JP2021005892A - Communication of small unmanned aerial vehicle and control device, and method thereof - Google Patents

Abstract

To provide communication of a small unmanned aerial vehicle (typically drone) and a control device, and a method thereof.SOLUTION: A converter module according to the present invention that enables communication between a drone, a smartphone, and the like includes communication means for the smartphone, control means with a CPU and a memory, and communication means for a drone, and the control means is customized by predetermined application software, a signal from the smartphone or the like is received by the communication means for the smartphone or the like, converted into a communication specification of the drone by the control means, and transmitted from the communication means for the drone to the drone, and the signal from the drone is received by the communication means for the drone, converted into a communication specification of the smartphone or the like by the control means, and is transmitted from the communication means for the smartphone or the like to the smartphone or the like.SELECTED DRAWING: Figure 2

Description

The present invention relates to communication and control devices for small unmanned aerial vehicles and methods thereof. More specifically, the present invention typically relates to drone communication and control devices and methods thereof.

In recent years, research and development of small unmanned aerial vehicles (typically drones) have been actively carried out.

JP-A-2015-207149 JP-A-2007-276507

The documents of this application disclose the following inventions relating to communication and control devices for small unmanned aerial vehicles and methods thereof. It is a common object of these inventions to provide new communication and control devices for small unmanned aerial vehicles and methods thereof. In this application document, "background technology" for each invention, "problems to be solved by the invention", "means for solving the problems" and "effect of the invention" in the outline of the invention are "to carry out the invention". In the column of "Form of", each item is divided and described.

[1st invention] Converter module [2nd invention] Flight recorder module [3rd invention] Safety control [4th invention] Laser track [5th invention] General-purpose platform (soft side) (hard side)
[6th invention] Landing port [7th invention] Landing proximity technology [8th invention] Tether control, tether clip, tether interface [9th invention] Contact prevention and individual authentication

The converter module according to the present invention is a converter module that enables communication between a drone and a smartphone or the like, and includes a communication means for a smartphone or the like, a control means having a CPU and a memory, and a communication means for the drone. The control means is customized by predetermined application software (simply also referred to as an "application"), a signal from the smartphone or the like is received by the communication means for the smartphone or the like, and the control means of the drone. It is converted into a communication specification and transmitted from the communication means for the drone to the drone, the signal from the drone is received by the communication means for the drone, and is converted into the communication specification of the smartphone or the like by the control means. It is transmitted from the communication means for smartphones and the like to the multifunctional mobile phone.

Further, the flight recorder module according to the present invention is a flight recorder module that constantly records flight data of a drone operated by a smartphone or the like, and includes a communication means for a smartphone or the like, a control means having a CPU and a memory, and a sensor means. When the communication state between the smartphone or the like and the drone is good, the flight data of the drone sensed by the sensor means is directed from the communication means for the smartphone or the like to the smartphone or the like under the control of the control means. When the communication state between the smartphone or the like and the drone is poor, the flight data of the drone detected by the sensor means is temporarily recorded in the memory under the control of the control means, and the communication state is restored. Then, the flight data recorded in the memory is transmitted from the communication means for the smartphone or the like to the smartphone or the like.

According to these inventions, it is possible to provide a novel communication and control device for a small unmanned aerial vehicle and methods thereof.

FIG. 1 is an overall image of a drone communication and control device according to the first to eighth embodiments. FIG. 2 is a block diagram illustrating an outline of the converter module according to the first embodiment. FIG. 3A is a diagram showing an example of a packet signal configuration when a command signal (command) is transmitted from a smartphone or the like to a drone. FIG. 3B is a diagram showing an example of a configuration of a packet signal for a drone in which the converter module converts the packet signal shown in FIG. 3A according to the type of drone. FIG. 3C is a diagram showing an example of a configuration of a packet signal for a drone in the case of I2C. FIG. 4 is a block diagram illustrating an outline of the FDR module according to the second embodiment. FIG. 5 is a flow chart illustrating the process of recording the flight data of the drone. FIG. 6A is a diagram showing an example of the configuration of flight data. FIG. 6B is a diagram illustrating a packet data structure when cloud computing is used. FIG. 6C is an example of a data structure that transmits information about a non-mounted sensor for a drone that does not have some kind of sensor. FIG. 7A is an example of a data structure when a maneuvering command is performed by absolute control. FIG. 7B is an example of a data structure when a maneuvering command is performed by relative control. FIG. 7C is an example of a data structure of instruction information sent to the drone when the drone is inertially controlled. FIG. 7D is a diagram for explaining an image of realizing control by setting a virtual route to prevent a collision. FIG. 8A is a diagram illustrating safety control performed by surrounding a specific area with a tape having a predetermined color or the like. FIG. 8B is a diagram illustrating safety control performed by defining a specific area with map information rather than specifying it with an actual place, building, or the like. FIG. 8C is a diagram illustrating safety control performed by installing a BLE beacon device that continuously oscillates a constant signal. FIG. 9 is a diagram illustrating an example in which a drone is operated by transmitting control information (for example, an ascending command or a return command) to the drone by a light emitting putter by determining a plurality of laser light emission patterns. .. FIG. 10 is an image for explaining an outline of a platform that can easily respond to the provision of a drone aircraft, changes in the use of the drone, and version upgrades. FIG. 11A is a diagram showing a cross-sectional shape of each landing port. FIG. 11B is a perspective view of the landing port. FIG. 11C is a diagram illustrating a method of charging the drone using the landing port. FIG. 12 is a diagram illustrating a landing signal generator used for landing control of a drone. FIG. 13 is a cross-sectional view of the tether clip.

