JP2022147973A - Attitude detection device and attitude control system of flying object - Google Patents

Abstract

To provide an attitude detection device and an attitude control system of a flying object for detecting a direction and an attitude of the flying object.SOLUTION: An attitude detection device provided in a flying device 2 capable of performing remote control includes a light reception part 7 and an attitude detection part. The light reception part includes a half mirror that partially transmits applied laser beams, and retroreflects the remaining part, and a light receiving element capable of receiving laser beams transmitted through the half mirror and detecting a luminous flux sectional shape of received laser beams. The laser beams have a predetermined luminous flux sectional shape. The attitude detection part is configured so as to compute a change in the luminous flux sectional shape on the basis of a light reception signal from the light receiving element, detect an incidence angle and an incidence direction of laser beams entering the light reception part on the basis of a change in the luminous flux sectional shape, and detect an attitude of the flying device on the basis of the detected incidence angle and incidence direction.SELECTED DRAWING: Figure 1

Description

The present invention relates to an attitude detection device and an attitude control system for an aircraft.

BACKGROUND ART In recent years, with the progress of small unmanned air vehicles (UAVs), various devices are mounted on UAVs to fly by remote control, or to fly autonomously to perform required tasks. For example, a UAV is equipped with a measuring instrument such as a photogrammetry camera and a laser scanner, and a wide range of measurement is performed by acquiring point cloud data while photogrammetry or flying.

When performing measurements with a survey instrument mounted on a flying object, it is essential to accurately detect the position of the flying object and also the attitude of the flying object. As a current method for detecting the direction and attitude of a flying object, an inertial measurement unit (IMU) is mounted on the flying object and the IMU detects the orientation of the flying object.

However, since the IMU detects changes in state, there are accumulated errors, circuit drifts, etc., and it cannot be said that the direction and attitude of the flying object can be detected with high accuracy.

JP 2018-44913 A JP 2016-161411 A

SUMMARY OF THE INVENTION The present invention provides an attitude detection device and an attitude control system for a flying object that detects the direction and attitude of the flying object.

The present invention is an attitude detection device provided in a remotely controllable flight device, the attitude detection device having a light receiving section and an attitude detection section, the light receiving section transmitting part of the irradiated laser beam. and a light-receiving element that receives a laser beam that has passed through the half-mirror and that can detect a beam cross-sectional shape of the received laser beam, wherein the laser beam has a predetermined beam cross-sectional shape. and the attitude detection unit calculates a change in the cross-sectional shape of the beam based on the light receiving signal from the light receiving element, and detects the incident angle and direction of the laser beam incident on the light receiving unit based on the change in the cross-sectional shape of the beam. is detected, and the attitude of the flying object is detected based on the detected incident angle and incident direction.

Further, according to the present invention, the cross-sectional shape of the beam has a long axis and a short axis, and the long axis or the short axis is tilted with respect to the vertical, and the posture detection unit detects a change in rotation of the long axis and a cross-sectional shape of the beam. on the light receiving surface of the flying object and the vertical length change on the light receiving surface of the cross section of the luminous flux to calculate the inclination angles of the three axial directions of the flight device. The present invention relates to a posture detection device.

Further, according to the present invention, a fine light-receiving portion is provided at the center of the light-receiving portion, and the fine light-receiving portion comprises a lens sheet composed of microspherical lenses, and a fine light-receiving element having sections corresponding to the respective microspherical lenses. wherein the light rays transmitted through the microspherical lens are imaged on the segment, and the tilt angle and direction of the flight device are detected based on the image position within the segment. The present invention relates to an attitude detection device for an aircraft.

The present invention also relates to an aircraft attitude detection apparatus, wherein the light receiving surface of the light receiving element is conical.

The present invention also relates to an apparatus for detecting the attitude of a flying object, which splits a laser beam incident on the light-receiving part into three mutually orthogonal axes, and detects a rotation angle and a rotation direction about each axis. is.

