JP2020196355A - Pilotless aircraft and pilotless aerial system - Google Patents
Pilotless aircraft and pilotless aerial system Download PDFInfo
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Abstract
Description
本発明は、無人航空機が行う無線通信の通信不良の発生を抑制する技術に関するものである。 The present invention relates to a technique for suppressing the occurrence of communication failure in wireless communication performed by an unmanned aerial vehicle.
無人航空機に関する技術としては、複数の測位衛星から受信した電波に基づいて現在位置を測位するＧＮＳＳ受信機を無人航空機に搭載し、無人航空機が、ＧＮＳＳ受信機で現在位置を測位しながら、予め設定された経路に沿って自動航行する技術が知られている（たとえば、特許文献１）。 As a technology related to unmanned aerial vehicles, a GNSS receiver that positions the current position based on radio waves received from multiple positioning satellites is mounted on the unmanned aerial vehicle, and the unmanned aerial vehicle sets the current position while positioning the current position with the GNSS receiver. A technique for automatically navigating along a route is known (for example, Patent Document 1).
また、無人航空機に関する技術としては、無人航空機が予め設定された経路に沿って自動航行しながら、無人航空機に搭載したカメラを用いて、高所の架線を上方から撮影すると共に、撮影した映像を、地上局に無線通信で転送し、地上局において映像を解析して架線の異常を検出する技術が知られている（たとえば、特許文献２）。 In addition, as a technology related to unmanned aerial vehicles, while the unmanned aerial vehicle automatically navigates along a preset route, the camera mounted on the unmanned aerial vehicle is used to shoot the overhead wire at a high place from above and the shot video. , A technique of transferring to a ground station by wireless communication and analyzing an image at the ground station to detect an abnormality of an overhead wire is known (for example, Patent Document 2).
たとえば、無人航空機を用いて架線を撮影した映像を無人航空機から地上局に無線通信で転送して検査を行う場合、無人航空機の向きをカメラで架線を撮影できる向きとすると、無線通信用のアンテナと地上局との間に、無人航空機の構成物が位置してしまい、無人航空機と地上局との間の無線通信に障害が発生することがある。 For example, when an image of an overhead wire taken with an unmanned aerial vehicle is transferred from the unmanned aerial vehicle to a ground station by wireless communication for inspection, assuming that the direction of the unmanned aerial vehicle is such that the overhead wire can be taken with the camera, an antenna for wireless communication. An unmanned aerial vehicle component may be located between the unmanned aerial vehicle and the ground station, causing a failure in wireless communication between the unmanned aerial vehicle and the ground station.
そこで、本発明は、向きが制限される態様で利用される無人航空機と、地上局との間の安定した無線通信を実現することを課題とする Therefore, it is an object of the present invention to realize stable wireless communication between an unmanned aerial vehicle used in a mode in which the orientation is restricted and a ground station.
前記課題達成のために、本発明は、地上局と無線通信を行う無人航空機に、当該無人航空機上の異なる位置に配置された複数のアンテナと、前記複数のアンテナのうちの、現時点において前記地上局に対して当該無人航空機自身によって遮られない位置にあるアンテナを現用アンテナとして設定するアンテナ設定手段と、前記現用アンテナとして設定されたアンテナを用いて前記地上局と無線通信を行う無線通信手段とを備えたものである。 In order to achieve the above object, the present invention presents an unmanned aircraft that wirelessly communicates with a ground station, a plurality of antennas arranged at different positions on the unmanned aircraft, and the above-mentioned ground among the plurality of antennas at present. An antenna setting means for setting an antenna at a position not blocked by the unmanned aircraft itself with respect to the station as a working antenna, and a wireless communication means for wirelessly communicating with the ground station using the antenna set as the working antenna. It is equipped with.
ここで、前記複数のアンテナは、当該無人航空機を上下方向にみたときに、当該無人航空機のボディを間に挟むように配置された２つのアンテナを少なくとも含むものとしてよい。 Here, the plurality of antennas may include at least two antennas arranged so as to sandwich the body of the unmanned aerial vehicle when the unmanned aerial vehicle is viewed in the vertical direction.
または、当該無人航空機を、ボディと、当該無人航空機を上下方向に見て前記ボディから外側に伸びる複数のアームと、各アームの先端に配置された回転翼とを備えたマルチコプタとし、前記複数のアンテナをそれぞれ異なるアームに配置してもよい。 Alternatively, the unmanned aerial vehicle may be a multicopter including a body, a plurality of arms extending outward from the body when the unmanned aerial vehicle is viewed in the vertical direction, and a rotary wing arranged at the tip of each arm. The antennas may be placed on different arms.
また、以上のように、ボディを間に挟むように配置された２つのアンテナを少なくとも含む複数のアンテナを設けたり、マルチコプタの異なるアームにアンテナを設けた場合には、当該、無人航空機に、当該無人航空機の現在位置を算出する現在位置算出手段と、当該無人航空機の向きを検出する姿勢検出手段を設け、前記アンテナ設定手段において、前記地上局の位置と、当該無人航空機の現在位置と、当該無人航空機の向きより、前記複数のアンテナのうちで、前記地上局に最も近い位置にあるアンテナを算定し、算定したアンテナを前記現用アンテナとして設定するようにしてもよい。
または、マルチコプタの異なるアームにアンテナを設けた場合には、無人航空機に、当該無人航空機に対する前記地上局の方向を算定する地上局方向算出手段を設け、前記アンテナ設定手段は、前記複数のアンテナのうちの、当該無人航空機のボディから地上局方向算出手段が算定した地上局の方向に最も近い方向に伸びるアームに配置されたアンテナを前記現用アンテナとして設定するようにしてもよい。
Further, as described above, when a plurality of antennas including at least two antennas arranged so as to sandwich the body are provided, or when antennas are provided on different arms of the multicopter, the unmanned aerial vehicle is concerned with the above. A current position calculating means for calculating the current position of the unmanned aerial vehicle and an attitude detecting means for detecting the direction of the unmanned aerial vehicle are provided, and in the antenna setting means, the position of the ground station, the current position of the unmanned aerial vehicle, and the said From the orientation of the unmanned aerial vehicle, the antenna closest to the ground station may be calculated from the plurality of antennas, and the calculated antenna may be set as the working antenna.
Alternatively, when antennas are provided on different arms of the multicopter, the unmanned aerial vehicle is provided with a ground station direction calculation means for calculating the direction of the ground station with respect to the unmanned aerial vehicle, and the antenna setting means is of the plurality of antennas. The antenna arranged on the arm extending from the body of the unmanned aerial vehicle in the direction closest to the direction of the ground station calculated by the ground station direction calculation means may be set as the working antenna.
また、以上のように、ボディを間に挟むように配置された２つのアンテナを少なくとも含む複数のアンテナを設けたり、マルチコプタの異なるアームにアンテナを設けた場合には、当該無人航空機の現在位置を算出する現在位置算出手段と、当該無人航空機を、予め設定された飛行計画に従った経路に沿って当該飛行計画に従った向きで自動航行させる制御装置とを備え、前記アンテナ設定手段において、前記現在位置算出手段が算出した無人航空機の現在位置と、前記飛行計画とより、現時点において前記地上局に最も近い位置にあるアンテナとして算定されるアンテナを前記現用アンテナとして設定するようにしてもよい。 Further, as described above, when a plurality of antennas including at least two antennas arranged so as to sandwich the body are provided, or when antennas are provided on different arms of the multicopter, the current position of the unmanned aircraft is determined. The antenna setting means includes a means for calculating the current position to be calculated and a control device for automatically navigating the unmanned aircraft in a direction according to the flight plan along a route according to a preset flight plan. Based on the current position of the unmanned aircraft calculated by the current position calculating means and the flight plan, the antenna calculated as the antenna closest to the ground station at the present time may be set as the working antenna.
