JP2023184211A - Unmanned aircraft, control method of the same, program, and system - Google Patents

Abstract

To provide an unmanned aircraft which secures safety of the unmanned aircraft even if an abnormality occurs in the unmanned aircraft, and to provide a control method of the unmanned aircraft, a program, and a system.SOLUTION: An unmanned aircraft includes: multiple sensors attached to a body of the unmanned aircraft; a flight control unit which controls flight of the unmanned aircraft based on measurement information measured by the sensors and control information for controlling the unmanned aircraft; and an abnormality avoidance control unit which transmits abnormality avoidance control information used for abnormality avoidance control to the flight control unit to cause the flight control unit to provide the abnormality avoidance control when an abnormality occurs in the unmanned aircraft.SELECTED DRAWING: Figure 1

Description

Application for Article 30, Paragraph 2 of the Patent Act filed June 16, 2020 Published on the website of the Secure Drone Council (https://www.secure-drone.org/news/2022/0616- drone_security_guide_r3/)

The present disclosure relates to an unmanned aircraft, an unmanned aircraft control method, a program, and a system.

For example, if an unmanned aircraft such as a drone is hijacked, there is an increased possibility that the hijacked unmanned aircraft will be crashed.

As a related technology, Patent Document 1 discloses a drone equipped with a flight controller and a companion microcomputer that executes a baggage delivery mission according to a baggage delivery communication protocol.

Further, the sending terminal device disclosed in Patent Document 1 sends a command to a companion microcomputer of a drone via a network. When the companion microcontroller detects that the drone has landed, it sends an arrival notification to the receiving terminal device. Upon receiving the arrival notification from the drone, the receiving terminal device displays a message indicating that the drone has arrived on the touch panel.

JP2022-029387A

However, in the drone of Patent Document 1, when an abnormality occurs, the companion microcomputer does not cause the flight controller to perform abnormality avoidance control.

An example of the purpose of the present disclosure is to ensure the safety of an unmanned aircraft even when an abnormality occurs in the unmanned aircraft.

To achieve the above object, an unmanned aircraft according to one aspect of the present disclosure includes:
Multiple sensors attached to the body of the unmanned aircraft,
a flight control unit that controls the flight of the unmanned aircraft based on measurement information measured by the sensor and control information for controlling the unmanned aircraft;
an abnormality avoidance control unit that transmits abnormality avoidance control information used for performing abnormality avoidance control to the flight control means when an abnormality occurs in the unmanned aircraft, and causes the flight control means to perform abnormality avoidance control;
It is characterized by having the following.

Further, in order to achieve the above object, a method for controlling an unmanned aircraft according to one aspect of the present disclosure includes:
The unmanned aircraft has a flight control unit and an abnormality avoidance control unit,
The flight control unit controls the flight of the unmanned aircraft based on measurement information measured by a plurality of sensors attached to the main body of the unmanned aircraft and control information for controlling the unmanned aircraft,
The abnormality avoidance control unit transmits abnormality avoidance control information used for abnormality avoidance control to the flight control unit when the unmanned aircraft is abnormal, and causes the flight control unit to perform abnormality avoidance control. shall be.

Furthermore, in order to achieve the above object, a program according to one aspect of the present disclosure includes:
on the first computer,
a first program that controls the flight of the unmanned aircraft based on measurement information measured by a plurality of sensors attached to the main body of the unmanned aircraft and control information for controlling the unmanned aircraft;
to the second computer,
a second program that causes the first computer to transmit abnormality avoidance control information used to perform abnormality avoidance control when the unmanned aircraft is abnormal; and a second program that causes the first computer to perform abnormality avoidance control;
It is characterized by having the following.

Furthermore, in order to achieve the above object, a system according to one aspect of the present disclosure includes:
The unmanned aircraft is
Multiple sensors attached to the main body,
a flight control unit that controls the flight of the unmanned aircraft based on measurement information measured by the sensor and control information for controlling the unmanned aircraft;
an abnormality avoidance control unit that transmits abnormality avoidance control information used for abnormality avoidance control to the flight control unit when the unmanned aircraft is abnormal, and causes the flight control unit to perform abnormality avoidance control;
The information processing device is
The method is characterized in that setting information used for setting the abnormality avoidance control is transmitted to the abnormality avoidance control unit.

