JP2021146848A - Flight system of multicopter, flight method of multicopter - Google Patents

Abstract

To allow a drone to easily fly autonomously on a desired flight path even inside a building where radio waves from a satellite cannot be received.SOLUTION: The present invention relates to a radio-controlled multicopter. Storage means 31 stores flight operations based on the operations of a left lever and a right lever of a transmitter 13. The transmitter 13 has a selection function of selecting a flight operation (manual flight) based on the operation of the operation means or a flight operation (automatic flight) based on the instruction of the storage instruction means. When the automatic flight is selected, reception control means is instructed to perform the flight operation stored in the storage means 31 by the storage instruction means 32 to cause an airframe 12 to fly autonomously based on a path stored in the storage means 31.SELECTED DRAWING: Figure 3

Description

The present invention relates to a multicopter flight system, which is a rotary wing aircraft equipped with a plurality of rotors, and a multicopter flight method.

Drones are used for inspection work in places where it is difficult for people to approach or in dangerous places at high places, and the position and flight condition are controlled by GNSS to enable independent flight.

When using a drone to inspect dangerous places that are difficult for indoor people to approach or at high places, it is difficult to determine the position, altitude, and attitude of the aircraft because the radio waves from satellites are difficult to reach indoors. It has become.

Therefore, it has been proposed to position the airframe with a camera or an ultrasonic sensor and fly a desired route (see Patent Document 1). In addition, a technology for grasping the state of the aircraft and flying independently by using a three-dimensional map creation technology is also known.

However, there is a limit to the accuracy of positioning with cameras and ultrasonic sensors, and the 3D map creation technology requires a large-scale device, and is used for inspections of dangerous places that are difficult for indoor people to approach or dangerous places at high places. , It was difficult to control the flight path of the drone accurately.

Japanese Unexamined Patent Publication No. 2019-209861

The present invention has been made in view of the above circumstances, and is a multicopter flight system and a multicopter flight system that can easily fly a multicopter in a desired flight path even indoors where radio waves from satellites cannot be received. The purpose is to provide a method of flying a copter.

The multicopter flight system of the present invention according to claim 1 for achieving the above object receives a transmitter instructing the flight operation of the multicopter and a command from the transmitter by operating the operating means. A reception control means for controlling the driving status of the multicopter, a storage means for storing a flight operation based on the operation of the operation means of the transmitter, and a flight operation stored in the storage means are instructed to the reception control means. It is characterized by being provided with a memory instruction means for flight.

In the present invention according to claim 1, the flight operation based on the operation of the operation means (stick-shaped lever of the transmitter, etc.) is memorized, and the memorized flight operation is sent from the storage instruction means to the reception control means and memorized. The multicopter is automatically flown by the flight operation.

Therefore, the multicopter can be easily flown in a desired flight path even indoors where radio waves from satellites cannot be received.

The multicopter flight system of the present invention according to claim 2 is the multicopter flight system according to claim 1, wherein the transmitter is a flight operation based on the operation of the operating means, or the storage instruction. It is characterized by having a selection function for selecting a flight operation based on an instruction of means.

In the present invention according to claim 2, either a flight operation by operating the operating means (manual flight) or a flight operation stored and instructed by the storage means (automatic flight) is selected.

In the flight method of the multicopter of the present invention according to claim 3 for achieving the above object, the multicopter is made to fly from the start point to the end point by the operation of the operation means, and the flight operation based on the operation of the operation means is memorized. It is characterized in that the multicopter is made to fly from the start point to the end point by a memorized flight operation without relying on the operation of the operation means.

In the present invention according to claim 3, the multicopter is made to fly by the operation of the operating means to memorize the operation based on the operation of the operating means, and the multicopter is made to fly autonomously by the memorized operation.

This makes it possible to easily fly the multicopter on a desired flight path even indoors where radio waves from satellites cannot be received.

The multicopter flight system and the multicopter flight method of the present invention make it possible to easily fly the multicopter in a desired flight path even indoors where radio waves from satellites cannot be received.