また、以上の無人航空機において、予め設定された飛行計画に従った経路上を当該無人航空機を自動航行させる制御装置において、前記飛行計画に従った経路上の各区間と当該区間で無線通信を行う地上局との予め設定された対応に従って、前記無線通信手段で無線通信を行う地上局を、前記区間毎に切り替えるようにしてもよい。 Further, in the above unmanned aerial vehicle, the control device for automatically navigating the unmanned aerial vehicle on the route according to the preset flight plan performs wireless communication with each section on the route according to the flight plan. The ground station that performs wireless communication by the wireless communication means may be switched for each section according to a preset correspondence with the ground station.
また、以上の無人航空機にカメラを搭載し、無人航空機が備える予め設定された飛行計画に従った経路上を当該無人航空機を自動航行させる制御装置において、前記飛行計画に従って当該無人航空機を検査対象の架線に沿って当該無人航空機を自動航行させながら、前記カメラに前記検査対象の架線を撮影させ、撮影された映像を無線通信手段を介して前記地上局に無線通信で送信するようにしてもよい。
また、併せて、本発明は、前記課題達成のために、地上局と、当該地上局と無線通信を行う無人航空機とを備えた無人航空機システムを提供する。ここで、前記無人航空機は、当該無人航空機上の異なる位置に配置された複数のアンテナと、当該無人航空機の現在位置を算出する現在位置算出手段と、当該無人航空機を、予め設定された飛行計画に従った経路に沿って当該飛行計画に従った向きで自動航行させる制御装置と、前記複数のアンテナのうちの一つのアンテナを現用アンテナとして設定するアンテナ設定手段と、前記現用アンテナとして設定されたアンテナを用いて前記地上局と無線通信を行う無線通信手段とを備える。また、前記地上局は、前記無線通信を介して前記無人航空機から当該無人航空機の現在位置を取得し、取得した現在位置と前記飛行計画とが示す、前記飛行計画に従って前記無人航空機が直後に飛行することとなる区間において、前記地上局に対して当該無人航空機自身によって遮られない位置となるアンテナが、現在、前記無人航空機において現用アンテナとして設定されているアンテナと異なるアンテナであるときに、当該直後の区間において前記地上局に対して前記無人航空機自身によって遮られない位置となるアンテナの使用を前記無線通信を介して前記無人航空機に指示する遠隔指示手段を備える。そして、前記無人航空機のアンテナ設定手段は、前記地上局から前記無線通信を介して使用を指示されたアンテナに、現用アンテナとして設定するアンテナを切り替える。
In addition, in the control device that mounts the camera on the above unmanned aerial vehicle and automatically navigates the unmanned aerial vehicle on the route according to the preset flight plan provided by the unmanned aerial vehicle, the unmanned aerial vehicle is inspected according to the flight plan. While the unmanned aerial vehicle is automatically navigated along the overhead wire, the camera may photograph the overhead wire to be inspected, and the captured image may be transmitted to the ground station by wireless communication via wireless communication means. ..
In addition, the present invention also provides an unmanned aerial vehicle system including a ground station and an unmanned aerial vehicle that performs wireless communication with the ground station in order to achieve the above-mentioned problems. Here, the unmanned aerial vehicle includes a plurality of antennas arranged at different positions on the unmanned aerial vehicle, a current position calculating means for calculating the current position of the unmanned aerial vehicle, and a flight plan in which the unmanned aerial vehicle is set in advance. A control device for automatically navigating in a direction according to the flight plan along a route according to the flight plan, an antenna setting means for setting one of the plurality of antennas as a working antenna, and a setting as the working antenna. It is provided with a wireless communication means for wirelessly communicating with the ground station using an antenna. Further, the ground station acquires the current position of the unmanned aerial vehicle from the unmanned aerial vehicle via the wireless communication, and the unmanned aerial vehicle immediately flies according to the flight plan indicated by the acquired current position and the flight plan. When the antenna at a position that is not blocked by the unmanned aerial vehicle itself with respect to the ground station is different from the antenna currently set as the active antenna in the unmanned aerial vehicle. A remote instruction means for instructing the unmanned aerial vehicle to use an antenna that is not blocked by the unmanned aerial vehicle itself in the section immediately after the ground station is provided via the wireless communication. Then, the antenna setting means of the unmanned aerial vehicle switches the antenna to be set as the working antenna to the antenna instructed to be used by the ground station via the wireless communication.
以上のような無人航空機や無人航空機システムによれば、無人航空機と地上局との間の無線通信は、無人航空機が備える複数のアンテナのうちの、現時点において前記地上局に対して当該無人航空機自身によって遮られない位置にあるアンテナを用いて行われるので、無人航空機の向きに関わらずに、常に、無人航空機と地上局との間で安定した無線通信を行うことができるようになる。 According to the unmanned aerial vehicle and the unmanned aerial vehicle system as described above, the wireless communication between the unmanned aerial vehicle and the ground station is performed by the unmanned aerial vehicle itself with respect to the ground station at present among the plurality of antennas of the unmanned aerial vehicle. Since it is performed using an antenna that is not blocked by the unmanned aerial vehicle, stable wireless communication can always be performed between the unmanned aerial vehicle and the ground station regardless of the orientation of the unmanned aerial vehicle.
以上のように、本発明によれば、向きが制限される態様で利用される無人航空機と、地上局との間の安定した無線通信を実現することができる。 As described above, according to the present invention, stable wireless communication between an unmanned aerial vehicle used in a direction-restricted manner and a ground station can be realized.
以下、本発明の実施形態について高所の架線を検査する架線検査システムへの適用を例にとり説明する。
図１に、本実施形態に係る架線検査システムの構成を示す。
図示するように架線システムは、マルチコプタ１と、基地局２と、プロポやGCS（Ground Control Station）などと呼称される、マルチコプタ１の無線遠隔操操作を行う遠隔操作装置３とを備えている。
Hereinafter, an embodiment of the present invention will be described by taking as an example an application to an overhead wire inspection system for inspecting an overhead wire at a high place.
FIG. 1 shows the configuration of the overhead wire inspection system according to the present embodiment.
As shown in the figure, the overhead wire system includes a multicopter 1, a base station 2, and a remote control device 3 called a radio or a GCS (Ground Control Station) that performs wireless remote control of the multicopter 1.
マルチコプタ１と基地局２とは、無線通信を行うことができ、マルチコプタ１は予め設定された検査対象の架線に沿った経路を飛行し、架線を撮影した映像や、マルチコプタ１に搭載した各種センサで検出したデータであるセンサデータを基地局２に無線通信を介して送信する。 Wireless communication can be performed between the multicopter 1 and the base station 2, and the multicopter 1 flies along a preset overhead line to be inspected, and images of the overhead line and various sensors mounted on the multicopter 1 are used. The sensor data, which is the data detected in the above, is transmitted to the base station 2 via wireless communication.