One aspect is that the safety of the unmanned aircraft can be ensured even if something goes wrong with the unmanned aircraft.

FIG. 1 is a diagram for explaining an example of an unmanned aircraft. FIG. 2 is a diagram for explaining an example of the data structure of failsafe information. FIG. 3 is a diagram for explaining an example of a system including an unmanned aircraft. FIG. 4 is a diagram for explaining an example of a ground station. FIG. 5 is a diagram for explaining generation of design information. FIG. 6 is a diagram for explaining an example of the operation of an unmanned aircraft. FIG. 7 is a diagram for explaining an example of the operation of the ground station. FIG. 8 is a block diagram showing an example of the first, second, and third computers in the embodiment.

Embodiments will be described below with reference to the drawings. In the drawings described below, elements having the same or corresponding functions are denoted by the same reference numerals, and repeated description thereof may be omitted.

(Embodiment)
The configuration of an unmanned aircraft 10 in the embodiment will be described using FIG. 1. FIG. 1 is a diagram for explaining an example of an unmanned aircraft.

[Device configuration]
The unmanned aerial vehicle 10 shown in FIG. 1 ensures the safety of the unmanned aerial vehicle even when an abnormality occurs in the unmanned aerial vehicle 10. Further, as shown in FIG. 1, the unmanned aircraft 10 includes a plurality of sensors 11, a flight control section 12, and an abnormality avoidance control section 13.

A plurality of sensors 11 (11a, 11b, . . . ) are attached to the main body of the unmanned aircraft 10. Each of the plurality of sensors 11 transmits measured measurement information to the flight control unit 12.

The plurality of sensors 11 are, for example, airframe control sensors. However, sensors other than the airframe control sensor may also be attached to the unmanned aircraft 10. Further, as the aircraft control sensor, any one or more of the above-mentioned sensors may be attached to the unmanned aircraft 10.

Aircraft control sensors include, for example, temperature sensors, humidity sensors, atmospheric pressure sensors, magnetic sensors, angular velocity sensors, acceleration sensors, voltage sensors, current sensors, obstacle detection sensors, ultrasonic sensors, image recognition sensors, position detection sensors, and motors. Such as a rotation speed sensor.

The temperature sensor measures temperature and outputs temperature information. The humidity sensor measures humidity and outputs humidity information. The atmospheric pressure sensor measures atmospheric pressure and outputs atmospheric pressure information (or altitude information). The magnetic sensor measures the direction and outputs direction information. The angular velocity sensor detects the angle of inclination of the unmanned aircraft 10 and outputs angular velocity information. The acceleration sensor measures the acceleration of the unmanned aircraft 10 and outputs acceleration information.

The voltage sensor measures the voltage of the battery and outputs voltage information. The current sensor measures the current flowing through the battery and outputs current information. The obstacle detection sensor detects an obstacle in front of the vehicle and outputs obstacle detection information. The ultrasonic sensor calculates a distance to avoid collision with an obstacle and outputs obstacle distance information. The image recognition sensor outputs the recognized image as image recognition information. The position detection sensor (GPS receiver) detects the position and outputs position information. The motor rotation speed sensor measures the rotation speed of the motor and outputs motor rotation speed information.

The measurement information includes, for example, the above-mentioned temperature information, humidity information, atmospheric pressure information (or altitude information), azimuth information, angular velocity information, acceleration information, voltage information, current information, obstacle detection information, obstacle distance information, position information, This includes motor rotation speed information, etc.

The flight control unit 12 controls the flight of the unmanned aircraft 10 based on measurement information measured by each of the plurality of sensors 11 and control information for controlling the unmanned aircraft 10.

The flight control unit 12 is, for example, a flight controller. The flight control unit 12 is electrically connected to the plurality of sensors 11. The flight control unit 12 transmits a control signal wirelessly transmitted from a radio controller (manipulator or transmitter) or a ground station (an information processing device provided outside the unmanned aircraft 10) to a communication unit (not shown). Receive via.