The present invention also provides a remotely controllable flight device, any one of the attitude detection devices described above, a position measurement device capable of tracking the flight device, and a remote control device capable of wirelessly communicating with the flight device and the position measurement device. wherein the flying device is capable of wirelessly communicating with propeller units provided on a plurality of even-numbered propeller frames, and the remote control device, and is capable of controlling the driving of the propeller units. The position measuring device irradiates the light-receiving unit with a laser beam having a predetermined beam cross-section as distance measuring light, and the half mirror retroreflects part of the distance measuring light as reflected distance measuring light. and the remaining part is received by the light-receiving element as the tracking light, the position measuring device receives the retroreflected light, and measures the position of the flight device, and the control device is configured to measure the position of the flight device based on the detection result of the attitude detection unit. The present invention relates to an attitude control system for a flying object configured to drive the propeller unit and control the attitude of the flying device.

The present invention also relates to an attitude control system for a flying object, wherein the position measuring device receives retroreflected light from the light receiving unit and tracks the flying device based on the light receiving result.

Further, according to the present invention, the flying object communication unit transmits the detection result of the attitude detection unit to the position measuring device in real time, and the position measuring device tracks the flying device based on the received light receiving result. The present invention relates to an attitude control system for an air vehicle that has been designed.

According to the present invention, there is provided an attitude detection device provided in a remotely controllable flight device, the attitude detection device having a light receiving section and an attitude detection section, wherein the light receiving section is a part of the irradiated laser beam. and a light-receiving element that receives the laser beam transmitted through the half-mirror and can detect the beam cross-sectional shape of the received laser beam, wherein the laser beam is a predetermined beam the orientation detection unit calculates a change in the cross-sectional shape of the beam based on the light receiving signal from the light receiving element, and the angle of incidence of the laser beam incident on the light receiving unit based on the change in the cross-sectional shape of the beam; Since the direction of incidence is detected and the attitude of the flight device is detected based on the detected angle of incidence and the direction of incidence, there is no accumulated error, no drift in the circuit, etc., and the direction and direction of the flying object are stably detected posture can be controlled.

Further, according to the present invention, there is provided a remotely controlled flight device, any one of the attitude detection devices described above, a position measurement device capable of tracking the flight device, and a radio communication between the flight device and the position measurement device. and a remote control, wherein the flight device is capable of wireless communication with propeller units provided on a plurality of even-numbered propeller frames, and the remote control, and controls driving of the propeller units. The position measuring device irradiates the light-receiving part with a laser beam having a predetermined luminous flux cross-section as range-finding light, and the half mirror reflects a part of the range-finding light as reflected range-finding light. The light is retroreflected, and the light receiving element receives the remainder as tracking light, the position measuring device receives the retroreflected light, and measures the position of the flight device, and the control device is configured to measure the detection result of the attitude detection unit. Since the propeller unit is driven to control the attitude of the flight device based on the above, the direction and attitude of the aircraft can be controlled based on the stable attitude detection result from the attitude detection unit. exerts an excellent effect.

1 is a configuration diagram of a surveying system according to an embodiment of the present invention; FIG. 1 is a schematic block diagram showing a UAV control system; FIG. It is explanatory drawing of the light-receiving part of UAV. 1 is a schematic block diagram of a total station; FIG. 1 is a schematic block diagram of a remote control; FIG. (A) and (B) are explanatory diagrams showing the relationship between the beam cross-sectional shape of received tracking light and the inclination of the UAV. It is explanatory drawing of the minute light-receiving part of the example of a modification of the light-receiving part of a present Example, (A) is explanatory drawing of the cross section of a minute light-receiving part, (B) is explanatory drawing of the light-receiving surface of a minute light-receiving element. (A) is a perspective view of the lens sheet of the fine light-receiving portion, and (B) and (C) are diagrams for explaining the action of the microspherical lens. It is explanatory drawing which shows the other example of a change of the light-receiving part of a present Example. FIG. 8 is an explanatory diagram showing still another modification of the light receiving section of the present embodiment, where (A) shows the state in which the tracking light is incident on the light receiving element, and (B), (C) and (D) show the light receiving states of the light receiving element. It is an explanatory diagram.

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

First, referring to FIG. 1, an attitude control system for an aircraft according to an embodiment of the present invention will be described.

An aircraft attitude control system 1 is mainly composed of a flight device (UAV) 2 , a position measuring device capable of tracking the UAV 2 , such as a total station 3 , and a remote control device 4 .

The UAV 2 mainly includes an aircraft 5 , a measuring instrument provided on the upper or lower surface of the aircraft 5 , a light receiving section 7 for receiving tracking light from the total station 3 , and an aircraft communication section 8 .