基地局２は、マルチコプタ１から送信された映像やセンサデータからマルチコプタ１の状態を監視すると共に、オペレータの操作等に応じて、マルチコプタ１の各種動作を無線通信を介して制御する。また、基地局２は、マルチコプタ１から送信された映像やセンサデータから、架線の正常性を解析する処理を行う。 The base station 2 monitors the state of the multicopter 1 from the video and sensor data transmitted from the multicopter 1, and controls various operations of the multicopter 1 via wireless communication in response to an operator's operation or the like. Further, the base station 2 performs a process of analyzing the normality of the overhead wire from the video and the sensor data transmitted from the multicopter 1.
次に、遠隔操作装置３は、マルチコプタ１と基地局２との間の無線通信とは異なる周波数帯の無線通信をマルチコプタ１と行い、遠隔操作装置３のオペレータは遠隔操作装置３を用いてマルチコプタ１を遠隔操作することができる。 Next, the remote control device 3 performs wireless communication in a frequency band different from the wireless communication between the multicopter 1 and the base station 2 with the multicopter 1, and the operator of the remote control device 3 uses the remote control device 3 to perform wireless communication with the multicopter 1. 1 can be operated remotely.
マルチコプタ１は、図２ａの斜視図、図２ｂの上面図に示すように、中央のボディ１１と、ボディ１１の周りに上下方向から見て９０度の角度間隔で配置された四方に伸びるアーム１２と、各アーム１２先端に配置された４つの回転翼１３を備えた無人運転型の飛行装置であり、ボディ１１の下部には、ジンバル１４が連結されており、このジンバル１４によってカメラ１５が向きを可変に支持されている。 As shown in the perspective view of FIG. 2a and the top view of FIG. 2b, the multicopter 1 includes a central body 11 and arms 12 extending in all directions arranged around the body 11 at an angular interval of 90 degrees when viewed from above and below. It is an unmanned flight device equipped with four rotors 13 arranged at the tip of each arm 12, and a gimbal 14 is connected to the lower part of the body 11, and the camera 15 is directed by the gimbal 14. Is variably supported.
次に、図３に、マルチコプタ１の機能構成を示す。
図示するように、マルチコプタ１は、基地局２との無線通信に選択的に用いられる４本のアンテナ１０１、基地局２と無線通信を行う無線通信部１０２、無線通信部１０２が基地局２と無線通信に用いるアンテナ１０１を切り替えるアンテナセレクタ１０３、遠隔操作装置３との無線通信に用いられる遠隔操作用アンテナ１０４、遠隔操作用アンテナ１０４を用いて遠隔操作装置３と遠隔操作用の無線通信を行う遠隔操作用無線通信部１０５を備えている。
Next, FIG. 3 shows the functional configuration of the multicopter 1.
As shown in the figure, the multicopter 1 includes four antennas 101 selectively used for wireless communication with the base station 2, a wireless communication unit 102 that wirelessly communicates with the base station 2, and a wireless communication unit 102 with the base station 2. Wireless communication for remote operation with the remote control device 3 is performed using the antenna selector 103 for switching the antenna 101 used for wireless communication, the remote control antenna 104 used for wireless communication with the remote control device 3, and the remote control antenna 104. A wireless communication unit 105 for remote operation is provided.
また、マルチコプタ１は、ジンバル１４を駆動しカメラ１５の向きを設定するジンバル駆動部１０６、回転翼１３を回転駆動するロータ駆動部１０７、メモリ１０８を備えている。 Further, the multicopter 1 includes a gimbal drive unit 106 that drives the gimbal 14 and sets the direction of the camera 15, a rotor drive unit 107 that rotationally drives the rotor blades 13, and a memory 108.
また、マルチコプタ１は、上述したセンサとして、マルチコプタ１の外部を撮影し撮影した画像から外部の物体に対するマルチコプタ１の動きを検出するオプティカルフロー装置１０９、マルチコプタ１の角速度を検出するジャイロセンサ１１０、気圧を検出する気圧センサ１１１、方位を検出する方位センサ１１２、測位衛星を用いた衛星測位によって現在位置を算出するＧＮＳＳ受信機１１３、レーザーをマルチコプタ１の下方に反射しマルチコプタ１の下方にある物体の三次元位置を計測するＬＩＤＥＲ１１４（Light Detection And Ranging）、レーザーをマルチコプタ１の下方に反射しマルチコプタ１の下方にある物体までの距離を計測するＬＲＦ１１５（Laser Range Finder１１５）を備えている。 Further, as the above-mentioned sensors, the multicopter 1 includes an optical flow device 109 that detects the movement of the multicopter 1 with respect to an external object from an image taken by photographing the outside of the multicopter 1, a gyro sensor 110 that detects the angular velocity of the multicopter 1, and an atmospheric pressure. The pressure sensor 111 that detects the direction, the orientation sensor 112 that detects the orientation, the GNSS receiver 113 that calculates the current position by satellite positioning using a positioning satellite, and the object that reflects the laser below the multicopter 1 and is below the multicopter 1. It is equipped with a LIDER 114 (Light Detection And Ranging) that measures a three-dimensional position, and an LRF 115 (Laser Range Finder 115) that reflects a laser below the multicopter 1 and measures the distance to an object below the multicopter 1.
また、マルチコプタ１は、マルチコプタ１の以上の各部を制御する制御装置１１６を備えている。
このようなマルチコプタ１の構成において、制御装置１１６は、メモリ１０８に予め設定されている飛行の経路、速度、姿勢(向き）を規定するフライトデータと、ＧＮＳＳ受信機１１３で算出されるマルチコプタ１の現在位置と、オプティカルフロー装置１０９、ジャイロセンサ１１０、気圧センサ１１１、方位センサ１１２の検出結果を用いて、マルチコプタ１がフライトデータで規定された経路を、フライトデータで規定された姿勢(向き）、速度で飛行するようにロータ駆動部１０７に回転翼１３を回転駆動させる。
ここで、フライトデータが規定する経路には、検査対象の架線に沿って飛行する経路部分が含まれる。また、フライトデータが規定する、検査対象の架線に沿って飛行する期間中のマルチコプタ１の姿勢(向き）は、カメラ１５で架線を撮影できる姿勢、すなわち、たとえば、経緯度方向についてのカメラ１５の撮影可能な範囲の中心が架線方向を向いた姿勢となる。
Further, the multicopter 1 includes a control device 116 that controls each of the above parts of the multicopter 1.
In such a configuration of the multicopter 1, the control device 116 includes flight data that defines a flight path, speed, and attitude (direction) preset in the memory 108, and the multicopter 1 calculated by the GNSS receiver 113. Using the current position and the detection results of the optical flow device 109, the gyro sensor 110, the pressure sensor 111, and the orientation sensor 112, the multicopter 1 uses the route defined by the flight data, and the posture (direction) defined by the flight data. The rotary blade 13 is rotationally driven by the rotor drive unit 107 so as to fly at a speed.
Here, the route defined by the flight data includes a route portion that flies along the overhead wire to be inspected. Further, the attitude (orientation) of the multicopter 1 during the period of flying along the overhead wire to be inspected, which is defined by the flight data, is the attitude in which the overhead wire can be photographed by the camera 15, that is, for example, the attitude of the camera 15 in the latitude and longitude direction. The center of the photographable range is oriented toward the overhead line.