Control information is information (command) included in a control signal. The flight control is, for example, attitude control that controls the attitude of the unmanned aircraft 10, manual flight control, automatic flight control, or the like. Manual flight control is control of the unmanned aircraft 10 performed by a user using a radio controller. The automatic flight control is, for example, control such as attitude maintenance, altitude maintenance, position maintenance, waypoint flight, and automatic return (RTL).

Attitude maintenance is a function of maintaining the pitch, roll, and yaw postures of the unmanned aircraft 10. Altitude holding is a function that automatically maintains the altitude of the unmanned aircraft 10. Position holding is a function of holding the position of the unmanned aircraft 10 by hovering. Waypoint flight is a function that allows the unmanned aircraft 10 to fly in the order of points set in advance. Automatic return is a function that automatically returns the unmanned aircraft 10 to the flight starting point.

Further, the flight control unit 12 generates monitoring information based on the measurement information, and outputs the generated monitoring information to the abnormality avoidance control unit 13.

The monitoring information is information for monitoring manual flight control using a radio controller and information for monitoring automatic flight control using a ground station.

The monitoring information includes, for example, information representing the remaining battery level, information representing the angle (roll, pitch) of the unmanned aircraft 10, information representing the speed of the unmanned aircraft 10, information representing the height (altitude) of the unmanned aircraft 10, and information representing the height (altitude) of the unmanned aircraft 10. Information representing the acceleration of the aircraft 10, information representing the vibration of the unmanned aircraft 10, information representing the rotation speed of the motor, information representing the temperature of the motor, information representing the acquisition status of position information, information representing the date and time of the last communication, input This is information that indicates the separation between the content of the control information and the actual movement of the unmanned aircraft 10.

The cause of the abnormality is a malfunction in the function of the flight control unit 12 to execute manual flight control of the unmanned aircraft 10, a malfunction in the function of the flight control unit 12 to execute control of waypoint flight and automatic return, or a malfunction in the function of the flight control unit 12 to execute control of waypoint flight and automatic return, or It is assumed that the flight control unit 12 of No. 10 was hijacked.

Further, when an abnormality occurs in the unmanned aircraft 10, the flight control unit 12 receives abnormality avoidance control information used for performing abnormality avoidance control from the abnormality avoidance control unit 13, and based on the received abnormality avoidance control information, the flight control unit 12 Perform evasive control (take failsafe action).

The abnormality avoidance control includes, for example, control to notify a ground station of an abnormality, control to automatically return (RTL) the unmanned aircraft 10, control to cause the unmanned aircraft 10 to land (LAND), and control to maintain the position of the unmanned aircraft 10 by hovering (movement). control to lower the altitude of the unmanned aerial vehicle 10, control to forcibly stop the functions of the unmanned aerial vehicle 10 (for example, motor functions), control to open the parachute mounted on the unmanned aerial vehicle 10, control mounted on the unmanned aerial vehicle 10. This includes control to open an airbag that is currently being used, and control to purge the unmanned aircraft 10 (disassemble the aircraft in mid-air).

The abnormality avoidance control information is, for example, information for causing the flight control unit 12 to perform the above-mentioned abnormality avoidance control.

When an abnormality occurs in the unmanned aircraft 10 (when an abnormality is detected), the abnormality avoidance control unit 13 transmits abnormality avoidance control information used for abnormality avoidance control to the flight control unit 12. Perform abnormality avoidance control (take failsafe action).

The abnormality avoidance control unit 13 is, for example, a companion computer. The abnormality avoidance control section 13 is electrically connected to the flight control section 12. It is preferable that the connection be made by wire.

Specifically, the abnormality avoidance control unit 13 acquires the monitoring information used to monitor the unmanned aircraft 10 from the flight control unit 12, and when there is an abnormality in any of the monitoring information, performs abnormality avoidance control corresponding to the monitoring information. Select information. Thereafter, the abnormality avoidance control unit 13 transmits abnormality avoidance control information to the flight control unit 12 (communicates regarding failsafe).

