanned aerial vehicle 1 sets the upper limit of the fluctuation of the rotational speed of the rotor blade or the upper limit of the rotational speed of the rotor blade. Without stopping the lowering control, it moves toward the second sound collection position P2 (step S35), and then proceeds to step S19 of FIG. 3 to continue sound collection.

As described above, according to the unmanned aerial vehicle 1 of the present disclosure, it is possible to suppress the fluctuation of the S/N ratio of the sound collection data even if the unmanned air vehicle 1 is swept by the wind.

(Other embodiments)
Although the unmanned aerial vehicle 1 according to one or more aspects of the present disclosure has been described above based on the embodiments, the present disclosure is not limited to these embodiments. As long as it does not depart from the gist of the present disclosure, various modifications made by those skilled in the art may be applied to each embodiment, or a configuration constructed by combining components in different embodiments may be one or more of the present disclosure. It may be included in the range of the aspect.

For example, in the above embodiment, the case where the wind blows in the horizontal direction and the unmanned aerial vehicle 1 moves in the horizontal direction has been described, but the present disclosure also applies to the case where the unmanned aerial vehicle 1 is swept by the ascending or descending airflow. Applicable. Assuming such a case, the first area A1 has a spherical shape, and the second area A2 has, for example, an oblong shape. Further, the equidistant line L1 is an equidistant spherical surface. However, when it is determined that the unmanned aerial vehicle 1 is swept out of the second area A2 by the ascending air current and the unmanned aerial vehicle 1 is not located in the second area A2, the unmanned aerial vehicle 1 is moved to the second area A2. The unmanned aerial vehicle 1 is moved with a lower flight force than when it is determined that the unmanned air vehicle 1 is located inside. This is because in this case, the unmanned aerial vehicle 1 needs to descend toward the ground side.

Further, for example, in the above-described embodiment, the first sound pickup position P1 is the position where the sound pickup is started, but the present invention is not limited to this. For example, the first sound collection position P1 may be a position that is designated before the sound collection is started, and after the sound collection is started, the unmanned aerial vehicle 1 targets the first sound collection position P1. You may move as. That is, in the above embodiment, an example in which the present disclosure is applied to finally return to the first sound collection position P1 on the assumption that the unmanned aerial vehicle 1 originally reached the first sound collection position P1. However, the present disclosure may be applied when the unmanned aerial vehicle 1 does not originally reach the first sound collection position P1 and moves toward the first sound collection position P1.

Further, for example, in the above-described embodiment, the second sound collection position P2 is the position where the distance from the position of the unmanned aerial vehicle 1 is the shortest, but the position may not be the shortest position.

In addition, for example, in the above-described embodiment, the unmanned aerial vehicle 1 moves toward the first sound collecting position P1 after reaching the second sound collecting position P2, but does not move to the first sound collecting position P1. Alternatively, sound collection may be continued at the second sound collection position P2.

Further, for example, in the above-described embodiment, when it is determined that the unmanned aerial vehicle 1 is not located in the second area A2, the unmanned aerial vehicle 1 has the upper limit of the fluctuation in the rotational speed of the rotor blade, or By stopping the control for lowering the upper limit of the number of revolutions, the unmanned aerial vehicle 1 moved at the second sound collecting position P2 with a higher flight force than when it was determined that the unmanned aerial vehicle 1 was located in the second area A2. Not exclusively. For example, if the unmanned aerial vehicle 1 can move to the second sound pickup position P2 within a predetermined time without stopping the control for lowering the upper limit, the control for lowering the upper limit may not be stopped.

Further, for example, the present disclosure can be realized not only as the unmanned aerial vehicle 1 but also as a control method including steps (processes) performed by the respective constituent elements of the unmanned aerial vehicle 1.

As shown in FIG. 2, the control method is a control method of the unmanned aerial vehicle 1 executed by a computer, and is a first sound collection position set as a position for collecting sound by the microphone 101 included in the unmanned aerial vehicle 1. P1 is acquired (step S1), the position of the unmanned aerial vehicle 1 is acquired (step S2), the position of the sound source 200 that is the target of sound collection is acquired (step S3), and the first sound collection of the unmanned aerial vehicle 1 is performed. It is determined whether or not the unmanned aerial vehicle 1 is located in the first area A1 which is an area corresponding to the range of position correction in the standby flight at the position P1 (step S4), and the unmanned aerial vehicle is located in the first area A1. When it is determined that 1 is not located (No in step S4), the distance from the position of the sound source 200 to the first sound collection position P1 is equal to the distance from the position of the sound source 200, and the sound collection is performed. The unmanned aerial vehicle 1 is moved with the second sound collecting position P2 set as the position for performing the target as a target (step S5).

For example, the steps in the control method may be executed by a computer (computer system). For example, a device (such as a server device) capable of communicating with the unmanned aerial vehicle 1 may execute the steps in the control method. Then, the present disclosure can be realized as a program that causes a computer to execute the steps included in the control method. Further, the present disclosure can be realized as a non-transitory computer-readable recording medium such as a CD-ROM that records the program.

For example, when the present disclosure is realized by a program (software), each step is executed by executing the program by using hardware resources such as a CPU, a memory and an input/output circuit of a computer. .. That is, each step is executed by the CPU acquiring data from the memory or the input/output circuit or the like and performing the operation or outputting the operation result to the memory or the input/output circuit or the like.