The light receiving unit 7 inputs the result of receiving the tracking light to the posture detection unit 35 (see FIG. 2). The attitude detection unit 35 detects the attitude of the flying object 5 at the point cloud data acquisition based on the light reception result.

The aircraft communication unit 8 performs communication such as control signal communication and data communication between the total station 3 and the remote control unit 4 .

The measuring device is provided on the lower surface of the flying object 5 in this embodiment, and a laser scanner 6 is used as the measuring device. In addition, as the measuring instrument, an imaging device for photogrammetry and the like can be used.

A reference point is set on the flying object 5 . The reference point is, for example, the mechanical center of the aircraft 5, and the positional relationship between the reference point and the measurement reference point of the laser scanner 6 is known.

The aircraft 5 has a plurality of even-numbered propeller frames 11 (11a to 11d in the drawing) radially extending, and propeller units 12a to 12d are provided at the ends of the propeller frames 11. As shown in FIG. The propeller units 12a-12d each include a propeller motor and a propeller.

The laser scanner 6 emits a pulsed or burst laser beam as distance measuring light (hereinafter referred to as pulsed distance measuring light), and rotates the pulsed distance measuring light through a scanning mirror (not shown). The scanning mirror rotates in one vertical direction about a horizontal axis. Therefore, the pulsed ranging light is irradiated in one-dimensional rotation within a vertical plane including the reference point of the flying object 5 .

The pulsed ranging light reflected by the object to be measured is measured for each pulsed ranging, and point cloud data is acquired by rotating irradiation of the pulsed ranging light. Note that burst light emission is disclosed in Patent Document 2.

The total station 3 is provided at a known point (a point with known three-dimensional coordinates), irradiates the flying object 5 with tracking light, and tracks the flying object 5 while tracking the position of the flying object 5 (three-dimensional coordinates) in real time. By measuring the position of the flying object 5 in real time, the position (three-dimensional coordinates) of the flying object 5 at the time of point cloud data acquisition is measured, and the point cloud data is three-dimensional data based on the total station 3. can be converted to

The remote controller 4 is, for example, a mobile terminal such as a smart phone or a tablet, or a device in which an input device is connected to or integrated with the mobile terminal. The remote control device has an arithmetic unit having arithmetic functions, a storage unit for storing data and programs, and a terminal communication unit (described later). The remote controller 4 is capable of wireless communication with the UAV 2 and the total station 3 . Furthermore, the remote controller 4 can remotely control the flight of the flight device 2 and can also remotely control the range finding operation by the laser scanner 6 .

The UAV 2 will be further described with reference to FIG.

The flying object 5 incorporates a control device 27 . The control device 27 mainly includes an arithmetic control section 28, a storage section 29, a flight control section 32, a propeller unit driver section 33, a scanner control section 34, the attitude detection section 35, and the aircraft communication section 8. there is

Although the scanner control section 34 is included in the control device 27 in this embodiment, it may be configured separately. For example, the scanner control section 34 may be provided in the laser scanner 6 , and control signals may be exchanged between the aircraft 5 and the laser scanner 6 via the aircraft communication section 8 .

A program storage section and a data storage section are formed in the storage section 29 . The program storage unit contains a flight control program for driving and controlling the propeller units 12a to 12d, a distance measurement program for controlling the distance measurement operation by the laser scanner 6, and the acquired data for transmission to the remote controller 4. , a communication program for receiving a flight command and an imaging command from the remote controller 4, an attitude detection program for detecting the attitude of the aircraft 5 based on the light receiving result from the light receiving section 7, and the attitude detection section 35. A program such as an attitude control program for controlling the attitude of the aircraft 5 based on the attitude detection result is stored.

Data such as point cloud data acquired by the laser scanner 6 is stored in the data storage unit.

The scanner control section 34 controls driving of the laser scanner 6 . That is, the scanner control unit 34 controls the light emission interval of the pulse distance measuring light, the rotational speed of the scanning mirror, and the like, and rotates the pulse distance measuring light through the scanning mirror. That is, the scanner control section 34 controls the irradiation point interval and the point cloud density of the pulse distance measuring light emitted from the laser scanner 6 . Further, the light receiving result of the reflected pulse distance measuring light is input to the arithmetic control unit 28 in association with the rotation angle of the scanning mirror, and distance measurement and angle measurement are executed.