Further, the abnormality avoidance control unit 13 acquires setting information transmitted from a ground station (information processing device) provided outside the unmanned aircraft 10, and based on the acquired design information, monitors information and the monitoring information. generate fail-safe information in which a threshold value for determining whether or not is abnormal is associated with abnormality avoidance control information corresponding to the monitoring information, and store the generated fail-safe information in the memory of the abnormality avoidance control unit 13; do.

Determination of abnormality in the monitoring information is performed based on the threshold value set for each of the monitoring information described above.

The threshold value is information for determining whether a value included in the monitoring information is abnormal. The threshold value is, for example, information determined by experiment, simulation, machine learning, or the like. Further, the threshold value is set based on setting information transmitted from a ground station (an information processing device provided outside the unmanned aircraft 10).

The setting information is information that associates monitoring information, threshold values, and abnormality avoidance control information.

FIG. 2 is a diagram for explaining an example of the data structure of failsafe information. In the example of FIG. 2, the failsafe information is associated with monitoring information, threshold values, and abnormality avoidance control information.

Further, in the example of FIG. 2, the monitoring information "S1" is associated with a threshold "ThS1" corresponding to the monitoring information "S1" and abnormality avoidance control information "AvS1" corresponding to the monitoring information "S1". . Regarding the monitoring information "S2", "S3", . . . , threshold values and abnormality avoidance control information are associated with each other in the same manner as the monitoring information "S1".

In this way, in the embodiment, even if an abnormality occurs in the unmanned aircraft 10, the abnormality avoidance control information is transmitted from the abnormality avoidance control unit 13 (companion computer) to the flight control unit 12 (flight controller), and the flight control unit 12 to perform abnormality avoidance control, the safety of the unmanned aircraft can be ensured.

(Modified example)
As a modified example, the abnormality avoidance control unit 13 is provided with one or more auxiliary sensors, and when the sensor 11 corresponding to the auxiliary sensor is abnormal (for example, due to a failure), flight control is performed using the measurement information measured by the auxiliary sensor. Section 11 performs flight control.

Examples of auxiliary sensors include a temperature sensor, humidity sensor, atmospheric pressure sensor, magnetic sensor, angular velocity sensor, acceleration sensor, voltage sensor, current sensor, obstacle detection sensor, ultrasonic sensor, image recognition sensor, position detection sensor, and motor rotation speed. Such as sensors.

All or some of the auxiliary sensors are of the same type as the plurality of sensors 11, and are provided in the abnormality avoidance control section 13. If the abnormality avoidance control section 13 is not provided with an auxiliary sensor corresponding to the sensor 11, the abnormality avoidance control section 13 may not be provided with an auxiliary sensor.

[System configuration]
The configuration of the unmanned aircraft 10 in the embodiment will be described in more detail using FIG. 3. FIG. 3 is a diagram for explaining an example of a system including an unmanned aircraft.

As shown in FIG. 3, the system 100 includes an unmanned aircraft 10, a radio controller 20, and a ground station 30 (Ground Control System: GCS).

The unmanned aircraft 10 includes a plurality of sensors 11, a flight control section 12 (flight controller), an abnormality avoidance control section 13 (companion computer), a plurality of rotor drive sections 14, a communication section 15, and a safety device 16. have

Since the plurality of sensors 11, the flight control section 12, and the abnormality avoidance control section 13 have already been described above, the explanation of the plurality of sensors 11, the flight control section 12, and the abnormality avoidance control section 13 will be omitted.

In the example of FIG. 3, the plurality of rotor drive units 14 are provided in the unmanned aircraft 10 as four rotor drive units 14a, 14b, 14c, and 14d. However, the number of rotor drive units 14 is not limited to four.

Further, each of the rotor drive sections 14 includes a rotor 141, a motor 142, and a motor drive section 143. As an example, FIG. 3 shows that one rotor drive section 14a includes a rotor 141a, a motor 142a, and a motor drive section 143a.

The rotor 141 has wings for obtaining lift and propulsion. Motor 142 rotates rotor 141. A motor drive section 143 drives the motor 142. The motor drive unit 143 may be, for example, an ESC (Electric Speed Controller).

The communication unit 15 communicates with communication units installed in the radio controller 20 and the ground station 30 via the antenna 15a.

The safety device 16 is a device, such as a parachute or an airbag, for protecting the unmanned aircraft 10 when the unmanned aircraft 10 crashes.