It is an overall view of the state which applied the multicopter flight system which concerns on one Example of this invention to a turbine building. It is an external view explaining the outline of a transmitter and a drone (airframe). It is a schematic block block diagram of the flight system of the multicopter which concerns on one Example of this invention. It is explanatory drawing of the operation state. It is an overall view of the state which applied the multicopter flight system which concerns on one Example of this invention to a warehouse. It is an overall view of the state which applied the multicopter flight system which concerns on one Example of this invention to a stadium.

Hereinafter, embodiments of the present invention will be specifically described with reference to the drawings.

FIG. 1 shows an overall state of a turbine building to which a multicopter flight system according to an embodiment of the present invention is applied, FIG. 2 shows an external state explaining an outline of a transmitter and a drone (aircraft), and FIG. 3 shows a book. A block configuration for explaining a schematic configuration of a multicopter flight system according to an embodiment of the invention, and FIG. 4 shows a specific operating state of a drone (aircraft).

As shown in FIG. 1, inside the turbine building 1 of the power plant, a turbine device 3 having a rotating body such as a large expansion turbine or a generator, a fluid pipe, or the like is installed above and below the floor surface 2. The turbine device 3 is shielded from the outside.

Since there are dangerous places that are difficult for people to approach and dangerous places at high places inside the turbine building 1, a drone 5 that is a multicopter is used to inspect these places. With the drone 5, you can approach a dangerous place that is difficult for people to approach or a dangerous place at a high place (close the aircraft described later), and grasp the situation of the place that is difficult for people to approach with a camera etc. and inspect it. Work and monitoring work is performed.

As shown in FIG. 2, the drone 5 is composed of an airframe 12 having a plurality of rotors 11 and a transmitter 13 instructing the flight operation of the airframe 12.

The airframe 12 is provided with a reception control means 15 that receives a command from the transmitter 13 and controls the driving status of the airframe 12. Further, the airframe 12 is provided with a flight controller composed of various sensors for measuring inertia, a distance sensor for grasping the distance to an obstacle (structure) and performing positioning, a camera for photographing, and the like.

Then, the transmitter 13 is provided with a storage means for storing the flight operation based on the operation of the operation means of the transmitter 13 and a storage instruction means for instructing the reception control means 15 of the flight operation stored in the storage means. There is.

As shown in FIG. 2, the transmitter 13 includes a main switch 21, a stick-shaped left lever 22 (operating means), a stick-shaped right lever 23 (operating means), and a manual / automatic switching means 24 (selection function). It has a storage operation button 25.

For example, the front / rear operation of the left lever 22 is instructed to move up / down, the left / right operation is instructed to turn right / left, the front / rear operation of the right lever 23 is instructed to move forward / backward, and the left / right operation is instructed to move left / right. Manual operation or automatic operation is selected by the manual / automatic switching means 24. Then, when the storage operation button 25 is pressed while the manual operation is selected, the flight operation based on the operation of the left lever 22 and the right lever 23, which are the operation means, is stored in the storage means.

As shown in FIG. 3, in the drone 5 having the above configuration, the flight operation based on the operation of the operating means of the transmitter 13 (stick-shaped left lever 22 and right lever 23 of the transmitter 13) is stored in the storage means 31. The stored flight motion is sent from the storage instruction means 32 to the reception control means 15. The reception control means 15 automatically flies the aircraft 12 by the flight operation stored in the storage means 31.

Therefore, even inside the turbine building 1 which cannot receive radio waves from the satellite, the airframe 12 can be easily flown in a desired flight path.

In the drone 5 described above, either a flight operation (manual flight) by operating the operating means of the transmitter 13 or a flight operation (automatic flight) stored and instructed by the storage means 31 is manually or automatically switched. It can be selected by 24.

The aircraft 12 is installed at the starting point, the transmitter 13 is manually operated (the switching means 24 is manually operated), and the memory operation button 25 is pressed to fly the aircraft 12 to the end point along a desired route. As a result, the operating status of the operating means (left lever 22, right lever 23) of the transmitter 13 is stored in the storage means 31.

The machine body 12 is installed at the starting point, the switching means 24 of the transmitter 13 is automatically operated, and the storage operation button 25 is released. As a result, the aircraft 12 automatically flies from the start point to the end point along the route stored in the storage means 31.

An example of a manual memory operation will be mainly described with reference to FIG.