In addition, in each of the above-described embodiments, each component included in the unmanned aerial vehicle 1 may be configured by dedicated hardware, or may be realized by executing a software program suitable for each component. Each component may be realized by a program execution unit such as a CPU or a processor reading and executing a software program recorded in a recording medium such as a hard disk or a semiconductor memory.

Some or all of the functions of the unmanned aerial vehicle 1 according to each of the above-described embodiments are typically realized as an LSI that is an integrated circuit. These may be individually made into one chip, or may be made into one chip so as to include a part or all of them. Further, the integrated circuit is not limited to the LSI, and may be realized by a dedicated circuit or a general-purpose processor. An FPGA (Field Programmable Gate Array) that can be programmed after the LSI is manufactured, or a reconfigurable processor that can reconfigure connection and settings of circuit cells inside the LSI may be used.

Further, some or all of the functions of the unmanned aerial vehicle 1 according to each of the above-described embodiments may be realized by a processor such as a CPU executing a program.

Further, all the numbers used above are examples for specifically explaining the present disclosure, and the present disclosure is not limited to the exemplified numbers.

Further, the order in which the above steps are executed is for the purpose of specifically explaining the present disclosure, and may be an order other than the above as long as the same effect can be obtained. Also, some of the steps described above may be executed simultaneously (for example, in parallel) with other steps.

Further, the present disclosure also includes various modifications in which the embodiments of the present disclosure are modified within the scope of those skilled in the art without departing from the gist of the present disclosure.

The present disclosure can be applied to, for example, an unmanned air vehicle used as a communication tool.

DESCRIPTION OF SYMBOLS 1 Unmanned aerial vehicle 10 Sound collection control part 11 1st acquisition part 12 2nd acquisition part 13 3rd acquisition part 14 Judgment part 15 Movement control part 100 Processor 101 Microphone 102 Sensor 103 Driving part 200 Sound source A1 1st area|region A2 2nd area|region L1 equidistant line P1 first sound collection position P2 second sound collection position

Claims (10)

An unmanned aerial vehicle,
A microphone,
A sound collection control unit that controls sound collection by the microphone,
A first acquisition unit for acquiring a first sound collection position set as a position for collecting the sound;
A second acquisition unit for acquiring the position of the unmanned air vehicle;
A third acquisition unit that acquires the position of the sound source that is the object of sound collection;
A determination unit that determines whether or not the unmanned aerial vehicle is located in a first area, which is an area corresponding to a range of position correction in standby flight at the first sound collection position of the unmanned aerial vehicle,
When it is determined that the unmanned aerial vehicle is not located in the first area, the distance from the position of the sound source to the first sound collecting position and the distance from the position of the sound source are equal to each other. A movement control unit that moves the unmanned aerial vehicle with a second sound collection position set as a position for collecting the sound as a target.
Unmanned aerial vehicle. The unmanned aerial vehicle flies by rotation of the rotor blades,
The movement control unit lowers the upper limit of the fluctuation of the rotational speed of the rotary blade or the upper limit of the rotational speed of the rotary blade while the sound is collected.
The unmanned aerial vehicle according to claim 1. The second sound collection position has the shortest distance from the position of the unmanned aerial vehicle among the positions where the distance from the position of the sound source to the first sound collection position is equal to the distance from the position of the sound source. Is the position
The unmanned aerial vehicle according to claim 2. The movement control unit moves the unmanned aerial vehicle with the first sound collecting position as a target after the unmanned aerial vehicle reaches the second sound collecting position.
The unmanned aerial vehicle according to claim 2 or 3. The determination unit,
In a region including the first region, a length in a first direction that is a direction approaching or moving away from the sound source from the first sound collection position is shorter than a length in a second direction that is a direction orthogonal to the first direction. Calculate a certain second area,
When it is determined that the unmanned aerial vehicle is not located in the first area, it is determined whether or not the unmanned aerial vehicle is located in the second area,
The movement control unit, when it is determined that the unmanned aerial vehicle is not located in the second area, has a higher flight force than when it is determined that the unmanned aerial vehicle is located in the second area. 2 Move the unmanned aerial vehicle with the sound collection position as a target,
The unmanned aerial vehicle according to any one of claims 2 to 4. The movement control unit stops the control for lowering the upper limit to move the unmanned aerial vehicle with the high flight force, with the second sound collecting position as a target.
The unmanned aerial vehicle according to claim 5. The determination unit, when it is determined that the unmanned aerial vehicle is not located in the second area, determines whether or not the unmanned aerial vehicle can move within the second area within a predetermined time,
The sound collection control unit cancels the sound collection when it is determined that the unmanned aerial vehicle cannot move within the second area within the predetermined time.
The unmanned air vehicle according to claim 5 or 6. The first sound collection position is a position where the sound collection is started,
The unmanned aerial vehicle according to any one of claims 2 to 7. A method for controlling an unmanned air vehicle executed by a computer, comprising:
Acquiring a first sound collection position set as a position for collecting sound by a microphone included in the unmanned air vehicle,
Obtain the position of the unmanned air vehicle,
Obtaining the position of the sound source that is the target of the sound collection,
It is determined whether or not the unmanned aerial vehicle is located in a first area, which is an area corresponding to a range of position correction in standby flight at the first sound collection position of the unmanned aerial vehicle,
When it is determined that the unmanned aerial vehicle is not located in the first area, the distance from the position of the sound source to the first sound collecting position and the distance from the position of the sound source are equal to each other. , Moving the unmanned aerial vehicle with a second sound collecting position set as a position for collecting the sound as a target,
Control method. A program for causing a computer to execute the control method according to claim 9.

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