Drones are known as a typical example of small unmanned aerial vehicles. Hereinafter, a communication and control device for a small unmanned aerial vehicle according to the present invention and embodiments of these methods will be described in detail with reference to the accompanying drawings, taking a drone as an example. In the figure, the same reference numerals are given to the same elements, and duplicate description is omitted. First, the communication and control device of the drone and the overall image of these methods will be described, and then the first to ninth embodiments corresponding to the first to ninth inventions will be described in order.

[Overall image of drone communication and control device]
FIG. 1 is an overall image of the drone's communication and control devices and methods thereof according to the first to ninth embodiments. A GPS satellite 1 is in outer space above the flying drone 2, and GPS data (drone position data) is transmitted to the drone 2.

Communication is performed between the drone 2 and the radio tower, Wi-Fi spot, etc. (in this application document, these are simply abbreviated as "Wi-Fi spot, etc.") 5, and the data is processed by the server computer 6. Recorded. The drone operator 3 uses a multifunctional mobile phone such as a smartphone and a tablet (simply abbreviated as "smartphone or the like" in the application documents) 4 capable of data communication, and the server computer 6 via the communication line 7. You can get various data of the drone 2 recorded here by connecting to. When communicating with the drone 2 using the smartphone or the like 4, since the communication is performed via the server computer 6, this route is hereinafter referred to as a “server via route” in the application documents.

In addition, direct communication is also performed between the drone 2 and the smartphone or the like 4 possessed by the drone operator 3, and the operator 3 can communicate with the drone 2 in real time. The data of the smartphone or the like 4 is processed and recorded by the server computer 6 via the communication line (for example, the mobile carrier network) 7. In terms of communicating with the drone 2 using the smartphone or the like 4, the drone 2 and the smartphone or the like 4 directly communicate with each other in real time. Therefore, in the present application documents, this communication route will be referred to as a “direct route”.

The "direct route" has the advantage of real-time communication, but has the disadvantage of having a limited distance to reach radio waves. On the other hand, the "route via server" has an advantage that there is no distance limitation, but generally has a disadvantage that there is a time lag compared to real-time communication.
The first to ninth embodiments described below are realized based on such an image.

[First Embodiment] Converter module (background technology)
Currently, in Japan, it is legally prohibited to equip drones with smartphones (or their communication functions). However, there is no such provision in the United States, for example.
(Problem: Purpose)
Therefore, it is expected that this prohibition will be relaxed in Japan in the future. If legal regulations are relaxed, there seems to be a strong need to operate the drone 2 with a smartphone or the like 4.

Therefore, an object of the first embodiment is to provide a converter module that enables communication between the drone 2 and the smartphone or the like 4.

(Constitution)
FIG. 2 is a block diagram illustrating an outline of the converter module 10 according to the first embodiment. Reference numeral 16 is a drone board 16 on which a control circuit mounted on the drone is mounted, and reference numeral 15 is a communication means 15 mounted on the drone. The drone-mounted communication means 15 and the converter module 10 are mounted on the drone.

The converter module 10 is roughly classified into a communication means 11 for smartphones and the like capable of communicating with a smartphone and the like 4 via a communication line 7, a control means 12 having a CPU and a memory, and a drone capable of communicating with a communication means 15 equipped with a drone. It is provided with a communication means 13 for communication. The converter module 10 is composed of one or a plurality of modules.

Each element will be explained.
The communication means 11 for smartphones and the like is determined by the communication specifications of the other party's smartphone and the like 4. The communication means 11 is, for example, Wi-Fi (Internet connection using wireless LAN), Bluetooth (one of the inexpensive short-range wireless standards for digital devices), 3G high speed (communication for mobile phones for the third generation). Means), 4G LTE (communication means for mobile phones using LTE) and the like can be used.

The control means 12 has a CPU and a memory. The CPU may be any CPU, but one capable of high-speed processing is preferable in order to enable real-time communication between the drone 2 and the smartphone or the like 4. The memory includes a RAM for processing and recording data, a ROM for pre-recording control application software, and the like. The control means 12 is customized by recording application software corresponding to the types of the smartphone and the like 4 and the drone 2 in advance. The smartphone to be operated 4 is also customized by the necessary application software.

The communication means 13 for the drone is determined by the communication specifications of the drone 2. For example, the communication means 13 for drones can adopt Wi-Fi (Internet connection using wireless LAN), Bluetooth (one of inexpensive short-range wireless standards for digital devices), and the like.

