JP2021168022A - Automatic control system, automatic control method, and automatic control device - Google Patents

Abstract

To provide a system capable of controlling a plurality of unmanned aircrafts.SOLUTION: An automatic control system for controlling unmanned aircraft includes: unmanned aircraft; an unmanned aircraft control device for controlling the unmanned aircraft; and an automatic control device which can be connected to the unmanned aircraft control device by communication. The automatic control device includes: flight route identification means for identifying flight routes of the respective unmanned aircraft based on flight plan information of the plurality of unmanned aircraft; and first flight route information transmission means for transmitting flight route information related to the identified flight routes to the unmanned aircraft control device. The unmanned aircraft control device includes: first flight route information reception means for receiving flight route information from the automatic control device; and second flight route information transmission means for transmitting flight route information to the unmanned aircraft. The unmanned aircraft includes: second flight route information reception means for receiving flight route information from the unmanned aircraft control device; and flight control means for controlling flight in accordance with the received flight route information.SELECTED DRAWING: Figure 7

Description

The present invention relates to a system capable of controlling a plurality of unmanned aerial vehicles.

In recent years, unmanned aerial vehicles have been used in various fields such as disaster relief, agriculture, entertainment, and logistics. In particular, the number of carriers who own unmanned aerial vehicles for transportation is increasing.

However, each transporter decides the flight path of the unmanned aerial vehicle and flies the unmanned aerial vehicle, and it is considered that the possibility of collision between the unmanned aerial vehicles increases as the number of unmanned aerial vehicles increases. On the other hand, there was no system that could control multiple unmanned aerial vehicles with different owners.

The present invention is for solving such a problem. That is, an object of the present invention is to provide a system capable of controlling a plurality of unmanned aerial vehicles having different owners.

According to the present invention, the above object is
[1] An automatic control system for controlling an unmanned aircraft, which is provided with an unmanned aircraft, an unmanned aircraft control device for controlling the unmanned aircraft, and an automatic control device capable of communicating with the unmanned aircraft control device. However, based on the flight plan information of a plurality of unmanned aircraft, a flight route specifying means for specifying the flight route of each unmanned aircraft and a first flight route for transmitting flight route information related to the specified flight route to the unmanned aircraft control device. The unmanned aircraft control device is provided with information transmission means, and the first flight route information receiving means for receiving flight route information from the automatic control device and the second flight route information transmitting means for transmitting flight route information to the unmanned aircraft. An automatic control system comprising a second flight path information receiving means for receiving flight path information from an unmanned aircraft control device and a flight control means for controlling flight according to the received flight path information;
[2] When the flight route specified by the flight route specifying means for one unmanned aerial vehicle overlaps, intersects, or touches the flight route specified for another unmanned aerial vehicle, the one unmanned aerial vehicle and the other unmanned aerial vehicle are different. The automatic control system according to [1], which specifies a flight path to fly at an altitude;
[3] The automatic control system according to [1] or [2], wherein the flight path identifying means identifies the flight path based on the starting point and the destination of the unmanned aerial vehicle;
[4] The automatic control device includes a flightable area that can be flown by an unmanned aircraft and / or a flightable area storage means that stores a flight prohibited area that cannot be flown by an unmanned aircraft. The automatic control system according to any one of [1] to [3], which specifies a flightable area as a flight path and / or an area excluding a flight prohibited area as a flight path;
[5] Collision possibility prediction that the automatic control device predicts the possibility of collision between one unmanned aircraft and another unmanned aircraft based on the flight information of one unmanned aircraft and the flight information of another unmanned aircraft. Means, flight path change information generating means for generating flight path change information for changing flight path information of one unmanned aircraft when the possibility of collision is predicted, and generated flight path change information First flight route change information that the unmanned aircraft control device receives flight route change information from the automatic control device. It is equipped with a receiving means and a second flight route change information transmitting means for transmitting flight route change information to one unmanned aircraft, and the unmanned aircraft receives flight route change information from the unmanned aircraft control device. Second flight route change information reception The automatic control system according to any one of [1] to [4], wherein the flight control means controls the flight of the unmanned aircraft according to the received flight route change information.
[6] An automatic control method executed in an automatic control system that controls an unmanned aircraft, including an unmanned aircraft, an unmanned aircraft control device that controls the unmanned aircraft, and an automatic control device that can be connected to the unmanned aircraft control device by communication. The flight route identification step for the automatic control device to specify the flight path of each unmanned aircraft based on the flight plan information of a plurality of unmanned aircraft, and the flight path information for the flight path specified by the automatic control device. The first flight route information transmission step for transmitting the flight to the unmanned aircraft control device, the first flight route information reception step for the unmanned aircraft control device to receive flight route information from the automatic control device, and the flight path for the unmanned aircraft control device The second flight route information transmission step for transmitting information to the unmanned aircraft, the second flight route information reception step for the unmanned aircraft to receive flight route information from the unmanned aircraft control device, and the flight route information received by the unmanned aircraft. Therefore, an automatic control method having a flight control step to control the flight;
[7] An automatic control device for controlling unmanned aircraft, which relates to a flight route specifying means for specifying the flight route of each unmanned aircraft and a specified flight route based on flight plan information of a plurality of unmanned aircraft. An automatic control device including a first flight route information transmitting means for transmitting flight route information to an unmanned aircraft control device;
Can be achieved by.