The machine body 12 is installed at the starting point, the switching means 24 of the transmitter 13 is manually operated, and the memory operation button 25 is pressed to start the memory operation.
(1) The machine body 12 is installed at the starting point, and the left lever 22 is operated to the front side to raise the machine body 12.
(2) Operate the right lever 23 forward to move the aircraft 12 forward.
(3) At a predetermined forward position, the left lever 22 is operated to the left to turn the aircraft 12 to the right.
(4) After turning to the right, the right lever 23 is operated to the left to move the aircraft 12 to the left.
(5) At a predetermined leftward position, the left lever 22 is operated to the right to turn the aircraft 12 to the left.
(6) Operate the right lever 23 to the right to move the aircraft 12 to the right.
(7) At a predetermined rightward position, the right lever 23 is operated to the rear side to move the aircraft 12 backward.
(8) At a predetermined reverse position, the left lever 22 is operated to the rear side to lower the aircraft 12 and stop it at the end point.

After stopping the machine body 12 at the end point, the transmitter 13 storage operation button 25 is released, so that the operations (1) to (8) above are stored in the storage means 31 and the storage operation is terminated.

After that, by installing the machine body 12 at the starting point and automatically operating the switching means 24 of the transmitter 13, the machine body 12 starts from the starting point along the paths (1) to (8) stored in the storage means 31. Automatically fly independently to the end point. The route can be easily changed by installing the machine body 12 at the starting point, manually operating the switching means 24 of the transmitter 13, and repeating the operation of pressing the storage operation button 25 to start the storage operation.

Therefore, even inside the turbine building 1 that cannot receive radio waves from satellites, the aircraft 12 can easily stand on its own along the routes (1) to (8) without controlling the position and flight state by GNSS. It will be possible to fly. Therefore, necessary inspections and the like can be repeated inside the turbine building 1 without controlling the position and flight state by GNSS.

In the above embodiment, an example is shown in which the drone 5 is applied to the turbine building 1 and the airframe 12 is made to fly autonomously inside the turbine building 1. However, as shown in FIG. 5, the airframe 12 is made to fly autonomously inside the warehouse 35. Can be made to. Further, as shown in FIG. 6, the aircraft 12 of the drone 5 can fly autonomously inside the indoor stadium 38.

By applying the drone 5 inside the warehouse 35 and flying the aircraft 12 regularly, for example, the inventory status and the presence or absence of intrusion of suspicious persons can be remotely controlled without controlling the position and flight status by GNSS. It can be grasped regularly by operation. For this reason, inventory confirmation and security by patrol can be easily carried out remotely.

By applying the drone 5 to the inside of the competition facility 38 and flying the aircraft 12, for example, the competition is photographed from an arbitrary line-of-sight state according to the event of the competition without controlling the position and flight state by GNSS. can do. In addition, by flying a place where people gather, it can be used for finding a suspicious person, finding a searcher, and the like.

By applying the multicopter flight system described above, it becomes possible to easily make the airframe 12 fly independently on a desired flight path even in a large and wide indoor area where radio waves from satellites cannot be received.

1 Turbine building 2 Floor surface 3 Turbine device 5 Drone 11 Rotor 12 Aircraft 13 Transmitter 15 Reception control means 21 Main switch 22 Left lever 23 Right lever 24 Switching means 25 Memory operation button 31 Storage means 32 Memory instruction means 35 Warehouse 38 Competition facility

Claims (3)

A transmitter that instructs the flight operation of the multicopter by operating the operating means,
A reception control means that receives a command from the transmitter and controls the driving status of the multicopter.
A storage means for storing a flight operation based on the operation of the operation means of the transmitter, and a storage means.
A multicopter flight system including a storage instruction means for instructing the reception control means of a flight operation stored in the storage means. In the multicopter flight system according to claim 1,
The transmitter
A multicopter flight system characterized by having a selection function for selecting a flight operation based on the operation of the operation means or a flight operation based on an instruction of the memory instruction means. The multicopter is made to fly from the start point to the end point by the operation of the operation means, the flight operation based on the operation of the operation means is memorized, and the multicopter is memorized from the start point by the memorized flight operation without the operation of the operation means. A multicopter flight method characterized by flying to the end point.

Images