また、制御装置１１６は、メモリ１０８に予め撮影データとして設定されている撮影計画と、ＬＩＤＥＲ１１４やＬＲＦ１１５を用いて検出した架線の位置とを用いて、ジンバル駆動部１０６やカメラ１５を制御して、検査対象の架線の撮影を行う。 Further, the control device 116 controls the gimbal drive unit 106 and the camera 15 by using the shooting plan set in the memory 108 as shooting data in advance and the position of the overhead wire detected by using the LIDER 114 and the LRF 115. Take a picture of the overhead wire to be inspected.
そして、制御装置１１６は、無線通信部１０２を介して、カメラ１５で撮影した映像や各センサで検出したセンサデータを基地局２に送信する処理を行う。
また、制御装置１１６は、無線通信部１０２や遠隔操作用無線通信部１０５が、基地局２から遠隔操作装置３から受信した遠隔操作指示に応じた動作をマルチコプタ１が行うように、ロータ駆動部１０７の回転翼１３の回転駆動を制御する。
Then, the control device 116 performs a process of transmitting the image captured by the camera 15 and the sensor data detected by each sensor to the base station 2 via the wireless communication unit 102.
Further, the control device 116 is a rotor drive unit so that the wireless communication unit 102 and the remote control wireless communication unit 105 operate according to the remote control instruction received from the remote control device 3 from the base station 2 so that the multicopter 1 performs an operation. It controls the rotational drive of the rotary blade 13 of 107.
次に、図２ａ、ｂに示すように、基地局２と無線通信に選択的に用いられる４本のアンテナ１０１は、４本のアーム１２の各々に対応し、各アンテナ１０１は対応するアーム１２の下部に下方に伸びるように配置されている。 Next, as shown in FIGS. 2a and 2b, the four antennas 101 selectively used for wireless communication with the base station 2 correspond to each of the four arms 12, and each antenna 101 corresponds to the corresponding arm 12. It is arranged so as to extend downward at the bottom of the.
さて、制御装置１１６は、無線通信部１０２が基地局２と無線通信に用いるアンテナ１０１の切り替えのために、アンテナ切替処理を実行する。
図４に、アンテナ切替処理の手順を示す。
図示するように、制御装置１１６は、アンテナ切替処理において、ＧＮＳＳ受信機１１３で算出されるマルチコプタ１の現在位置と、ＧＮＳＳ受信機１１３や方位センサ１１２で検出されたマルチコプタ１の現在の姿勢（向き）と、メモリ１０８に予め設定されている基地局２の座標とを取得する（ステップ４０２）。
By the way, the control device 116 executes the antenna switching process for switching the antenna 101 used for wireless communication between the base station 2 and the wireless communication unit 102.
FIG. 4 shows the procedure of the antenna switching process.
As shown in the figure, the control device 116 has the current position of the multicopter 1 calculated by the GNSS receiver 113 and the current posture (direction) of the multicopter 1 detected by the GNSS receiver 113 and the orientation sensor 112 in the antenna switching process. ) And the coordinates of the base station 2 preset in the memory 108 (step 402).
また、マルチコプタ１の現在位置と、マルチコプタ１の現在の姿勢（向き）と、基地局２の座標とから、基地局２に最も近い位置にあるアンテナ１０１を算定する（ステップ４０４）。 Further, the antenna 101 closest to the base station 2 is calculated from the current position of the multicopter 1, the current posture (orientation) of the multicopter 1, and the coordinates of the base station 2 (step 404).
そして、算定したアンテナ１０１が、無線通信部１０２が基地局２と無線通信に現在用いているアンテナ１０１と同じアンテナ１０１であるかどうかを調べ（ステップ４０６）、同じアンテナ１０１であればステップ４０２からの処理に戻る。 Then, it is checked whether the calculated antenna 101 is the same antenna 101 as the antenna 101 currently used for wireless communication with the base station 2 by the wireless communication unit 102 (step 406), and if it is the same antenna 101, from step 402. Return to the processing of.
一方、算定したアンテナ１０１が、無線通信部１０２が基地局２と無線通信に現在用いているアンテナ１０１と異なるアンテナ１０１であれば（ステップ４０６）、アンテナセレクタ１０３に、算定したアンテナ１０１に無線通信部１０２が基地局２と無線通信に用いるアンテナ１０１を切り替えさせ（ステップ４０８）、ステップ４０２からの処理に戻る。 On the other hand, if the calculated antenna 101 is an antenna 101 different from the antenna 101 currently used for wireless communication with the base station 2 by the wireless communication unit 102 (step 406), the antenna selector 103 is used for wireless communication with the calculated antenna 101. The unit 102 switches between the base station 2 and the antenna 101 used for wireless communication (step 408), and returns to the process from step 402.
このようなアンテナ切替処理によれば、図５ａ１、ａ２、ａ３、ａ４に模式的に示すように、各時点のマルチコプタ１の向きとマルチコプタ１と基地局２の相対的な位置関係に応じて、４本のアンテナ１０１のうちの、その時点において、基地局２に最も近い位置にあるアンテナ１０１を用いて、マルチコプタ１と基地局２との無線通信が行われる。 According to such an antenna switching process, as schematically shown in FIGS. 5a1, a2, a3, and a4, depending on the orientation of the multicopter 1 at each time point and the relative positional relationship between the multicopter 1 and the base station 2. Of the four antennas 101, the antenna 101 closest to the base station 2 at that time is used to perform wireless communication between the multicopter 1 and the base station 2.
そして、図２に示した４本のアンテナ１０１の配置において、基地局２に最も近い位置にあるアンテナ１０１は、基地局２との間にマルチコプタ１のボディ１１やカメラ１５などのマルチコプタ１の構成物が位置することはないアンテナ１０１となるので、マルチコプタ１の構成物に遮られることなく、マルチコプタ１と基地局２との無線通信が安定的に行われることとなる。 Then, in the arrangement of the four antennas 101 shown in FIG. 2, the antenna 101 located at the position closest to the base station 2 has a configuration of the multicopter 1 such as the body 11 of the multicopter 1 and the camera 15 between the antenna 101 and the base station 2. Since the antenna 101 is located on which no object is located, wireless communication between the multicopter 1 and the base station 2 can be stably performed without being obstructed by the components of the multicopter 1.
なお、無線通信部１０２が基地局２と無線通信に用いるアンテナ１０１の切替は、次のように行うようにしても等価である。
すなわち、制御装置１１６において、メモリ１０８に予め設定されている基地局２の座標と、ＧＮＳＳ受信機１１３で算出されるマルチコプタ１の現在位置と、マルチコプタ１の現在の姿勢（向き）とから、基地局２がマルチコプタ１に対して、どの方向にあるかを算定すると共に、マルチコプタ１の中心から見て基地局２の方向に最も近い方向にあるアンテナ１０１を算定し、算定したアンテナ１０１が現在、無線通信部１０２が基地局２と無線通信に用いているアンテナ１０１と異なるアンテナ１０１であれば、アンテナセレクタ１０３に、算定したアンテナ１０１に無線通信部１０２が基地局２と無線通信に用いるアンテナ１０１を切り替えさせる処理を繰り返し行う。
The switching between the base station 2 and the antenna 101 used by the wireless communication unit 102 for wireless communication is equivalent even if it is performed as follows.