According to the present invention, it is possible to control a plurality of unmanned aerial vehicles having different owners.

It is a block diagram which shows the structure of the automatic control system which concerns on embodiment of this invention. It is a block diagram which shows the structure of the unmanned aerial vehicle control device which concerns on embodiment of this invention. It is a block diagram which shows the structure of the unmanned aerial vehicle which concerns on embodiment of this invention. It is a figure which shows the flowchart of the flight control processing in the automatic control system which concerns on embodiment of this invention. It is a figure which shows the flowchart of the flight path specifying process in the automatic control system which concerns on embodiment of this invention. It is a figure which shows the flowchart of the flight possible area storage process in the automatic control system which concerns on embodiment of this invention. It is a figure which shows an example of the image image of the flight path specifying process which concerns on embodiment of this invention. It is a figure which shows the flowchart of the flight path change processing in the automatic control system which concerns on embodiment of this invention.

Hereinafter, embodiments of the present invention will be described, but the present invention is not limited to the following embodiments as long as it does not contradict the gist of the present invention.

FIG. 1 is a block diagram showing a configuration of an automatic control system according to an embodiment of the present invention. As shown in the figure, the automatic control system includes a plurality of unmanned aerial vehicles 1 (unmanned aerial vehicles 1a, 1b ... 1z), a communication network 2, an unmanned aerial vehicle control device 3, and an automatic control device 4. The unmanned aerial vehicle 1 is connected to the unmanned aerial vehicle control device 3. Further, the unmanned aerial vehicle control device 3 is connected to the automatic control device 4 via the communication network 2. The unmanned aerial vehicle 1 and the unmanned aerial vehicle control device 3 and the unmanned aerial vehicle control device 3 and the automatic control device 4 do not have to be connected at all times, and may be connected as needed.

The unmanned aerial vehicle control device 3 is not particularly limited as long as it is a computer device having a control unit and an input unit, and examples thereof include a desktop type / notebook type personal computer, a tablet type terminal, and a smartphone. The same applies to the automatic control device 4.

The unmanned aerial vehicle control device 3 may be managed by the transporter who owns the unmanned aerial vehicle 1. Further, a plurality of unmanned aerial vehicle control devices 3 may exist and may be owned by different transporters. The unmanned aerial vehicle 1 and the unmanned aerial vehicle control device 3 can be connected to each other by the same owner, but may not be able to be connected if the owners are different.

FIG. 2 is a block diagram showing a configuration of an unmanned aerial vehicle control device according to an embodiment of the present invention. The unmanned aerial vehicle control device 3 includes a control unit 31, a RAM 32, a storage unit 33, a graphic processing unit 34, a communication interface 35, and an interface unit 36, each of which is connected by an internal bus.

The control unit 31 is composed of a CPU and a ROM. The control unit 31 executes the program stored in the storage unit 33 and controls the unmanned aerial vehicle control device 3. The RAM 32 is a work area of the control unit 31. The storage unit 33 is a storage area for storing programs and data. The control unit 31 reads the program and data from the RAM 32 and performs processing. The control unit 31 outputs a drawing command to the graphic processing unit 34 by processing the program and data loaded in the RAM 32.