When the flying object 5 is remotely controlled by the remote controlling device 4, the flying object communication unit 8 receives a control signal from the remote controlling device 4 or a command to the laser scanner 6, and controls the flying object. A signal is input to the arithmetic control unit 28 . Alternatively, it has a function of transmitting data such as measurement data acquired by the laser scanner 6 and attitude detection data (described later) to the remote controller 4 .

Based on various programs stored in the storage unit 29, the arithmetic control unit 28 executes various controls for scanning (measuring) the object to be measured with the pulse distance measuring light. Further, the arithmetic control unit 28 issues control signals to the flight control unit 32 and the scanner control unit 34 to execute integrated control of these control units.

The flight control section 32 individually controls the propeller units 12a to 12d via the propeller unit driver section 33 based on control signals relating to flight from the arithmetic control section 28, and causes the UAV 2 to fly in a desired state. . For example, the flight control section 32 controls the propeller units 12a to 12d to perform flight such as ascending/descending, advancing/retreating, hovering, and rotating horizontally while hovering.

The light receiving section 7 and the attitude detection section 35 will be described with reference to FIG.

The attitude detection section 35 detects the attitude of the flying object 5 based on the light reception result from the light receiving section 7 .

The light receiving section 7 will be described.

The light-receiving part 7 is provided on the lower surface or the side surface of the flying object 5, and is arranged at a position where it is easy to receive light rays (tracking light) from below. Further, the positional relationship between the light receiving position of the light receiving portion 7 and the reference point of the flying object 5 is known.

The light receiving portion 7 includes a light receiving window 7a and a light receiving element 7b. The light-receiving window 7a is a half mirror that transmits part of the irradiated tracking light and reflects the rest, and the light-receiving element 7b receives the transmitted light and generates a light-receiving signal. .

The light-receiving surface of the light-receiving element 7b is composed of an assembly of a large number of pixels, and the light-receiving signal emitted from each pixel contains positional information for specifying the position of each pixel within the light-receiving surface together with the light-receiving intensity (light-receiving amount). contains. A CCD or CMOS sensor, for example, is used as the light receiving element.

A light receiving signal from the light receiving element 7b is input to the attitude detecting section 35, and the attitude detecting section 35 detects the received light intensity (the amount of received light) based on the received light signal and also detects the center position of the incident light (for example, the center position of the received light). The position of the center of gravity of the amount of light) is detected, and the shape of the received light (cross-sectional shape of the light flux) is detected by associating the light receiving signal of each pixel with the position information.

Next, the outline of the total station 3 will be described with reference to FIG.

The total station 3 mainly includes a measurement control device 41, a distance measurement unit 42, a tracking unit 43, a collimation optical system 44, an angle measurement unit 45, a measurement communication unit 46, a drive unit 47, a measurement storage unit 48, and the like. there is

The collimating optical system 44 collimates the object to be measured. The distance measuring unit 42 emits a laser beam as distance measuring light 49 through the collimating optical system 44, and receives reflected light from the object to be measured through the collimating optical system 44, Measure the distance. That is, the distance measuring section 42 has a function as an optical distance meter.

The distance measuring unit 42 is capable of prism measurement and non-prism measurement. In the case of prism measurement, the object to be measured is a retroreflector, and the measurement is performed by receiving reflected light from the retroreflector. A prism, a reflective sheet, or the like is used as the retroreflector. In the case of non-prism measurement, measurement is performed by receiving reflected light from the natural surface of the object to be measured.

In the case of prism measurement, the tracking unit 43 can track the object to be measured while executing the prism measurement. In this embodiment, the light-receiving section 7 is a measuring object having retroreflective properties.

The tracking unit 43 emits a laser beam as tracking light to the object to be measured, receives the retroreflected light from the object to be measured by a light receiving element, and adjusts the light receiving position of the retroreflected light to be within a predetermined range. The collimation optical system 44 is caused to track the object to be measured. It should be noted that the distance measuring light 49 can be used as the tracking light, and in this embodiment, the case where the distance measuring light 49 is used as the tracking light will be described.