That is, in the control device 116, the base is based on the coordinates of the base station 2 preset in the memory 108, the current position of the multicopter 1 calculated by the GNSS receiver 113, and the current posture (direction) of the multicopter 1. The direction of the station 2 with respect to the multicopter 1 is calculated, and the antenna 101 closest to the direction of the base station 2 when viewed from the center of the multicopter 1 is calculated, and the calculated antenna 101 is currently used. If the wireless communication unit 102 has an antenna 101 different from the antenna 101 used for wireless communication with the base station 2, the antenna selector 103 uses the calculated antenna 101, and the wireless communication unit 102 uses the antenna 101 for wireless communication with the base station 2. The process of switching is repeated.
この結果、図５ｂに示すように、経緯度方向のみを考えた場合に、マルチコプタ１の中心から見てアンテナ１０１_１を中心とする９０度の角度範囲Ｂ１の範囲内に、マルチコプタ１から見た基地局２の方向があれば、アンテナ１０１_１が無線通信部１０２が基地局２と無線通信に用いるアンテナとなり、マルチコプタ１の中心から見てアンテナ１０１_２を中心とする９０度の角度範囲Ｂ２の範囲内に、マルチコプタ１から見た基地局２の方向があれば、アンテナ１０１_２が無線通信部１０２が基地局２と無線通信に用いるアンテナとなり、マルチコプタ１の中心から見てアンテナ１０１_３を中心とする９０度の角度範囲Ｂ３の範囲内に、マルチコプタ１から見た基地局２の方向があれば、アンテナ１０１_３が無線通信部１０２が基地局２と無線通信に用いるアンテナとなり、マルチコプタ１の中心から見てアンテナ１０１_４を中心とする９０度の角度範囲Ｂ４の範囲内に、マルチコプタ１から見た基地局２の方向があれば、アンテナ１０１_４が無線通信部１０２が基地局２と無線通信に用いるアンテナとなる。 As a result, as shown in FIG. 5b, when considering only the longitude-latitude direction, the base seen from the multicopter 1 is within the range of the 90-degree angle range B1 centered on the antenna 101_1 when viewed from the center of the multicopter 1. If there is a direction of the station 2, the antenna 101_1 becomes an antenna used by the wireless communication unit 102 for wireless communication with the base station 2, and is within a 90-degree angle range B2 centered on the antenna 101_2 when viewed from the center of the multicopter 1. If there is a direction of the base station 2 as seen from the multicopter 1, the antenna 101_2 becomes an antenna used by the wireless communication unit 102 for wireless communication with the base station 2, and the antenna 101_3 is 90 degrees as viewed from the center of the multicopter 1. If the direction of the base station 2 as seen from the multicopter 1 is within the range of the angle range B3, the antenna 101_3 becomes the antenna used by the wireless communication unit 102 for wireless communication with the base station 2, and the antenna 101_4 is viewed from the center of the multicopter 1. If the direction of the base station 2 as seen from the multicopter 1 is within the range of the 90-degree angle range B4 centered on the above, the antenna 101_4 becomes the antenna used by the wireless communication unit 102 for wireless communication with the base station 2.
以上、本発明の実施形態について説明した。
ここで、以上の実施形態におけるアンテナ切替処理に代えて、以下のアンテナ遠隔切替動作を行うようにしてもよい。
すなわち、このアンテナ遠隔切替動作においては、基地局２はマルチコプタ１に設定したフライトデータを解析し、フライトデータに従ってマルチコプタ１が飛行した場合に、基地局２に最も近くなるアンテナ１０１が変化しないフライトデータが規定する経路中の区間毎に、当該区間で基地局２に最も近くなるアンテナ１０１を算定する。そして、基地局２は、マルチコプタ１から無線通信を介して、マルチコプタ１の現在位置を取得しながら、マルチコプタ１が基地局２に最も近くなるアンテナ１０１が変化しない区間の終点に近づいたならば、次に飛行する区間において基地局２に最も近くなるアンテナ１０１の使用を無線通信を介してマルチコプタ１に指示する。そして、マルチコプタ１の制御装置１１６は、アンテナセレクタ１０３に、基地局２から使用を指示されたアンテナ１０１に無線通信部１０２が基地局２と無線通信に用いるアンテナ１０１を切り替えさせる。
The embodiment of the present invention has been described above.
Here, instead of the antenna switching process in the above embodiment, the following antenna remote switching operation may be performed.
That is, in this antenna remote switching operation, the base station 2 analyzes the flight data set in the multicopter 1, and when the multicopter 1 flies according to the flight data, the flight data in which the antenna 101 closest to the base station 2 does not change. For each section in the route defined by, the antenna 101 closest to the base station 2 in the section is calculated. Then, if the base station 2 acquires the current position of the multicopter 1 from the multicopter 1 via wireless communication, and the multicopter 1 approaches the end point of the section in which the antenna 101 closest to the base station 2 does not change, Instruct the multicopter 1 to use the antenna 101, which is closest to the base station 2 in the next flight section, via wireless communication. Then, the control device 116 of the multicopter 1 causes the antenna selector 103 to switch between the base station 2 and the antenna 101 used for wireless communication by the antenna 101 instructed to use by the base station 2.
または、以上の実施形態におけるアンテナ切替処理に代えて、以下のアンテナ切替動作を行うようにしてもよい。
すなわち、このアンテナ切替動作においては、基地局２は、マルチコプタ１の飛行開始に先立って、マルチコプタ１に設定したフライトデータを解析し、フライトデータに従ってマルチコプタ１が飛行した場合に、フライトデータが規定する経路中の基地局２に最も近くなるアンテナ１０１が変化しない区間毎に、当該区間で基地局２に最も近くなるアンテナ１０１を算定し、マルチコプタ１のメモリ１０８にアンテナ切替データとして設定する。そして、マルチコプタ１の制御装置１１６は、マルチコプタ１の現在位置を取得しながら、アンテナセレクタ１０３を制御して、アンテナ切替データが示す、現在飛行中の区間において基地局２に最も近くなるアンテナ１０１に無線通信部１０２が基地局２と無線通信に用いるアンテナ１０１を切り替えさせる。
Alternatively, the following antenna switching operation may be performed instead of the antenna switching process in the above embodiment.
That is, in this antenna switching operation, the base station 2 analyzes the flight data set in the multicopter 1 prior to the start of the flight of the multicopter 1, and when the multicopter 1 flies according to the flight data, the flight data is defined. For each section in which the antenna 101 closest to the base station 2 in the route does not change, the antenna 101 closest to the base station 2 in the section is calculated and set as antenna switching data in the memory 108 of the multicopter 1. Then, the control device 116 of the multicopter 1 controls the antenna selector 103 while acquiring the current position of the multicopter 1, and becomes the antenna 101 closest to the base station 2 in the currently in-flight section indicated by the antenna switching data. The wireless communication unit 102 switches between the base station 2 and the antenna 101 used for wireless communication.
また、以上の実施形態では、マルチコプタ１の無線通信部１０２が基地局２とのみ無線通信を行う場合について示したが、これは、マルチコプタ１の無線通信部１０２が無線通信を行う相手を飛行中に切り替えるようにしてもよい。 Further, in the above embodiment, the case where the wireless communication unit 102 of the multicopter 1 performs wireless communication only with the base station 2 has been shown, but this is a case where the wireless communication unit 102 of the multicopter 1 is flying a partner with which wireless communication is performed. You may switch to.