(Action)
Communication by the "route via server" described in FIG. 1 is as follows.
(1) Various signals such as flight data from the communication means 15 mounted on the drone are received by the communication means 15 for the drone of the converter module 10, converted to the communication specifications of the smartphone or the like by the control means 12, and communicated with the smartphone or the like. It is transmitted from the means 11 to the smartphone or the like 4 via the communication line 7 and the server computer 6.
(2) On the contrary, the command signal for maneuvering from the smartphone or the like 4 is received by the communication means 11 for the smartphone or the like of the converter module 10 via the server computer 6 and the communication line 7, and the drone communication specification is received by the control means 12. Is converted to and transmitted from the communication means 13 for the drone to the communication means 15 mounted on the drone.

The communication by the "direct route" described in FIG. 1 is as follows.
(3) Various signals such as flight data from the communication means 15 mounted on the drone are directly transmitted to the smartphone or the like 4.
(4) On the contrary, the command signal for maneuvering or the like from the smartphone or the like 4 is directly transmitted to the drone 2.

FIG. 3A is a diagram showing an example of a packet signal configuration when a command signal (command) is transmitted from the smartphone or the like 4 to the drone 2. Here, the user ID is data that identifies the user, and the user authentication ID is, for example, data related to security that prevents hacking. In command 1, GPS coordinates for specifying the position of the drone and a movement command (for example, moving 10 m to the right) can be input.

FIG. 3B is a diagram showing an example of a configuration of a packet signal for a drone in which the converter module 10 converts the packet signal shown in FIG. 3A according to the type of drone. The control means 12 of the converter module 10 converts the command 1 to the comad 2 according to the signal specifications of the drone. For example, for a drone not equipped with GPS, the GPS coordinate data included in command 1 is deleted. Since this signal conversion is executed by the application software prepared according to the drone type, the smartphone or the like 4 can support different types of drones. Similarly, FIG. 3C is a diagram showing an example of a configuration of a packet signal for a drone in the case of I2C.

In the case of the "route via server", the server computer 6 may perform part or all of the signal conversion between the drone 2 and the smartphone or the like 4 as needed.

Similarly, in the case of "direct route" and "route via server", part or all of the signal conversion between the drone 2 and the smartphone 4 etc. is executed by the application software loaded in the smartphone etc. as necessary. You may.

(Advantages / effects)
By using the converter module 10, it is possible to communicate with a desired drone 2 from a smartphone or the like 4.
Further, when the "route via server" is adopted, the communication with the drone 2 is eliminated from the smartphone or the like 4 via the communication line 7 and the server computer 6.
Further, the converter module 10 has a feature that it can be retrofitted to any desired drone body.

(Other)
The second to eighth embodiments described below are based on the premise that the converter module according to the first embodiment is incorporated as needed, and communication is possible between the drone 2 and the smartphone or the like 4.

[Second Embodiment] Flight Recorder Module (Background Technology)
General commercial aircraft are required to be equipped with a flight recorder (FDR) that records instructions sent to various electronic systems of the aircraft. The FDR constantly records the flight data of the onboard aircraft. In the event of an aircraft accident, the cause and cause of the accident can often be identified by analyzing the flight data recorded in the FDR.
It is important for drones to record flight data so that it can be analyzed after the fact.
(Purpose: Challenge)
In the second embodiment, it is an object of the present invention to provide an FDR module that constantly records flight data (for example, position information, movement information, attitude information, etc.) of a drone in flight.

(Constitution)
FIG. 4 is a block diagram illustrating an outline of the FDR module 20 according to the second embodiment. The FDR module 20 is roughly classified into a communication means 22, a control means 24, and a sensor means 28. The FDR module 20 is mounted on a part of a drone board (not shown) on which a control circuit arranged inside the drone is mounted, and is composed of one or a plurality of modules.

Each element will be explained.
The communication means 22 is composed of an arbitrary communication device. For example, Wi-Fi, Bluetooth, 3G high speed, 4G LTE and the like can be used.

The control means 24 has a CPU 25 and a memory 26. The CPU 25 may be any CPU, but it is preferable that the CPU 25 has a high processing speed because it is necessary to process flight data in real time during the flight of the drone. The memory 26 has a RAM for recording various flight data from the sensor means 28 and processing by the CPU 25, a ROM for recording various application software in advance, and the like. If necessary, the control means 24 is customized, for example, by recording predetermined application software according to the type of drone.

The sensor means 28 has various desired sensors. Here, typical sensors are GPS (Global Positioning System) for specifying the flight position of the drone, and movement (speed, acceleration, etc.) and attitude (tilt, etc.) during the flight of the drone. IMU (Inertial Measurement Unit). As for the sensor means 28, the sensor already mounted on the drone itself may be used without being newly mounted.