The graphic processing unit 34 is connected to the display unit 38. The display unit 38 has a display screen 39. When the control unit 31 outputs a drawing command to the graphic processing unit 34, the graphic processing unit 34 outputs a video signal for displaying an image on the display screen 39. Here, the display unit 38 may be a touch panel provided with a touch sensor.

The communication interface 35 can be connected to the communication network 2 wirelessly or by wire, and can transmit and receive data to and from the automatic control device 4 via the communication network 2. The data received via the communication interface 35 is loaded into the RAM 32, and the control unit 31 performs arithmetic processing. An external memory 37 (for example, an SD card or the like) is connected to the interface unit 36.

Further, in the configuration of the automatic control device 4 according to the embodiment of the present invention, the block diagram shown in FIG. 2 can be adopted within a necessary range.

The unmanned aerial vehicle 1 has a flight control unit and a sensor, and is not particularly limited as long as it can be connected to the unmanned aerial vehicle control device 3, and conventionally known ones can be used. The unmanned aerial vehicle 1 includes an "unmanned aerial vehicle" as an aircraft type, and an "unmanned aerial vehicle" and an "unmanned water surface effect wing ship" as a ship type. Here, the "unmanned hydrofoil" refers to an unmanned vessel capable of flying near the surface of the water. The shape of the unmanned aerial vehicle 1 may be a rotary wing aircraft type or a fixed wing aircraft type. Further, the unmanned aerial vehicle 1 may be one in which the flight is autonomously controlled based on flight route information or the like, or the flight may be controlled by the operator maneuvering by radio or the like.

FIG. 3 is a block diagram showing a configuration of an unmanned aerial vehicle according to an embodiment of the present invention. The unmanned aerial vehicle 1 includes a flight control unit 11, a sensor 12, a camera 13, a conversion unit 14, and an antenna 15 (antenna 15a, antenna 15b). The flight control unit 11, the sensor 12, the antenna 15a, and the camera 13, the conversion unit 14, and the antenna 15b are each connected by an internal bus. Further, the unmanned aerial vehicle 1 is connected to the unmanned aerial vehicle control device 3 via the antenna 15.

The flight control unit 11 is composed of a CPU, RAM, and ROM, and controls the flight of the unmanned aircraft 1 based on the information obtained from the sensor 12 and / or the flight path information from the unmanned aircraft control device 3. .. Although not shown, the sensor 12 includes various sensors such as a gyro sensor, an acceleration sensor, a pressure pressure sensor, an ultrasonic sensor, a magnetic orientation sensor, a GPS, an infrared sensor, and a visible light sensor. The tilt of the unmanned machine 1 by the gyro sensor, that is, the attitude, the speed of the unmanned machine 1 by the acceleration sensor, the altitude of the unmanned machine 1 by the pressure sensor and the ultrasonic sensor, and the direction in which the unmanned machine 1 is facing by the magnetic orientation sensor. The latitude and longitude of the unmanned aircraft 1 are mainly detected by GPS, and obstacles around the unmanned aircraft 1 are mainly detected by an infrared sensor, a visible light sensor, or an ultrasonic sensor. The flight control unit 11 is connected to the control unit 31 of the unmanned aerial vehicle control device 3 via the antenna 15.

The camera 13 takes a picture of the surroundings of the unmanned aerial vehicle 1. The video data captured by the camera 13 is converted into a data format by the conversion unit 14 and transmitted to the unmanned aerial vehicle control device 3 via the antenna 15. The transmitted video data is processed by the graphic processing unit 34 of the unmanned aerial vehicle control device 3.

Dedicated software for using the automatic control system is installed in the flight control unit of the unmanned aircraft 1, the control unit of the unmanned aircraft control device 3, and the control unit of the automatic control device 4 according to the embodiment of the present invention. ing. By installing the dedicated software, it becomes possible for a plurality of different carriers to control a plurality of unmanned aerial vehicles even when they fly the unmanned aerial vehicle using the unmanned aerial vehicle control device managed by each.

Next, the flight control process in the automatic control system will be described. FIG. 4 is a diagram showing a flowchart of flight control processing in the automatic control system according to the embodiment of the present invention.