The angle measuring unit 45 measures the horizontal angle and the vertical angle of the collimating optical axis of the collimating optical system 44 during distance measurement. The angle measurement result of the angle measurement unit 45 is input to the measurement control device 41 . The measurement control device 41 associates the results of angle measurement with the results of distance measurement, and converts the measurement results of the measurement points into three-dimensional data.

The collimating optical system 44 irradiates the distance measuring light 49 as a parallel beam. It is set so that the cross-sectional shape of the light beam received by 7 is changed. For example, an elliptical cross section is set as described later.

As described above, part of the distance measuring light 49 irradiated to the light receiving part 7 is transmitted and received by the light receiving element 7b, and the remaining part is retroreflected by the light receiving window 7a to reach the distance measuring part 42. is received by the tracking unit 43 and tracking is performed.

The measurement storage unit 48 stores a measurement program for measuring the distance of an object to be measured, a tracking program for tracking the object to be measured, and a communication program for communicating with the flying device 2 and the remote control device 4. Programs such as programs are stored. Further, the measurement storage unit 48 stores the measurement results (distance measurement results, angle measurement results) of the object to be measured.

The measurement communication unit 46 transmits measurement results (slant distance, horizontal angle, vertical angle) to the remote control device 4 in real time.

The driving unit 47 moves the collimating optical system 44 horizontally or vertically in order to collimate the collimating optical system 44 to the light receiving unit 7 or to track the light receiving unit 7 . rotate in the direction

The total station 3 measures the distance while tracking the light-receiving unit 7 , that is, the flying object 5 , and calculates the three-dimensional coordinates of the reference point of the flying object 5 based on the distance measurement result and the detection result of the angle measuring unit 45 . Measure in real time.

The remote control device 4 will be described with reference to FIG.

The remote controller 4 is, for example, a mobile terminal such as a smart phone or a tablet, or a device in which an input device is connected to or integrated with the mobile terminal. The remote controller 4 has a terminal arithmetic processing unit 51 having arithmetic functions, a terminal storage unit 52 for storing data and programs, a terminal communication unit 53 , an operation unit 54 and a display unit 55 .

The remote controller 4 is capable of wireless communication and optical communication between the terminal communication unit 53 and the flying object communication unit 8 . The remote controller 4 remotely controls the flight of the flight device 2 and can also remotely control the range finding operation by the laser scanner 6 .

The terminal arithmetic processing unit 51 creates control commands based on commands input from the operation unit 54 and transmits the command to the UAV 2 via the terminal communication unit 53 . Also, the image data, measurement data, etc. transmitted from the UAV 2 are stored in the terminal storage section 52 or displayed on the display section 55 .

The terminal storage unit 52 stores a communication program for communicating with the flying device 2 and the total station 3, a display program for displaying point cloud data acquired by the laser scanner 6, and a touch panel. Programs such as an operation program for inputting an instruction by pressing the controller, a program for creating a command for control, and the like are stored.

The terminal communication section 53 communicates with the flying object communication section 8 of the flight device 2 or with the measurement communication section 46 of the total station 3 . Further, the operation unit 54 inputs various instructions through buttons of a controller provided integrally with the display unit 55, and operates the flying object 5. As shown in FIG.

The display unit 55 displays measurement results obtained by the total station 3, point cloud data obtained by the laser scanner 6, operation status, and the like.

Incidentally, the entire display section 55 may be a touch panel. When the display section 55 is entirely a touch panel, the operation section 54 may be omitted. In this case, the display unit 55 is provided with an operation panel for operating the aircraft 5 .

A measurement operation by the above survey system will be described.

The total station 3 is installed at a known installation point (a point with known three-dimensional coordinates in a geocentric coordinate system (global coordinate system)). If the object to be measured is a building or the like and the three-dimensional coordinates of the geocentric coordinate system are not required, the installation point may be a known point for the object to be measured.

Before flight, with the UAV 2 on the ground, the UAV 2 (that is, the light receiving unit 7) is collimated by the total station 3, and tracking is started. After flying, the laser scanner 6 is driven by remote control from the remote controller 4 to start acquisition of point cloud data by laser scanning.

Two-dimensional laser scanning is performed by the one-dimensional scanning operation by the laser scanner 6 and the flight of the UAV 2, and point cloud data of the two-dimensional scanning is obtained. The point cloud data is temporarily stored in the storage unit 29 , sequentially transmitted to the remote control unit 4 via the aircraft communication unit 8 , and stored in the terminal storage unit 52 .