GPS is a system that receives signals from a plurality of US military satellites and allows the drone 2 to identify its current position in three dimensions. GPS is an improved version of DGPS (relative positioning system GPS) that receives GPS radio waves even at a ground base station whose position is known in advance and eliminates errors, and uses three satellites that can be seen even on a specific area. It may be QZSS (Quasi-Zenith Satellite System) or the like that stores and reinforces the US GPS.

The IMU is a device that detects the angle (or angular velocity) and acceleration of the three axes that control the movement of the drone 2.

(Action)
The recording of the flight data of the drone 2 will be described with reference to FIGS. 1 and 4. First, the case of "direct route" will be described.

In step S1, it is determined whether or not the flight has started. Recording of flight data is started from the start of flight, and the process proceeds to step S2.

In step S2, the communication state (for example, radio wave strength, signal quality, etc.) between the drone-mounted FDR module 20 and the smartphone or the like 4 is determined. The signal state is judged to be good if the strength, quality, etc. of the received signal exceeds a predetermined threshold value (threshold level), and is judged to be bad if it is less than or equal to. Poor communication is caused by temporary or continuous radio waves, for example, due to tall buildings, not only when the drone enters the "server detour route" but also when flying in an area where "direct route" is possible. Occurs in situations where it is blocked. If it is good, the process proceeds to step S3. If it is defective, the process proceeds to step S4.

In step S3, the flight data of the drone 2 is converted by the FDR module 20 and sent to the smartphone or the like 4. That is, as shown in FIG. 4, the flight data received from the IF (interface circuit) of the sensor means 28 is converted into data by the CPU 25 and transmitted from the communication means 22 to the smartphone or the like 4. This flight data is sent from the smartphone or the like 4 to the server computer 6 via the communication line 7, and is processed and recorded. In this way, the drone 2 and the smartphone or the like 4 are in an online state, and the drone operator 3 can confirm the flight data on the smartphone or the like 4 in real time. When the amount of information is large, cloud computing used by smartphones and the like 4 can also be used.

In step S4, the flight data of the drone 2 is recorded in the memory 26 of the FDR module 20 after data conversion by the CPU 25. Since the drone 2 and the smartphone or the like 4 are in an offline state due to a poor signal condition, they are temporarily recorded in the memory 26.

In step S5, it is determined whether the signal state has been restored. If recovered, the process proceeds to step S6. If it has not been recovered yet, the process returns to step S4.

Since the signal state is restored in step S6, the flight data recorded in the memory 26 is sent to the smartphone or the like 4. This flight data is sent from the smartphone or the like 4 to the server computer 6 for processing and recording.

In step S7, it is determined whether the flight has ended, and if the flight has not ended, the process returns to step S2, and if the flight ends, the recording of flight data ends.

The above steps have been described in "Direct Route". However, it is not limited to this. The drone's flight data (position information, movement information, attitude information, etc.) may be constantly recorded by the "route via server". In this case, communication is possible even if the drone 2 flies outside the range-restricted area where radio waves reach (for example, an area where Wi-Fi radio waves do not reach). In this case, in step S6, the flight data is recorded in the server computer 6 via the Wi-Fi spot or the like. Further, by recording the application software required for the server computer 6, it is possible to manage a plurality of drones 2 with one smartphone or the like 4.

FIG. 6A is a diagram showing an example of the configuration of flight data. Flight data is packetized, and each data packet contains, for example, serial number, data length, GPS time, GPS coordinates, GPS accuracy, IMU information, error number (also referred to as "error code"), dataset (eg, data). It is composed of the class structure when holding the data in the memory). Here, the IMU information includes acceleration, angular velocity, angle, and the like, which are flight data of the drone. The error number and data set can be set arbitrarily depending on the specifications of the drone. The dataset is variable length. This packet data can also be encrypted if necessary.

Since these packetized flight data are given serial numbers, the flight data directly transmitted from the drone 2 to the smartphone or the like 4 in step S3 and the flight data transmitted later in steps S4 to S6 Can be recorded as a series of data by the server computer 6. Alternatively, the flight data may be recorded by the CPU 25 in correspondence with the time code. In this case, for example, the server computer 6 processes the data based on the time code and records it as a series of data.

FIG. 6B is a diagram illustrating a packet data structure when cloud computing is used. The information sent by communication can be uploaded to the cloud by adding it after the module information on the data packet page.

(Advantages / effects)
By mounting the FDR module 20 on the drone 2, it is possible to constantly record flight data (position information, movement information, attitude information, etc.) of the drone 2 in flight. The constant connection between the drone 2 and the smartphone or the like 4 is not essential, and if the FDR module 20 is supplied with the minimum power supply, the flight data of the drone can be constantly recorded.

The constant recording of flight data has the following secondary effects.
(1) With the "direct route", unexpected flight (position, attitude, etc.) of the drone can be detected in real time.
(2) Flight data can be associated with images, error signals, etc. sent from the drone.
(3) At the drone development stage, the flight data obtained from the FDR module 20 can be used for debugging the programming of the drone's flight control and / or attitude control.
(4) By analyzing the flight data after the fact, it can be used for modifying / improving the hardware and software that control the drone.
(5) When an accident occurs in the drone, it is possible to investigate the cause of the accident and identify the location of the crash by analyzing the flight data.
(6) The flight data obtained from the FDR module 20 can be used for the development of collision prevention technology for drones.