First, in the unmanned aerial vehicle control device, flight plan information of the unmanned aerial vehicle is input (step S101). Next, the input flight plan information is transmitted to the automatic control device (step S102). The transmitted flight plan information is received in the automatic control system (step S103). Based on the received flight plan information, the flight route identification process described later is performed (step S104), and the flight route of the unmanned aerial vehicle is specified (step S205). Then, the flight path information regarding the specified flight path is transmitted to the unmanned aerial vehicle control device (step S105). The transmitted flight path information is received by the unmanned aerial vehicle control device (step S106). Then, the received flight route information is transmitted to the unmanned aerial vehicle (step S107). The transmitted flight path information is received by the unmanned aerial vehicle (step S108). Then, flight control is performed according to the received flight path information (step S109), and the flight control process ends.

Flight plan information includes point information regarding the departure point and destination of the unmanned aircraft, time information regarding the departure time and arrival time of the unmanned aircraft, and the maximum speed, maximum altitude, maximum flight time, and maximum communication distance of the unmanned aircraft. Includes aircraft performance information such as aircraft size (total length, width, total height), and aircraft weight. Further, as the point information, a point different from one or more destinations may be included as information on a waypoint. Here, the point information may be selected based on the waypoint information determined by the administration such as the Civil Aviation Bureau of the Ministry of Land, Infrastructure, Transport and Tourism, and is selected based on the waypoint information arbitrarily determined regardless of the administration. It may be done, or an arbitrary point may be selected without using the predetermined waypoint information. Waypoint information includes latitude, longitude, and / or altitude information. In addition, when the waypoint information is arbitrarily set regardless of the administration, it is preferable to set the waypoint information within the flightable area and / or outside the flight prohibited area, which will be described later.

The flight path includes information on the latitude, longitude and altitude of the path on which the unmanned aerial vehicle flies. In addition, the flight route information includes information such as the specified flight route, departure point, destination and / or point information regarding the waypoint, departure time and arrival time, flight speed, and predetermined waypoint information. Is done. The method for specifying the flight path is not particularly limited, and a known method is used.

Next, the flight path identification process in the automatic control system will be described. FIG. 5 is a diagram showing a flowchart of flight path identification processing in the automatic control system according to the embodiment of the present invention.

In the flight route identification process, first, the flight route is provisionally specified based on the flight plan information received in step S103 (step S201). Then, it is determined whether or not the tentatively specified flight path is within the flightable area and / or outside the flight prohibited area, which will be described later (step S202). If the tentatively specified flight path is within the flightable area and / or outside the flight prohibited area (Yes in step S202), then whether or not there is an obstacle on the tentatively specified flight path. (Step S203). If there are no obstacles on the tentatively identified flight path (Yes in step S203), then whether the tentatively identified flight path overlaps, intersects, or touches the flight path of another unmanned aerial vehicle. It is determined whether or not (step S204). If the tentatively specified flight path does not overlap, intersect, or touch the flight path of another unmanned aerial vehicle (Yes in step S204), the tentatively specified flight path in step S201 is specified as the flight path. (Step S205), the flight path identification process is completed.

When the tentatively specified flight path is not within the flightable area and / or outside the flight prohibited area in step S202 (No in step S202), and when there is an obstacle on the tentatively specified flight path in step S203. (No in step S203) and in step S204, when the tentatively specified flight path overlaps, intersects, or touches the flight path of another unmanned aerial vehicle (No in step S204), in both cases, step S201 again. The flight route of is tentatively identified.

In step S201, the flight path is tentatively specified based on the starting point and the destination. In that case, the flight route may be tentatively specified so as to follow the waypoint near the departure point and arrive at the destination. By tracing the waypoints near the departure point and tentatively specifying the flight route so as to arrive at the destination, the processing load related to the identification of the flight route can be reduced, and within the flightable area and within the flightable area, and / Or it becomes easy to tentatively identify the flight path outside the flight prohibited area.

Further, the flight route may be tentatively specified so as to pass through one or more stopovers before the unmanned aerial vehicle arrives at the destination.