During flight, the total station 3 tracks the UAV 2, so that the light receiving unit 7 is irradiated with the distance measuring light 49, and the light receiving unit 7 (that is, the light receiving window 7a) reflects the distance measuring light 49. is received by the distance measuring unit 42 via the collimating optical system 44, and distance measurement is performed by the distance measuring unit 42 in real time.

Further, part of the distance measuring light 49 passes through the light receiving window 7a as tracking light and is received by the light receiving element 7b.

Here, the cross-sectional shape of the luminous flux of the distance measuring light 49 will be described.

As described above, the cross-sectional shape of the luminous flux of the distance measuring light 49 is set so that the cross-sectional shape of the luminous flux received by the light receiving section 7 changes in accordance with the attitude (inclination) of the flying object 5 .

An example of the cross-sectional shape of the luminous flux of the distance measuring light 49 is indicated by A in FIG. In A, the luminous flux cross-sectional shape of the distance measuring light 49 is an ellipse, and the long axis of the ellipse is inclined by a predetermined angle, for example, 45°, with respect to the vertical (or horizontal). Alternatively, when the UAV 2 is in a horizontal posture and the distance measuring light 49 is received, the shape of the beam cross section is set such that the long axis is inclined at a predetermined angle, for example, 45°, with respect to the vertical (or horizontal). may The cross-sectional shape of the luminous flux is not limited to an ellipse as long as it has a major axis and a minor axis.

6(A) and 6(B) show the cross section of the light beam received by the light receiving element 7b of the distance measuring light (hereinafter referred to as tracking light) transmitted through the light receiving element 7b. It shows that the luminous flux cross section changes corresponding to . In addition, in FIGS. 6A and 6B, G indicates the center of gravity of the amount of light.

Regarding the inclination of the UAV 2, rotation (tilt) in three directions is conceivable. Referring to FIG. 1, let ω be the rotation angle about the x-axis, φ be the rotation angle about the y-axis, and κ be the rotation angle about the z-axis.

Referring to FIG. 1, when the UAV 2 rotates (tilts) about the y-axis, the shape of the beam cross section of the tracking light changes in the tilt angle θ of the major axis of the ellipse. Further, when the UAV 2 rotates (tilts) around the z-axis, the shape of the beam cross section of the tracking light changes in the length H of the ellipse in the horizontal direction. Further, when the UAV 2 rotates (tilts) around the x-axis, the shape of the beam cross section of the tracking light changes in the length V of the ellipse in the vertical direction.

In FIG. 6A, the inclination angle θ1, the horizontal length H1, and the vertical length V1 are assumed, and in FIG. 6B, the inclination angle θ2, the horizontal length H2, and the vertical length V2 are assumed. 6(B), there is no tilt (rotation) about the x-axis because V1=V2, and θ1<θ2, so the angle θ1−θ2 Since it rotates counterclockwise about the y-axis by H1>H2, it can be seen that a tilt (rotation) corresponding to a displacement of H1-H2 about the z-axis has occurred.

Furthermore, the tilt ω of the UAV 2 about the x-axis is correlated with the vertical length V, so the tilt angle ω is a function of the vertical length V, and ω=f(V).
Similarly, the tilt φ about the y-axis of the UAV 2 and the tilt angle θ of the long axis are correlated, so the tilt angle φ is a function of the tilt angle θ, and φ=f(θ).
Similarly, the tilt angle κ of the UAV 2 about the z-axis is correlated with the horizontal length H, so the tilt angle κ is a function of the horizontal length H, and κ=f(H).

Therefore, if the functions .omega.=f(V), .phi.=f(.theta.), and .kappa.=f(H) are obtained in advance, the posture detection unit 35 can detect V, θ and H are detected, and the inclination angles of the UAV 2 in three directions are calculated based on the V, θ, H and ω=f(V), φ=f(θ), and κ=f(H). can.

The attitude detection unit 35 inputs the calculation result to the calculation control unit 28, and the calculation control unit 28 controls the attitude of the aircraft 5 via the flight control unit 32 based on the calculation result. Regarding the rotation angle about the x-axis, the rotation angle about the y-axis, and the rotation angle about the z-axis, the direction of the right-hand screw is defined as +.