(7) Regarding a drone that is not equipped with a certain type of sensor (for example, GPS), by mounting a basic sensor (GPS, IMU, etc.) in advance on the sensor means 28 of FIG. By providing data (for example, packet data as shown in FIG. 6C), it is possible to improve flight data accuracy, ensure reliability, and the like. Alternatively, data from this spare sensor is provided for the data of the mounted sensor to reduce measurement error, improve accuracy, and ensure redundancy (reliability) by using two sensors. Improvement) etc. are possible.
(8) The flight data recorded on the server can be managed on the Internet by linking it on the Internet.

(Modification example / alternative example)
(1) Based on the flight data obtained by the FDR module 20, the maneuvering command transmitted from the smartphone or the like 4 to the drone includes absolute control that gives GPS coordinates of the destination and the current position obtained from the destination and flight data. Relative control that gives the difference of. FIG. 7A is an example of a data structure in the case of absolute control. FIG. 7B is an example of a data structure in the case of relative control.

(2) The flight data obtained from the FDR module 20 can be used as a collision prevention means. When the era of large numbers of drones flying comes, it is expected that it will be necessary to control as well as aircraft. In addition, the remote autopilot function may not be able to handle detailed missions.

Therefore, in order to prevent collisions in long-distance flights, control can be realized by setting a virtual route. For example, as shown in FIG. 7D, when the flight of the drone 2 aims at the point n from the point 1 via the points 2, 3, ... (N-1), the flight due to the size of the drone 2, the air flow, etc. The route of the tubular drone area (indicated by the broken line in the figure) is determined in consideration of the deviation and error in the inside, and the intersection with other drone areas is prohibited in advance. As a result, it is possible to prevent the drone 2 from colliding with another drone. It should be noted that the reliability of collision prevention is improved by sequentially updating the points 2, 3, ... (N-1), which are the flight positions of the drone 2, according to the position information of the drone in flight and resetting the drone area. To do. FIG. 7C is an example of a data structure of instruction information sent to the drone.

(3) The FDR module 20 can be used for cooperation in abnormality detection. When a drone abnormality such as when the variation of IMU information data such as acceleration becomes large continuously or when the drone is turned upside down by angle information etc. is detected, more detailed IMU information is acquired and the operator Flight data at the time of an abnormality can be provided to 3.

Here, the second embodiment has been described by taking a small unmanned aerial vehicle (drone) as an example. However, the use of the FDR module 20 is not limited to this. It can be applied to robot control by constantly recording the behavior and posture data of a robot equipped with artificial intelligence. It is also possible to determine an abnormal state in which the robot falls and record detailed data such as position, action, and posture at that time.

[Third Embodiment] Safety control (background technology)
Since a drone equipped with a camera can shoot from the sky, the function of protecting personal privacy and avoiding specific areas such as confidential designated places for national security is an important technology.
(Purpose: Challenge)
Therefore, the third embodiment aims to provide a drone provided with means for preventing intrusion into a specific area or for not being able to fly from a specific area to the outside by simple means.

(Constitution)
As shown in FIG. 8A, the first method is performed by surrounding a specific area with a tape having a predetermined color or the like. The drone 2 recognizes a specific area from tape or the like using the on-board camera (not shown), calculates the relative coordinates from the drone's current flight position (GPS information) to the specific area, and does not invade the specific area. It is controlled by maneuvering. Even in the event of a crash, it is controlled to avoid this specific area. This maneuvering control is realized by application software designed to avoid a specific area. On the contrary, it is possible to prevent the drone 2 from flying from a specific area to the outside. When flying the drone in a place where GPS information is weak, such as indoors, a three-dimensional environment map may be created and used at high speed by a camera mounted on the drone.

In the second method, as shown in FIG. 8B, the specific area is not specified by the actual place, the building, or the like, but is defined by the map information. For example, a three-dimensional map is created at high speed by a camera mounted on a drone, and specific area information is added to this three-dimensional map. The method of prohibiting entry into a specific area or prohibiting flight from a specific area to the outside is the same as the first method.

In the third method, as shown in FIG. 8C, a BLE (Bluetooth Low Energy) beacon device that continuously oscillates a constant signal is installed so as not to invade within a certain distance (within a specific area) from the signal source. To control. On the contrary, it is controlled so as not to fly to the outside within a certain distance from the signal source.
The first to third methods can be adopted alone or in combination of two or more.

(Advantages / effects)
According to the third embodiment, it is possible to prohibit the drone from entering the specific area or prohibiting the flight from the specific area to the outside.

(Application example)
By applying this, it is possible to avoid areas such as people, roads, and schools, and to avoid people when landing or crashing. This can be realized by recognizing a specific area to be avoided by using map data as shown in FIG. 8B or a three-dimensional map created at high speed by the on-board camera and adding specific area information on the map. ..