Next, the flightable area storage process will be described. FIG. 6 is a diagram showing a flowchart of flightable area storage processing in the automatic control system according to the embodiment of the present invention. In the flightable area storage process, the flightable area and / or the flight prohibited area are input in the automatic control device (step S301). Then, the input flightable area and / or flight prohibited area is stored (step S302), and the flightable area storage process ends.

Here, the flightable area means an area where an unmanned aerial vehicle can fly, and may be a flightable area defined by the Aviation Law and the ordinances of local public bodies, and is unmanned by a transporter or the like. It may be a flight area arbitrarily determined by the administrator of the aircraft. In addition, the no-fly zone refers to an area where unmanned aerial vehicles cannot fly, and may be a no-fly zone stipulated by the Aviation Law and the ordinances of local governments, and is unmanned by carriers and the like. It may be a no-fly zone arbitrarily defined by the aircraft administrator. Further, all the areas that are not the flight prohibited area may be the flightable area, and there may be an area that does not correspond to the flight prohibited area or the flightable area.

The flightable area and the flight prohibited area may be specified based on the latitude, longitude, and altitude information of the area. Further, in step S202, whether or not the tentatively specified flight path is within the flightable area and / or outside the flight prohibited area depends on the latitude, longitude, and altitude of the tentatively specified flight path. It may be determined whether or not it is included in the latitude, longitude, and altitude inside and / or outside the flight prohibited area.

In step S203 of the flight path identification process, there is an obstacle on the tentatively specified flight path, which exceeds the altitude of the tentatively specified flight path and corresponds to a natural object such as a mountain and / or an artificial object such as a building. Judge whether or not. Information about the ground surface such as the altitude of natural objects such as mountains and / or artificial objects such as buildings may be stored in the automatic control device 4 in the above-mentioned flightable area storage process.

By the way, when the flight route identification process is performed on a plurality of unmanned aerial vehicles, the flight route identification process is sequentially performed from the flight plan information input earlier. Therefore, in step S204, when the tentatively specified flight path overlaps, intersects, or touches the flight path of the other unmanned aerial vehicle specified earlier, the flight path based on the flight plan information input later is used. Again, the flight path of step S201 is tentatively identified. At this time, the flight path based on the flight plan information input later is tentatively specified so as to have an altitude different from the flight path of the other unmanned aerial vehicle specified earlier. At that time, which unmanned aerial vehicle has a higher altitude may be specified based on the aircraft performance information of the unmanned aerial vehicle. For example, an unmanned aerial vehicle with a high maximum speed is considered to take less time to increase its altitude than an unmanned aerial vehicle with a low maximum speed. It may be that. In addition, when the flight path is provisionally specified so that the altitude is different from the flight path of other unmanned aerial vehicles, the entire flight path may be set to an altitude different from the flight path of other unmanned aerial vehicles. , At least a part of the flight path may be set to an altitude different from the flight path of other unmanned aerial vehicles.

Here, if the tentatively specified flight path overlaps, intersects, or touches the flight path of another unmanned aerial vehicle, it is predicted that the other unmanned aerial vehicle will fly at the same time in consideration of the departure time, arrival time, and flight speed. It may overlap, intersect, or touch the flight path to be made, or it may overlap, cross, or touch the flight path of another unmanned aerial vehicle flying on the same day.

Overlapping flight paths means overlapping flight paths, crossing flight paths means intersecting flight paths, and tangent flight paths means that the flight paths share a tangent at a point of contact. Further, when the flight paths overlap, intersect, or touch, it means that at least a part of the flight paths overlap, intersect, or touch.

As described above, by making the determination in steps S202 to S204, the vehicle collides with an obstacle and other unmanned aerial vehicles based on the starting point and the destination, and within the flightable area and / or outside the flight prohibited area. A flight path that can avoid the above is specified as a flight path in step S205.