Further, tracking control can be performed based on the result of light reception by the light receiving section 7 .

The light amount gravity center of the tracking light received by the light receiving element 7b is calculated, and further the deviation between the light amount gravity center and the reference position of the light receiving element 7b (for example, the center of the light receiving element 7b) is detected. The detection results are transmitted in real time to the measurement communication section 46 via the flying object communication section 8 and input to the measurement control device 41 . The measurement control device 41 causes the UAV 2 to track the distance measuring light 49 by the tracking unit 43 so that the deviation becomes zero.

A modification of the light receiving section 7 will be described with reference to FIGS. 7 and 8. FIG.

In this modification, a fine light receiving section 60 is provided at the center of the light receiving section 7 .

The fine light receiving section 60 has a central portion of the light receiving window 7a, a lens sheet 61, and a fine light receiving element 62. Further, the lens sheet 61 has a large number of microspherical lenses 63 arranged in close contact on the same plane, It is configured in a sheet shape (see FIG. 8(A)).

The fine light-receiving element 62 has a light-receiving portion divided in a grid pattern, and each division 62 a is provided corresponding to each micro-spherical lens 63 . The distance between the lens sheet 61 and the fine light receiving element 62 is the focal length of the microspherical lens 63, and each microspherical lens 63 is configured to form an image on the corresponding segment 62a. ing.

Further, the section 62a outputs a light reception signal for each section, and also outputs the light reception position P in each section 62a as light reception position information.

When the distance measuring light 49 is incident on the fine light receiving section 60 , the imaging position of the distance measuring light 49 changes according to the incident angle of the distance measuring light 49 . 8B shows the case where the distance measuring light 49 enters the lens sheet 61 perpendicularly, and FIG. 8C shows the case where the distance measuring light 49 enters the lens sheet 61 obliquely. ing.

Therefore, the light receiving position P of each section 62a when the distance measuring light 49 is perpendicularly incident on the fine light receiving section 60 is stored as an initial value, and when there is a change in the incident angle thereafter, the light receiving position P with respect to the initial value is stored. is detected, a change in the incident angle and a change in the incident direction can be obtained based on the change in the light receiving position P. FIG.

Therefore, in tracking, a large angle change is obtained based on the detection result from the light receiving element 7b, the incident angle of the distance measuring light 49 becomes substantially perpendicular to the light receiving section 7, and the convergence by each microspherical lens 63 is obtained. If tracking is executed based on the detection result from the fine light receiving section 60 in a state where the image position is within the corresponding section 62a, highly accurate tracking becomes possible.

FIG. 9 shows another modification of the light-receiving unit 7. In this modification, the tracking light is branched in the x-axis, y-axis, and z-axis directions and received. A change in the angle of the long axis of the ellipse of the cross-sectional shape may be detected.

FIG. 10 shows still another modification of the light receiving section 7. As shown in FIG. In the other modified example, the light receiving element 7b has a conical shape with a predetermined apex angle, and the beam cross section of the tracking light is an ellipse with a vertical major axis. The apex angle of the conical shape may be any angle at which the change in the incident angle is reflected in the light-receiving state, for example, 90°.

As shown in FIG. 10(A), when the tracking light 49a is vertically incident on the center of the light receiving element 7b, the shape of the light received by the light receiving element 7b is the same as the beam cross section as shown in FIG. 10(B). When the tracking light 49b is obliquely incident on the light receiving element 7b as shown in FIG. 10(A), the shape of the light received by the light receiving element 7b is shown in FIG. 10(C). Similarly, an asymmetric ellipse 72 (egg-shaped ellipse) in which the portion on the side of the inclination direction further extends from the center of the light receiving element 7b of the ellipse 71 is formed. Further, when the major axis 73 of the asymmetric ellipse 72 is divided at the center of the light receiving element 7b, the division length 73a on the oblique side is elongated by α and the division length 73b on the opposite side is shortened by β. The inclination angle can be obtained based on the ratio of the length 73a and the division length 73b and the apex angle of the cone. Furthermore, the direction of inclination can be determined by the length of the division length.

Also, when the tracking light 49a is tilted in the minor axis direction, the tilt angle and tilt direction can be detected in the same manner.