Using this technology, the distance is measured from the image data collected from the ground-facing camera at the time of landing, or a 3D map is created, and landing incompatibility areas such as protrusions, slopes, grooves including people, automobiles, houses, etc. You can avoid and land.

Using this technology, when moving, it is possible to recognize white and yellow lines on the road from camera image data, recognize that the color of asphalt on the road exists in a linear combination, and provide advance information using maps, etc. By recognizing a place such as a road in advance, it is possible to avoid the sky or minimize the time to stay.

[Fourth Embodiment] Laser track, etc. (Background technology)
Currently, the drone is operated by a dedicated transmitter.
(Purpose: Challenge)
However, it is convenient in many ways to be able to operate with equipment other than the dedicated transmitter.

(Constitution)
(1) Control by sound The microphone mounted on the drone reacts to a specific frequency such as the whistle and the sound from the speaker, and the drone moves and takes off and landing. That is, a sound source such as a whistle or a speaker sends a command to the drone without using a dedicated transmitter. In particular, it would be useful to be able to send an emergency landing command to the drone with a particular sound.

(2) Maneuvering with light rays (a) For example, by capturing a light source such as a laser pointer (including visible light and invisible light) with a camera equipped with a drone and automatically tracking it, the drone can be operated without using a dedicated transmitter. Steer. In this case, if the drone loses sight of the laser pointer light source, the drone emits a flashing pattern of light rays, or due to a predetermined behavior (for example, turning of the drone), the operator loses sight of the laser pointer light source. contact.

(B) Combined use of multiple lasers In the image information of the drone-equipped camera, the red visible light laser is inconspicuous when there is a lot of red in the surrounding environment (for example, the background is the setting sun). On the other hand, when there is a lot of green in the surrounding environment (for example, the background is a forest), the green visible light laser is inconspicuous. Therefore, by adopting, for example, a red visible light laser and a green visible light laser as parallel rays at the same time as lasers, either laser light can be easily recognized and the tracking reliability is improved. When three or more types of laser light are used, the reliability is further improved. In addition, other types of light rays (for example, infrared rays) may be used.

(C) Laser light emission (lighting) pattern As shown in FIG. 9, by determining a plurality of laser light emission patterns, maneuvering information (for example, ascending command or return command) is transmitted to the drone by the light emitting putter. You may. Further, by determining a plurality of colors of the laser beam, the maneuvering information (for example, an ascending command or a returning command) may be transmitted to the drone by the light emitting putter. Further, the maneuvering information may be transmitted to the drone by combining the light emission pattern of the laser beam and the color of the laser beam.

[Fifth Embodiment] Ensuring versatility (soft side) (hard side)
(Background technology)
Traditionally, drones have been developed as dedicated aircraft for military, rescue, and commercial purposes. Furthermore, since drones are under development, specifications are frequently updated (upgraded).
(Purpose: Challenge)
However, from an economic point of view, it is desired that one drone can handle changes in usage and multiple usages. Furthermore, it is also desired that the drone is constantly upgraded and has the latest specifications.

Therefore, the fifth embodiment aims to provide a platform that can easily respond to the provision of a drone aircraft, changes in the use of the drone, and version upgrades.

(Constitution)
FIG. 10 is an image for explaining an outline of a platform that can easily respond to the provision of a drone aircraft, changes in the use of the drone, and version upgrades.

The registered user can select a desired drone set (including a smartphone for maneuvering) from the platform drone group and an application program suitable for the purpose from the application group. The platform provider embeds the application software in the selected drone and provides it to the user.

In addition, the provided application program has been updated, and the update program can be downloaded from the platform even after it has been passed to the user.

For drones, prepare a general-purpose port such as USB and connect modules required as physical or electric circuits to add or change functions for one drone and use it for various purposes. Can be done.

(Advantages / effects)
A fifth embodiment can provide a drone applicable to various uses. For example, it is possible to provide a drone applicable to logistics for transporting goods, salvage for handing over life-saving equipment, distress search for a missing person using a thermo camera, agricultural survey using an infrared camera, and the like.

Furthermore, the user can share it with multiple people without purchasing a drone.
Furthermore, the advantage of this platform is that it is possible to manage users by conducting a certain examination at the time of user registration and sequentially requesting user information as necessary.

[Sixth Embodiment] Landing port (background technology)
Takeoff and landing are inevitable in the operation of drones. In particular, for landing, there are demands for ensuring safety, landing at a predetermined position, etc., and the landing port is of great importance.
(Purpose: Challenge)
Therefore, an object of the present embodiment is to provide a landing port that satisfies the requirements for ensuring safety, landing at a predetermined position, etc., and can be charged after landing.