FIG. 7 is a diagram showing an example of an image image of the flight path specifying process according to the embodiment of the present invention. FIG. 7A is an overall view of the image image, and FIG. 7B is a perspective view of the flight path portion of the image image so that the altitude of the flight path can be easily seen. The image image 50 may be displayed on the display screen of the unmanned aerial vehicle control device 3 and / or the automatic control device 4. The image image 50 of FIG. 7A shows the flightable area 51 and the flight prohibited area 52 stored in step S302. Further, in the image image 50 of FIG. 7A, an arbitrarily determined waypoint icon 57 is shown. When a departure point and a destination are selected from arbitrarily determined waypoints for the unmanned aircraft 1a and a flight route is specified, as shown in the figure, a departure point icon 53a corresponding to the flight plan information of the unmanned aircraft 1a, and a departure point icon 53a, and The destination icon 54a may be indicated. Then, the flight path of the unmanned aerial vehicle 1a specified in step S205 is shown as the flight path 56a. It is assumed that the flight path of the unmanned aerial vehicle 1b is specified after the flight path of the unmanned aerial vehicle 1a is specified. When the departure place icon 53b and the destination icon 54b corresponding to the flight plan information of the unmanned aircraft 1b are arranged as shown in FIG. 7A, the flight path of the unmanned aircraft 1b tentatively specified in step S201 is determined. It becomes like the provisional flight path 55b. Since the flight path 56a and the provisional flight path 55b intersect, it is determined as No in step S204, and the flight path in step S201 is provisionally specified again. In step S201, as shown in FIG. 7B, the flight path 56b of the unmanned aerial vehicle 1b is specified to have an altitude different from the flight path 56a of the unmanned aerial vehicle 1a.

In this way, the flight route of each unmanned aerial vehicle is specified based on the flight plan information of a plurality of unmanned aerial vehicles, and the flight of the unmanned aerial vehicle is controlled according to the specified flight route information, so that the owners are different. It is possible to control multiple unmanned aerial vehicles.

In addition, by specifying the flight route based on the departure point and destination of the unmanned aerial vehicle, the unmanned aerial vehicle can autonomously fly from the departure point to the destination without a driver.

Further, the automatic control device stores a flight-prohibited area in which an unmanned aircraft can fly or a flight-prohibited area in which an unmanned aircraft cannot fly, specifies the flight-prohibited area as a flight path, or excludes the flight-prohibited area. By specifying as a flight path, it is possible to autonomously fly in an area where an unmanned aircraft can fly without a driver.

Also, if the flight path tentatively specified for an unmanned aerial vehicle overlaps, intersects, or touches the flight path specified for another unmanned aerial vehicle, the unmanned aerial vehicle and the other unmanned aerial vehicle will fly at different altitudes. By specifying the route, it is possible to control a plurality of unmanned aerial vehicles so that collisions between the unmanned aerial vehicles can be avoided even if the flight routes of the plurality of unmanned aerial vehicles overlap, intersect, or come into contact with each other.

By performing the flight control process as described above, unmanned aerial vehicles whose flight is controlled according to the flight path information specified by the automatic control device (hereinafter referred to as autonomously flying unmanned aerial vehicles) avoid collisions. It is possible. On the other hand, the unmanned aerial vehicle operated by the operator (hereinafter referred to as the unmanned aerial vehicle being operated) is autonomously flying because the flight is not controlled according to the flight path information specified by the automatic control device. May collide with unmanned aerial vehicles.

However, an unmanned aircraft in which dedicated software for using the automatic control system of the present invention is installed in the flight control unit can provide flight information to the unmanned aircraft control device 3 during flight even if the operator is maneuvering. To send. Therefore, by performing the following flight path change processing, the flight path of the autonomously flying unmanned aerial vehicle is changed so that the collision between the autonomously flying unmanned aerial vehicle and the operated unmanned aerial vehicle can be avoided. It becomes possible.

FIG. 8 is a diagram showing a flowchart of flight path change processing in the automatic control system according to the embodiment of the present invention.

First, flight information is transmitted from the autonomously flying unmanned aerial vehicle and the maneuvered unmanned aerial vehicle to the unmanned aerial vehicle control device 3 (step S401). Next, the flight information is received by the unmanned aerial vehicle control device 3 (step S402). The received flight information is transmitted to the automatic control device 4 (step S403). Flight information is received in the automatic control device 4 (step S404). Based on the received flight information, the possibility of collision of an autonomously flying unmanned aerial vehicle is predicted (step S405). When there is a possibility of collision with an autonomously flying unmanned aerial vehicle (Yes in step S406), flight path change information for changing the flight path information of the autonomously flying unmanned aerial vehicle is generated. (Step S407). Then, the generated flight route change information is transmitted to the unmanned aerial vehicle control device 3 corresponding to the unmanned aerial vehicle that is autonomously flying (step S408). The flight route change information is received in the unmanned aerial vehicle control device 3 (step S409). The received flight route change information is transmitted to the unmanned aerial vehicle that is flying autonomously (step S410). In the unmanned aerial vehicle that is flying autonomously, the flight route change information is received (step S411). The flight of the unmanned aerial vehicle that is autonomously flying is controlled according to the received flight route change information (step S412), and the flight route change process is completed. If there is no possibility of collision with the autonomously flying unmanned aerial vehicle (No in step S406), the flight route change process ends.