Furthermore, when the tilt direction is between the major axis direction and the minor axis direction, it can be obtained by synthesizing the inclination angle obtained in the major axis direction and the inclination angle obtained in the minor axis direction.

As for the rotation angle θ about the optical axis of the tracking light 49a, the angle of the major axis of the ellipse of the beam cross-section with respect to the vertical can be obtained (see FIG. 10(D)).

Incidentally, in the case of the other modified example, the cross-sectional shape of the beam may be cross-shaped. In this case, expansion/contraction and rotation of the division length become clear.

In the case of another modified example, it is preferable that the tracking unit 43 of the total station 3 performs the detection related to tracking, and the measurement control device 41 controls the tracking light so that the center of the light receiving element 7b is always irradiated with the tracking light. .

In addition, in this embodiment, the remote control device 4 may be used as a data collector, and data processing such as coordinate conversion and integration processing of acquired data may be performed by a separate arithmetic processing device such as a PC. .

1 attitude control system 2 UAV
3 position measuring device 4 remote control unit 5 flying object 6 laser scanner 7 light receiving unit 8 flying object communication unit 27 control device 28 arithmetic control unit 29 storage unit 32 flight control unit 34 scanner control unit 35 attitude detection unit 41 measurement control device 43 tracking Unit 44 Collimation optical system 51 Terminal arithmetic processing unit 53 Terminal communication unit 60 Fine light receiving unit

Claims (8)

An attitude detection device provided in a remotely controllable flight device, the attitude detection device having a light receiving section and an attitude detection section, the light receiving section transmitting part of an irradiated laser beam and transmitting the remaining portion. a retro-reflecting half mirror and a light-receiving element capable of receiving a laser beam transmitted through the half mirror and detecting a beam cross-sectional shape of the received laser beam, the laser beam having a predetermined beam cross-sectional shape; The attitude detection unit calculates a change in the cross-sectional shape of the beam based on the light receiving signal from the light receiving element, detects the incident angle and direction of the laser beam incident on the light receiving unit based on the change in the cross-sectional shape of the beam, An attitude detection device for a flying object configured to detect the attitude of the flying device based on the detected incident angle and incident direction. The cross-sectional shape of the beam has a long axis and a short axis, and the long axis or the short axis is inclined with respect to the vertical. 2. The flying object according to claim 1, wherein the tilt angles of the flight device in the three axial directions are calculated based on the change in the horizontal length of the cross section of the beam and the change in the vertical length of the cross section of the beam on the light receiving surface. attitude detection device. A fine light-receiving part is provided at the center of the light-receiving part, the fine light-receiving part comprises a lens sheet composed of microspherical lenses, and a fine light-receiving element having sections corresponding to the respective microspherical lenses, 2. The apparatus according to claim 1, wherein light rays transmitted through the microspherical lens are imaged on the section, and the inclination angle and the inclination direction of the flight device are detected based on the image formation position within the section. attitude detection device for flying objects. 3. An apparatus for detecting the attitude of a flying object according to claim 1, wherein the light-receiving surface of said light-receiving element is conical. 3. The attitude of the flying object according to claim 1 or 2, wherein the laser beam incident on the light-receiving part is branched into three mutually orthogonal axes, and a rotation angle and a rotation direction about each axis are detected. detection device. a remotely controllable flight device; an attitude detection device according to any one of claims 1 to 5; a position measurement device capable of tracking the flight device; and a remote device capable of wireless communication with the flight device and the position measurement device. and a pilot, wherein the flight device is capable of wireless communication with propeller units provided in a plurality of even-numbered propeller frames, and the remote pilot, and is capable of controlling driving of the propeller units. The position measuring device irradiates the light-receiving part with a laser beam having a predetermined beam cross-section as distance measuring light, and the half mirror retroreflects part of the distance measuring light as reflected distance measuring light. The position measuring device receives the retroreflected light and measures the position of the flying device. an attitude control system for a flying object, configured to drive the propeller unit and control the attitude of the flight device based on the above. 7. The attitude control system for a flying object according to claim 6, wherein the position measuring device receives the retroreflected light from the light receiving unit and tracks the flying device based on the light receiving result. 7. The flying object communication unit is configured to transmit the detection result of the attitude detection unit to the position measurement device in real time, and the position measurement device tracks the flight device based on the received light reception result. An attitude control system for the described air vehicle.

Images