(Constitution)
The landing port assembly is composed of a combination of a plurality of landing ports according to the number of legs of the drone. FIG. 11A is a diagram showing a cross-sectional shape of each landing port. The landing port that houses the drone's legs has a trumpet shape with an widened opening. Therefore, even if there is some error at the time of landing the drone, if it is within the opening, the error is corrected and the drone can land at a predetermined position. FIG. 11B is a perspective view of the landing port.

FIG. 11C is a diagram illustrating a method of charging the drone using the landing port. After landing, the drone side electrode and the landing port side electrode slide into contact with each other to supply power. In the case of a large drone with a large charging current, after landing, a motor (not shown) may be used to press the landing port side electrode against the drone side electrode.

[7th Embodiment] Landing proximity technology (background technology)
When the drone flies toward the landing point, GPS information is used in a large range. However, since the current GPS information is provided by the US military, it contains a certain amount of error due to military requirements. Therefore, the accuracy of GPS information becomes a problem near the landing point.
(Purpose: Challenge)
A seventh embodiment is intended to provide a landing signal generator capable of accurately locating an airframe near a landing point by a drone.

(Constitution)
As shown in FIG. 12, for example, at least three landing signal generators (black squares in the figure) are installed in advance at the landing point. This landing signal generator transmits GPS alternative information instead of GPS satellites. Near the landing point, the drone can accurately determine the relative position of the aircraft from the landing signal generator based on the GPS alternative information from this landing signal generator, and can land accurately. ..

The landing signal generator may be, for example, a dual system of a coarse positioning device several meters away from each other and a fine positioning device several centimeters away from each other. The drone uses a coarse positioning device to approach the landing site, and then uses a fine positioning device to accurately position and land.

[Eighth Embodiment] (1) Tether control, (2) Tether clip, (3) Tether interface (Background technology)
(1) When handling drones, robots, etc., wired connections are often used due to safety, the need for power supply, and the like. Even in logistics, long and tough strings (tethers) are often used when suspending transported items.
(2) In addition, the work of tying a string with a drone, a robot, or the like is extremely difficult, and there is no precedent for a device for tying a string.
(3) Further, the control of the drone generally uses a pre-programmed control device to control the drone. There are not many proposals for how the drone operator 3 can move the drone intuitively.

(Purpose: Challenge)
(1) The tether control according to the eighth embodiment aims to provide a new tether control effective for a drone, a robot, or the like.
(2) The tether clip according to the eighth embodiment aims to provide a new openable and closable tether clip attached to a string tip.
(3) Currently, it is practiced to connect the drone with a string that can cover the flight range so that the drone does not fly out of control. There is also a method of supplying power to the drone by wire. The present inventor has studied a technique for utilizing such a wired connection for controlling the flight of a drone. Therefore, the tether interface according to the eighth embodiment aims to provide a new drone maneuvering system using a string.

(Constitution)
(1) Tether stove roll In order to ensure the free movement of drones, robots, etc., the wire is used with a margin in length and loosened. In the tether control, two places in the middle of the wired member connecting the drone, the robot and the like and the control device are connected by an elastic member (for example, rubber), and an appropriate tension is applied between the two places. Due to the tension of the elastic member, the wired member is pulled with the desired tension and does not loosen. Further, when the wired member is pulled, the stretchable member stretches to absorb the tensile stress.

(2) Tether Clip FIG. 13 is a cross-sectional view of the tether clip. One clip piece and the other clip piece have a structure in which the tip portion is closed by a spring (not shown). Initially, both clip pieces are in a state of being forcibly released by a wedge-shaped opening member. By sandwiching the object to be gripped between both clip pieces and then removing the wedge-shaped opening member, both clip pieces are closed by a spring force to fix the object. Attach this tether clip to the tip of the string. By using this tether clip, one end of the string can be easily locked to a crossbar of a building, a branch of a tree, or the like.

(3) Tether interface Tether control is performed using a wired connection using a string or a feeder. According to the above-mentioned tether control technology, the drone and the control device are connected by a wired member pulled with a constant tension.
The drone operator 3 sends a control command to the drone 2 by changing the rise of tension, the strength of tension, the direction, etc. when pulling the wired member. The drone-mounted control device (not shown) analyzes the maneuvering command according to the table of the application software loaded in advance, and flies and moves according to the result.
Table 1 is an example of this application software.

(Advantages / effects)
(1) According to the tether control according to the eighth embodiment, it is possible to provide a new tether control effective for drones, robots and the like. According to this tether control technology, the operator can keep the drone, the robot, etc. under control by using a wired member having a constant tension.

(2) According to the tether clip according to the eighth embodiment, it is possible to provide a new openable / closable tether clip attached to the string tip. The tether clip is intended to provide a new openable and closable tether clip that attaches to the cord.

(3) According to the tether interface according to the eighth embodiment, it is possible to provide a new drone maneuvering system using a string. As a result, the interaction between the pilot and the drone is improved. For example, you can control a drone as if you were walking a pet. The operator 3 can intuitively operate and control the drone by using a wired member.

(Application example)
The above-mentioned tether control, tether clip, and tether interface technologies can be applied not only in the fields of drones and robots but also in the field of logistics.