Here, the flight information includes information such as the latitude, longitude, altitude, direction, and speed at which the unmanned aerial vehicle is flying. Flight information is detected by unmanned aircraft GPS, barometric pressure sensors, ultrasonic sensors, magnetic orientation sensors, and / or accelerometers. Alternatively, the flight information may include information on surrounding obstacles detected by an infrared sensor, a visible light sensor, or an ultrasonic sensor, and / or an image taken by the camera 13.

A conventionally known method can be used to predict the possibility of collision in step S405. For example, the direction and speed of an unmanned aircraft are represented by a vector, and collisions are possible using trigonometry from the latitude, longitude, and altitude information of autonomously flying unmanned aircraft and maneuvered unmanned aircraft. It may be to predict the sex.

A collision may be a physical contact between an autonomously flying unmanned aerial vehicle and a piloted unmanned aerial vehicle, and the distance between the autonomously flying unmanned aerial vehicle and the piloted unmanned aerial vehicle is a predetermined distance. You may approach within. The predetermined distance at this time may be, for example, 1 m, 5 m, or 10 m. The predetermined distance is preferably determined in consideration of the size of the unmanned aircraft and the accuracy of latitude, longitude, and altitude information due to the performance of GPS, barometric pressure sensor, ultrasonic sensor, and the like.

In the determination of whether or not there is a possibility of collision in step S406, if the flight path of the autonomously flying unmanned aircraft is not changed, the autonomously flying unmanned aircraft collides with the maneuvered unmanned aircraft. It may be determined that there is a possibility of collision when the possibility of collision is greater than 0%, and the possibility of collision between an autonomously flying unmanned aircraft and a maneuvered unmanned aircraft is 30% or more. Sometimes it may be determined that there is a possibility of collision, and there is a possibility of collision when the possibility of collision between an autonomously flying unmanned aircraft and a maneuvering unmanned aircraft is 50% or more. It may be determined that.

The flight path change information generated in step S407 is information for changing the flight path information used by the autonomously flying unmanned aerial vehicle in step S109 to control the flight. Specifically, an autonomously flying unmanned aerial vehicle flies to a point away from the unmanned aerial vehicle that has been operated once, and information on a flight route specified from that point to a new destination, or autonomous flight. Information about the flight path specified to return to the destination after hovering on the spot until the unmanned aerial vehicle is no longer likely to collide with the unmanned aerial vehicle being operated. When the flight route is specified so as to newly head to the destination from a point away from the unmanned aerial vehicle being operated, the description of the flight route identification process in FIG. 5 can be adopted to the extent necessary.

In this way, based on the flight information of one unmanned aerial vehicle and the flight information of another unmanned aerial vehicle, the possibility of collision between one unmanned aerial vehicle and another unmanned aerial vehicle is predicted, and the possibility of collision is predicted. In that case, the flight route change information for changing the flight path information of one unmanned aerial vehicle is generated, and the unmanned aerial vehicle controls the flight of the unmanned aerial vehicle according to the flight route change information to autonomously fly. Even when there are unmanned aerial vehicles and unmanned aerial vehicles that are being operated, it is possible to control multiple unmanned aerial vehicles so that collisions between unmanned aerial vehicles can be avoided.