すなわち、たとえば、図６に示すようにマルチコプタ１が位置Ｐ１から離陸し、位置Ｐ２を経由して、検査対象の架線の始点Ｐ３まで飛行し、検査対象の架線に沿って、Ｐ３からＰ４、Ｐ５と移動しながら架線を撮影し、検査対象の架線の終点Ｐ５から位置Ｐ６を経由して位置Ｐ１に帰着して着陸する場合には、検査対象の架線を撮影する位置Ｐ３から終点Ｐ５の間の区間を飛行中は、マルチコプタ１の無線通信部１０２は、基地局２に最も近いアンテナ１０１を用いて基地局２に映像やセンサデータを送信し、検査対象の架線に向かって位置Ｐ１からＰ３の区間を飛行中の期間と、検査対象の架線の終点Ｐ５から位置Ｐ１の区間を帰着のために飛行中の期間は、マルチコプタ１の無線通信部１０２は、遠隔操作装置３に最も近いアンテナ１０１を用いて遠隔操作装置３に映像やセンサデータを送信して、遠隔操作装置３のオペレータのマルチコプタ１の遠隔操作の用に供するようにしてもよい。 That is, for example, as shown in FIG. 6, the multicopter 1 takes off from the position P1, flies to the starting point P3 of the overhead wire to be inspected via the position P2, and runs from P3 to P4 and P5 along the overhead wire to be inspected. When taking a picture of the overhead wire while moving and returning to the position P1 from the end point P5 of the overhead line to be inspected via the position P6 and landing, the distance between the position P3 and the end point P5 where the overhead wire to be inspected is photographed. While flying in the section, the radio communication unit 102 of the multicopter 1 transmits video and sensor data to the base station 2 using the antenna 101 closest to the base station 2, and the positions P1 to P3 are directed toward the overhead line to be inspected. During the period of flight in the section and the period of flight to return the section from the end point P5 of the overhead wire to be inspected to the position P1, the radio communication unit 102 of the multicopter 1 uses the antenna 101 closest to the remote control device 3. It may be used to transmit video or sensor data to the remote control device 3 for remote control of the multicopter 1 of the operator of the remote control device 3.
ここで、どの区間で、基地局２と遠隔操作装置３のいずれを無線通信の相手としてマルチコプタ１の無線通信部１０２が無線通信を行うかは、予めマルチコプタ１のメモリ１０８に区間と無線通信の相手との対応を設定しておき、制御装置１１６において、飛行中の区間に応じて、無線通信を行う相手を切り替えるようにする。 Here, in which section the base station 2 or the remote control device 3 is used as the wireless communication partner for the wireless communication unit 102 of the multicopter 1 to perform wireless communication, the section and the wireless communication are determined in advance in the memory 108 of the multicopter 1. Correspondence with the other party is set, and the control device 116 switches the other party to perform wireless communication according to the section during flight.
または、たとえば、図７に示すように、二つの基地局２_１、基地局２_２を設け、マルチコプタ１が位置Ｐ１から離陸し、検査対象の架線の始点Ｐ２まで飛行し、検査対象の架線に沿って、Ｐ２からＰ３、Ｐ４、Ｐ５と移動しながら架線を撮影し、検査対象の架線の終点Ｐ５から山Ｍを迂回し経路で位置Ｐ６、Ｐ７を経由して位置Ｐ１に帰着して着陸する場合において、位置Ｐ４-Ｐ７の区間において、基地局２_１から見てマルチコプタ１が山Ｍの陰となって基地局２_１とマルチコプタ１との無線通信が不能となる一方で、位置Ｐ４-Ｐ７の区間において、基地局２_２とマルチコプタ１との無線通信が可能であるときには、位置Ｐ１から位置Ｐ４の間の区間及び位置Ｐ７からＰ１の区間を飛行中は、マルチコプタ１の無線通信部１０２は、基地局２_１に最も近いアンテナ１０１を用いて基地局２_１に映像やセンサデータを送信し、位置Ｐ４-Ｐ７の区間を飛行中は、マルチコプタ１の無線通信部１０２は、基地局２_２に最も近いアンテナ１０１を用いて基地局２_２に映像やセンサデータを送信するようにしてもよい。 Alternatively, for example, as shown in FIG. 7, two base stations 2_1 and base station 2_2 are provided, and the multicopter 1 takes off from the position P1, flies to the starting point P2 of the overhead wire to be inspected, and runs along the overhead wire to be inspected. , P2 to P3, P4, P5, take a picture of the overhead line, bypass the mountain M from the end point P5 of the overhead line to be inspected, and return to position P1 via positions P6 and P7 and land. , In the section of positions P4-P7, the multicopter 1 is behind the mountain M when viewed from the base station 2_1, and wireless communication between the base station 2_1 and the multicopter 1 becomes impossible, while in the section of positions P4-P7, When wireless communication between the base station 2_2 and the multicopter 1 is possible, the wireless communication unit 102 of the multicopter 1 is connected to the base station 2_1 while flying in the section between the positions P1 and P4 and the section between the positions P7 and P1. Video and sensor data are transmitted to base station 2_1 using the closest antenna 101, and while flying in the section of positions P4-P7, the radio communication unit 102 of multicopter 1 uses the antenna 101 closest to base station 2_2. Video and sensor data may be transmitted to the base station 2_2.
なお、この場合も、どの区間で、どの基地局２とマルチコプタ１の無線通信部１０２が無線通信を行うかは、予めマルチコプタ１のメモリ１０８に区間と無線通信の相手となる基地局２との対応を設定しておき、制御装置１１６において、飛行中の区間に応じて、無線通信を行う基地局２を切り替えるようにする。 In this case as well, which base station 2 and the wireless communication unit 102 of the multicopter 1 perform wireless communication in which section is determined in advance in the memory 108 of the multicopter 1 by the section and the base station 2 which is the partner of the wireless communication. Correspondence is set, and the control device 116 switches the base station 2 that performs wireless communication according to the section during flight.
また、以上の実施形態では、無線通信部１０２が基地局２と無線通信に用いるアンテナ１０１のみを４本設けて、これを切り替えて使用するようにしたが、以上の実施形態は、図８に示すように、遠隔操作用無線通信部１０５が遠隔操作装置３との無線通信に用いる遠隔操作用アンテナ１０４についても、これを４本設けて、マルチコプタ１と遠隔操作装置３との位置関係に応じて、遠隔操作装置３に最も近い位置にある遠隔操作用アンテナ１０４が遠隔操作装置３との無線通信に用いられるように切り替えて使用してもよい。 Further, in the above embodiment, the wireless communication unit 102 provides only four antennas 101 used for wireless communication with the base station 2, and switches between them for use. However, the above embodiment is shown in FIG. As shown, the remote control antenna 104 used by the remote control wireless communication unit 105 for wireless communication with the remote control device 3 is also provided with four antennas according to the positional relationship between the multicopter 1 and the remote control device 3. Therefore, the remote control antenna 104 located closest to the remote control device 3 may be switched and used so as to be used for wireless communication with the remote control device 3.