[9th Embodiment] Contact prevention and individual authentication (background technology)
Currently, as a method of tracking the route of a commercial aircraft, there are a primary radar (primary radar), a secondary radar (secondary radar), ADS-B, FR24 which is a receiving system of ADS-B, and the like. Primary radar is a system tracked by ground radar. The secondary radar is a system that enables the transponder of an aircraft to return a 4-digit individual recognition signal (ID) in response to a question from a ground radar to identify the aircraft. ADS-B is a system in which an aircraft notifies GPS position information to aircraft on the ground and other surrounding areas. The FR24 is a system that receives radio waves of ADS-B by a receiving device equipped with a flight radar 24 and transfers them to a server.
(Purpose: Challenge)
For drones as well, it is important to build an in-flight route tracking system. Therefore, an object of the present embodiment is to provide a route tracking system for a drone.

(Constitution)
The drone's route tracking system is a system constructed by equipping the drone with an appropriate wireless device and constantly outputting an individual recognition signal during flight. This wireless device may be, for example, Bluetooth® or the like.

The individual recognition signal transmitted from the radio mounted on the drone 2 is received by a smartphone or the like 4 on the ground, a Wi-Fi spot or the like 5, and other drones flying in the vicinity. This individual recognition signal includes at least an individual identification number (ID), position coordinates of the drone in flight, and other additional information. Here, the individual identification number (ID) is a dedicated ID given to each drone, the position coordinates are, for example, position information obtained by GPS, and the additional information is arbitrary useful for individual recognition of the drone. It is the information of.

Further, the server 6 on the ground is associated with the individual identification number (ID), and the information such as the name and contact information of the drone operator 3 and the flight plan associated with the drone type, use, date and time, etc. By recording, various usages are possible.

(Advantages / effects)
According to this embodiment, it is possible to provide a route tracking system for the drone 2. This drone's route tracking system has the following side effects.

(1) When the drone operator 3 receives the individual recognition signal of another drone, it can know that another drone exists in the vicinity.
(2) The drone operator 3 can know the distance to the other drone, the scheduled movement information of the other drone, etc. from the position coordinates or the radio wave strength of the individual recognition signal of the other drone.
(3) When the drone operator 3 receives the individual recognition signal of another drone, the validity of the other drone is determined by the additional information or the information recorded on the server 6 from the individual identification number (ID). You can check the planned flight route, etc. You can contact other drone pilots online if needed.
(4) The drone operator 3 can instruct his / her own drone to take an appropriate avoidance action as necessary based on the planned flight route of another drone.
(5) By constructing a system that constantly transmits an individual recognition signal during flight, it is possible to invalidate a stolen drone and recover it when it flies.

(Application example)
The drone's in-flight route tracking system can also be applied to robots with artificial intelligence. Collisions between moving robots are dangerous. A robot movement tracking system can be constructed by constantly transmitting a similar individual identification signal from a moving robot. The above-mentioned side effects (1) to (5) can also be brought about.

[Summary]
Although the control device and the control method for the small unmanned aerial vehicle according to the present invention according to the present invention have been described above, these do not limit the scope of the present invention. Additions, deletions, changes, improvements, etc. to the present embodiment that can be easily made by those skilled in the art are included in the scope of the present invention. The technical scope of the present invention is defined by the description of the appended claims.

1: Satellite, 2: Drone, 3: Drone operator, 4: Smartphone, etc., Multi-function mobile phone, tablet, 6: Server computer, 7: Communication line, 10: Converter module, 11: Communication means, 12: Control means , 13: Communication means for drones, 15: Communication means mounted on drone, 16: Drone board, 20: FDR module, 22: Communication means, 24: Control means, 26: Sensor means, 28: Sensor means,

Claims (2)

In a converter module that enables communication between a drone and a smartphone, etc.
Communication means for smartphones, etc.
A control means having a CPU and a memory,
Equipped with communication means for drones
The control means is customized by a predetermined application software.
The signal from the smartphone or the like is received by the communication means for the smartphone or the like, converted into the communication specifications of the drone by the control means, and transmitted from the communication means for the drone to the drone.
A converter module in which a signal from the drone is received by the communication means for the drone, converted into communication specifications of the smartphone or the like by the control means, and transmitted from the communication means for the smartphone or the like to the smartphone or the like. In the flight recorder module that constantly records the flight data of drones operated by smartphones, etc.
Communication means for smartphones, etc.
A control means having a CPU and a memory,
Equipped with sensor means
When the communication state between the smartphone or the like and the drone is good, the flight data of the drone detected by the sensor means is transmitted from the communication means for the smartphone or the like to the smartphone or the like under the control of the control means. ,
When the communication state between the smartphone or the like and the drone is poor, the flight data of the drone detected by the sensor means is temporarily recorded in the memory under the control of the control means, and when the communication state is restored, the communication state is restored. A flight recorder module that transmits the flight data recorded in the memory from the communication means for the smartphone or the like to the smartphone or the like.