1: Unmanned machine 2: Communication network 3: Unmanned machine control device 4: Automatic control device 11: Flight control unit 12: Sensor 13: Camera 14: Conversion unit 15: Antenna 31: Control unit 32: RAM
33: Storage unit 34: Graphic processing unit 35: Communication interface 36: Interface unit 37: External memory 38: Display unit 39: Display screen 50: Image image 51: Flyable area 52: Flight prohibited area 53: Departure point icon 54: Destination icon 55: Temporary flight path 56: Flight path 57: Waypoint icon

Claims (7)

An automatic control system that controls unmanned aerial vehicles, including unmanned aerial vehicles, an unmanned aerial vehicle control device that controls unmanned aerial vehicles, and an automatic control device that can connect to the unmanned aerial vehicle control device via communication.
The automatic control system
Flight route identification means to identify the flight route of each unmanned aerial vehicle based on the flight plan information of multiple unmanned aerial vehicles,
It is equipped with a first flight route information transmission means for transmitting flight route information regarding the specified flight route to the unmanned aerial vehicle control device.
Unmanned aerial vehicle control device
The first flight route information receiving means for receiving flight route information from the automatic control system,
It is equipped with a second flight route information transmission means that transmits flight route information to the unmanned aerial vehicle.
The drone
A second flight route information receiving means that receives flight route information from the unmanned aerial vehicle control device,
An automatic control system including a flight control means for controlling flight according to received flight path information. One unmanned aerial vehicle and another unmanned aerial vehicle fly at different altitudes when the flight path identified by the flight path identifying means overlaps, intersects, or touches the flight path specified for another unmanned aerial vehicle. The automatic control system according to claim 1, wherein the flight path is specified so as to be performed. The automatic control system according to claim 1 or 2, wherein the flight path identifying means identifies the flight path based on the starting point and the destination of the unmanned aerial vehicle. The automatic control system
A flightable area storage means for storing a flightable area capable of flying by an unmanned aerial vehicle and / or a no-fly zone where flight by an unmanned aerial vehicle is not possible is provided.
The automatic control system according to any one of claims 1 to 3, wherein the flight path identifying means specifies a flightable area as a flight path and / or an area excluding a flight prohibited area as a flight path. The automatic control system
A collision possibility prediction means for predicting the possibility of collision between one unmanned aerial vehicle and another unmanned aerial vehicle based on the flight information of one unmanned aerial vehicle and the flight information of another unmanned aerial vehicle.
A flight path change information generating means for generating flight path change information for changing the flight path information of one unmanned aerial vehicle when the possibility of a collision is predicted.
It is equipped with a first flight route change information transmitting means for transmitting the generated flight route change information to the unmanned aerial vehicle control device corresponding to one unmanned aerial vehicle.
Unmanned aerial vehicle control device
It is equipped with a first flight route change information receiving means for receiving flight route change information from an automatic control device and a second flight route change information transmitting means for transmitting flight route change information to one unmanned aerial vehicle.
The drone
It is equipped with a second flight route change information receiving means that receives flight route change information from the unmanned aerial vehicle control device.
The flight control means controls the flight of the unmanned aerial vehicle according to the received flight route change information.
The automatic control system according to any one of claims 1 to 4. It is an automatic control method executed in an automatic control system that controls an unmanned aerial vehicle, including an unmanned aerial vehicle, an unmanned aerial vehicle control device that controls the unmanned aerial vehicle, and an automatic control device that can be connected to the unmanned aerial vehicle control device by communication. ,
A flight route identification step in which the automatic control system identifies the flight route of each unmanned aerial vehicle based on the flight plan information of multiple unmanned aerial vehicles.
The first flight route information transmission step in which the automatic control device transmits flight route information regarding the specified flight route to the unmanned aerial vehicle control system, and
The first flight route information reception step in which the unmanned aerial vehicle control device receives flight route information from the automatic control device,
The second flight route information transmission step in which the unmanned aerial vehicle control device transmits flight route information to the unmanned aerial vehicle,
The second flight route information receiving step in which the unmanned aerial vehicle receives the flight route information from the unmanned aerial vehicle control device,
An automatic control method in which an unmanned aerial vehicle has a flight control step that controls flight according to received flight path information. It is an automatic control device for controlling unmanned aerial vehicles.
Flight route identification means to identify the flight route of each unmanned aerial vehicle based on the flight plan information of multiple unmanned aerial vehicles,
An automatic control device including a first flight route information transmitting means for transmitting flight route information regarding a specified flight route to an unmanned aerial vehicle control device.

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