なお、以上の実施形態では、無人航空機が４つのアーム１２と４つの回転翼１３を備えたマルチコプターである場合について示したが、本実施形態は、本実施形態と異なる配置や数のアーム１２と回転翼１３を備えたマルチコプターである無人航空機や、無人ヘリコプターや無人固定翼機などのマルチコプター以外の他のタイプの無人航空機についても、無人航空機の中心の左右側や前後左右側に各々アンテナを設けること等により、同様に適用することができる。 In the above embodiment, the case where the unmanned aerial vehicle is a multicopter provided with four arms 12 and four rotary wings 13 has been shown, but this embodiment has a different arrangement and number of arms 12 from the present embodiment. For unmanned aerial vehicles, which are multicopters equipped with a rotating wing 13 and other types of unmanned aerial vehicles other than multicopters, such as unmanned helicopters and unmanned fixed wing aircraft, It can be applied in the same manner by providing an antenna or the like.
ただし、この場合には、以上の実施形態のように、基地局２や遠隔操作装置３等の無線通信の相手に最も近い位置にあるアンテナ１０１が、無線通信の相手に対して無人航空機自身によって遮られることのないアンテナ１０１とならない場合には、以上の実施形態における相手に最も近い位置にあるアンテナ１０１を無線通信の相手に対して無人航空機自身によって遮られることのないアンテナ１０１として算定して無線通信に用いる処理に代えて、無人航空機と無線通信の相手との位置関係や無人航空機の向きから、その無人航空機の形状や、その無人航空機における複数のアンテナ１０１の配置に応じて、無線通信の相手との間に無人航空機の構成物が位置することのないアンテナ１０１を、無線通信の相手に対して無人航空機自身によって遮られることのないアンテナ１０１として算定して無線通信に用いる処理を行うようにする。
また、以上では、高所の架線を検査する架線検査システムへの適用を例にとり説明したが、本実施形態の複数のアンテナを切り替えながら無人航空機が無線通信を行う技術は、無線通信を行わせながら無人航空機を運用する任意のシステムに同様に適用することができる。
However, in this case, as in the above embodiment, the antenna 101 located closest to the wireless communication partner such as the base station 2 or the remote control device 3 is operated by the unmanned aircraft itself with respect to the wireless communication partner. If the antenna 101 is not blocked, the antenna 101 closest to the other party in the above embodiment is calculated as the antenna 101 that is not blocked by the unmanned aircraft itself with respect to the wireless communication partner. Instead of the processing used for wireless communication, wireless communication is performed according to the shape of the unmanned aircraft and the arrangement of a plurality of antennas 101 in the unmanned aircraft, depending on the positional relationship between the unmanned aircraft and the wireless communication partner and the orientation of the unmanned aircraft. An antenna 101 in which a component of an unmanned aircraft is not located between the other party and the other party is calculated as an antenna 101 that is not blocked by the unmanned aircraft itself with respect to the other party of wireless communication, and is used for wireless communication. To do so.
Further, in the above, the application to the overhead wire inspection system for inspecting the overhead wire in a high place has been described as an example, but the technique of performing wireless communication by an unmanned aerial vehicle while switching a plurality of antennas of the present embodiment is to perform wireless communication. However, it can be similarly applied to any system operating an unmanned aerial vehicle.
１…マルチコプタ、２…基地局、３…遠隔操作装置、１１…ボディ、１２…アーム、１３…回転翼、１４…ジンバル、１５…カメラ、１０１…アンテナ、１０２…無線通信部、１０３…アンテナセレクタ、１０４…遠隔操作用アンテナ、１０５…遠隔操作用無線通信部、１０６…ジンバル駆動部、１０７…ロータ駆動部、１０８…メモリ、１０９…オプティカルフロー装置、１１０…ジャイロセンサ、１１１…気圧センサ、１１２…方位センサ、１１３…ＧＮＳＳ受信機、１１４…ＬＩＤＥＲ、１１５…ＬＲＦ、１１６…制御装置。 1 ... Multicopter, 2 ... Base station, 3 ... Remote control device, 11 ... Body, 12 ... Arm, 13 ... Rotating wing, 14 ... Gimbal, 15 ... Camera, 101 ... Antenna, 102 ... Wireless communication unit, 103 ... Antenna selector , 104 ... Remote control antenna, 105 ... Remote control wireless communication unit, 106 ... Gimbal drive unit, 107 ... Rotor drive unit, 108 ... Memory, 109 ... Optical flow device, 110 ... Gyro sensor, 111 ... Pressure sensor, 112 ... Orientation sensor, 113 ... GNSS receiver, 114 ... LIDER, 115 ... LRF, 116 ... control device.
Claims (11)
当該無人航空機上の異なる位置に配置された複数のアンテナと、
前記複数のアンテナのうちの、現時点において前記地上局に対して当該無人航空機自身によって遮られない位置にあるアンテナを現用アンテナとして設定するアンテナ設定手段と、
前記現用アンテナとして設定されたアンテナを用いて前記地上局と無線通信を行う無線通信手段とを有することを特徴とする無人航空機。 An unmanned aerial vehicle that communicates wirelessly with a ground station
With multiple antennas located at different locations on the drone,
Among the plurality of antennas, an antenna setting means for setting an antenna at a position that is not blocked by the unmanned aerial vehicle itself with respect to the ground station as a working antenna at present,
An unmanned aerial vehicle characterized by having a wireless communication means for wirelessly communicating with the ground station using an antenna set as the working antenna.
前記複数のアンテナは、当該無人航空機を上下方向にみたときに、当該無人航空機のボディを間に挟むように配置された２つのアンテナを少なくとも含むことを特徴とする無人航空機。 The unmanned aerial vehicle according to claim 1.
The plurality of antennas include at least two antennas arranged so as to sandwich the body of the unmanned aerial vehicle when the unmanned aerial vehicle is viewed in the vertical direction.
当該無人航空機は、ボディと、当該無人航空機を上下方向に見て前記ボディから外側に伸びる複数のアームと、各アームの先端に配置された回転翼とを備えたマルチコプタであり、
前記複数のアンテナはそれぞれ異なるアームに配置されていることを特徴とする無人航空機。 The unmanned aerial vehicle according to claim 1.
The unmanned aerial vehicle is a multicopter having a body, a plurality of arms extending outward from the body when the unmanned aerial vehicle is viewed in the vertical direction, and a rotary wing arranged at the tip of each arm.
An unmanned aerial vehicle characterized in that the plurality of antennas are arranged on different arms.
当該無人航空機の現在位置を算出する現在位置算出手段と、
当該無人航空機の向きを検出する姿勢検出手段とを有し、
前記アンテナ設定手段は、前記地上局の位置と、当該無人航空機の現在位置と、当該無人航空機の向きより、前記複数のアンテナのうちで、前記地上局に最も近い位置にあるアンテナを算定し、算定したアンテナを前記現用アンテナとして設定することを特徴とする無人航空機。 The unmanned aerial vehicle according to claim 2 or 3,
The current position calculation means for calculating the current position of the unmanned aerial vehicle and
It has an attitude detecting means for detecting the direction of the unmanned aerial vehicle.
The antenna setting means calculates the antenna closest to the ground station among the plurality of antennas based on the position of the ground station, the current position of the unmanned aerial vehicle, and the orientation of the unmanned aerial vehicle. An unmanned aerial vehicle characterized in that the calculated antenna is set as the working antenna.
当該無人航空機に対する前記地上局の方向を算定する地上局方向算出手段を有し、
前記アンテナ設定手段は、前記複数のアンテナのうちの、当該無人航空機のボディから地上局方向算出手段が算定した地上局の方向に最も近い方向に伸びるアームに配置されたアンテナを前記現用アンテナとして設定することを特徴とする無人航空機。 The unmanned aerial vehicle according to claim 3,
It has a ground station direction calculation means for calculating the direction of the ground station with respect to the unmanned aerial vehicle.
The antenna setting means sets the antenna arranged on the arm extending from the body of the unmanned aerial vehicle in the direction closest to the direction of the ground station calculated by the ground station direction calculation means as the working antenna among the plurality of antennas. An unmanned aerial vehicle characterized by
当該無人航空機の現在位置を算出する現在位置算出手段と、
当該無人航空機を、予め設定された飛行計画に従った経路に沿って当該飛行計画に従った向きで自動航行させる制御装置とを備え、
前記アンテナ設定手段は、前記現在位置算出手段が算出した無人航空機の現在位置と、前記飛行計画とより、現時点において前記地上局に最も近い位置にあるアンテナとして算定されるアンテナを前記現用アンテナとして設定することを特徴とする無人航空機。 The unmanned aerial vehicle according to claim 2 or 3,
The current position calculation means for calculating the current position of the unmanned aerial vehicle and
It is equipped with a control device that automatically navigates the unmanned aerial vehicle in a direction according to the flight plan along a route according to a preset flight plan.
The antenna setting means sets as the working antenna an antenna calculated as the antenna closest to the ground station at the present time based on the current position of the unmanned aerial vehicle calculated by the current position calculation means and the flight plan. An unmanned aerial vehicle characterized by
予め設定された飛行計画に従った経路上を当該無人航空機を自動航行させる制御装置を備え、
当該制御装置は、前記飛行計画に従った経路上の各区間と当該区間で無線通信を行う地上局との予め設定された対応に従って、前記無線通信手段で無線通信を行う地上局を、前記区間毎に切り替えることを特徴とする無人航空機。 The unmanned aerial vehicle according to claim 1, 2, 3, 4 or 5.
Equipped with a control device that automatically navigates the unmanned aerial vehicle on a route according to a preset flight plan.
The control device sets the ground station that performs wireless communication by the wireless communication means according to a preset correspondence between each section on the route according to the flight plan and the ground station that performs wireless communication in the section. An unmanned aerial vehicle characterized by switching every time.
前記制御装置は、前記飛行計画に従った経路上の各区間と当該区間で無線通信を行う地上局との予め設定された対応に従って、前記無線通信手段で無線通信を行う地上局を、前記区間毎に切り替えることを特徴とする無人航空機。 The unmanned aerial vehicle according to claim 6.
The control device sets the ground station that performs wireless communication by the wireless communication means according to a preset correspondence between each section on the route according to the flight plan and the ground station that performs wireless communication in the section. An unmanned aerial vehicle characterized by switching every time.
当該無人航空機に搭載されたカメラと、
予め設定された飛行計画に従った経路上を当該無人航空機を自動航行させる制御装置を備え、
前記飛行計画に従った経路は検査対象の架線に沿った経路部分を含み、
前記制御装置は、前記飛行計画に従って当該無人航空機を検査対象の架線に沿って当該無人航空機を自動航行させながら、前記カメラに前記検査対象の架線を撮影させ、撮影された映像を無線通信手段を介して前記地上局に無線通信で送信することを特徴とする無人航空機。 The unmanned aerial vehicle according to claim 1, 2, 3, 4 or 5.
The camera mounted on the unmanned aerial vehicle and
Equipped with a control device that automatically navigates the unmanned aerial vehicle on a route according to a preset flight plan.
The route according to the flight plan includes the route portion along the overhead line to be inspected.
The control device causes the camera to shoot the overhead wire to be inspected while automatically navigating the unmanned aerial vehicle along the overhead wire to be inspected according to the flight plan, and uses the photographed image as a wireless communication means. An unmanned aerial vehicle characterized by wirelessly transmitting to the ground station via.
当該無人航空機に搭載されたカメラを備え、
前記飛行計画に従った経路は検査対象の架線に沿った経路部分を含み、
前記制御装置は、前記飛行計画に従って当該無人航空機を検査対象の架線に沿って当該無人航空機を自動航行させながら、前記カメラに前記検査対象の架線を撮影させ、撮影された映像を無線通信手段を介して前記地上局に無線通信で送信することを特徴とする無人航空機。 The unmanned aerial vehicle according to claim 6, 7 or 8.
Equipped with a camera mounted on the unmanned aerial vehicle
The route according to the flight plan includes the route portion along the overhead line to be inspected.
The control device causes the camera to shoot the overhead wire to be inspected while automatically navigating the unmanned aerial vehicle along the overhead wire to be inspected according to the flight plan, and uses the photographed image as a wireless communication means. An unmanned aerial vehicle characterized by wirelessly transmitting to the ground station via.
前記無人航空機は、
当該無人航空機上の異なる位置に配置された複数のアンテナと、
当該無人航空機の現在位置を算出する現在位置算出手段と、
当該無人航空機を、予め設定された飛行計画に従った経路に沿って当該飛行計画に従った向きで自動航行させる制御装置と、
前記複数のアンテナのうちの一つのアンテナを現用アンテナとして設定するアンテナ設定手段と、
前記現用アンテナとして設定されたアンテナを用いて前記地上局と無線通信を行う無線通信手段とを有し、
前記地上局は、
前記無線通信を介して前記無人航空機から当該無人航空機の現在位置を取得し、取得した現在位置と前記飛行計画とが示す、前記飛行計画に従って前記無人航空機が直後に飛行することとなる区間において、前記地上局に対して当該無人航空機自身によって遮られない位置となるアンテナが、現在、前記無人航空機において現用アンテナとして設定されているアンテナと異なるアンテナであるときに、当該直後の区間において前記地上局に対して前記無人航空機自身によって遮られない位置となるアンテナの使用を前記無線通信を介して前記無人航空機に指示する遠隔指示手段を有し、
前記無人航空機のアンテナ設定手段は、前記地上局から前記無線通信を介して使用を指示されたアンテナに、現用アンテナとして設定するアンテナを切り替えることを特徴とする無人航空機システム。 An unmanned aerial vehicle system equipped with a ground station and an unmanned aerial vehicle that performs wireless communication with the ground station.
The unmanned aerial vehicle
With multiple antennas located at different locations on the drone,
The current position calculation means for calculating the current position of the unmanned aerial vehicle and
A control device that automatically navigates the unmanned aerial vehicle in a direction according to the flight plan along a route according to a preset flight plan.
An antenna setting means for setting one of the plurality of antennas as an active antenna, and
It has a wireless communication means that performs wireless communication with the ground station using an antenna set as the working antenna.
The ground station
The current position of the unmanned aerial vehicle is acquired from the unmanned aerial vehicle via the wireless communication, and in the section indicated by the acquired current position and the flight plan, the unmanned aerial vehicle will immediately fly according to the flight plan. When the antenna that is not blocked by the unmanned aerial vehicle itself with respect to the ground station is an antenna different from the antenna currently set as the active antenna in the unmanned aerial vehicle, the ground station immediately after the ground station It has a remote instruction means for instructing the unmanned aerial vehicle to use an antenna that is not blocked by the unmanned aerial vehicle itself via the wireless communication.
The unmanned aerial vehicle antenna setting means is an unmanned aerial vehicle system characterized in that the antenna to be set as a working antenna is switched to an antenna instructed to be used by the ground station via the wireless communication.
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