The radio controller 20 is a device used by an operator to operate the unmanned aircraft 10 through wireless communication.

The ground station 30 is equipped with, for example, a CPU (Central Processing Unit), a programmable device such as an FPGA (Field-Programmable Gate Array), or a GPU (Graphics Processing Unit), or one or more of them. Information processing devices such as circuits, server computers, personal computers, and mobile terminals.

FIG. 4 is a diagram for explaining an example of a ground station. The ground station 30 includes a communication section 31, an input section 32, an output section 33, and a processing section 34.

The communication unit 31 communicates with the communication unit 15 mounted on the unmanned aircraft 10. The input unit 32 is, for example, a keyboard, a mouse, a touch panel, or the like. The input unit 32 is used when operating the ground station 30. The output unit 33 is, for example, an image display device using a liquid crystal, an organic EL (Electro Luminescence), or a CRT (Cathode Ray Tube). Furthermore, the image display device may include an audio output device such as a speaker.

The processing unit 34 generates design information based on information input by the user using the input unit 32, and transmits the generated design information described above to the unmanned aircraft 10 via the communication unit 31.

Specifically, the processing unit 34 first causes the output unit 33 to display the monitoring information that is the target of the settings selected by the user. Next, the processing unit 34 displays on the output unit 33 one or more threshold value candidates and abnormality avoidance control information candidates corresponding to the monitoring information to be set.

Next, the processing unit 34 allows the user to use the input unit 32 to select threshold values and abnormality avoidance control information to be used for design information from among the threshold value candidates and abnormality avoidance control information candidates displayed on the output unit 33. do. Next, the processing unit 34 generates design information using the threshold value selected by the user and the abnormality avoidance control information. Next, the processing unit 34 transmits the measurement information to the unmanned aircraft 10 via the communication unit 31.

FIG. 5 is a diagram for explaining generation of design information. The example in FIG. 5 is an example in which threshold candidates and abnormality avoidance control information candidates for determining the threshold and abnormality avoidance control for the monitoring information S1 are displayed on the output unit 33.

The threshold value candidate is, for example, a candidate considered to be appropriate as a threshold value for the monitoring information S1. In the example of FIG. 5, threshold candidates "C1ThS1", "C2ThS1", "C3ThS1", etc. are displayed as threshold candidates for the monitoring information S1.

Note that the user uses the input unit 32 to select a threshold from the displayed threshold candidates. Alternatively, the user may directly input the threshold value using the input unit 32.

The abnormality avoidance control information candidate is, for example, a candidate that is considered appropriate as abnormality avoidance control information of the monitoring information S1. In the example of FIG. 5, abnormality avoidance control information candidates "C1AvS1", "C2AvS1", "C3AvS1", etc. are displayed as candidates for the monitoring information S1.

Note that the user uses the input unit 32 to select abnormality avoidance control information from the displayed abnormality avoidance control information candidates. Alternatively, the user may directly input the abnormality avoidance control information using the input unit 32.

Further, the processing unit 34 has a setting function for setting waypoints, flight routes, flight altitudes, flight speeds, etc. in order to cause the unmanned aircraft 10 to fly waypoints. The processing unit 34 has a confirmation function for confirming the status of the unmanned aircraft 10 (for example, remaining battery power, attitude, speed, etc.). The processing unit 34 has an imaging function for causing an imaging device (camera) mounted on the unmanned aircraft 10 to take a photograph.

[Device operation]
(Operation of unmanned aircraft)
The operation of the unmanned aircraft in the embodiment will be explained using figures. FIG. 6 is a diagram for explaining an example of the operation of an unmanned aircraft. In the following description, reference is made to figures as appropriate. Further, in the embodiment, the method for controlling an unmanned aircraft is implemented by operating the unmanned aircraft. Therefore, the explanation of the control method of the unmanned aircraft in the embodiment will be replaced with the following explanation of the operation of the unmanned aerial vehicle.

As shown in FIG. 6, first, the flight control unit 12 acquires measurement information from the sensor 11 (step A1). Next, the flight control unit 12 generates monitoring information based on the measurement information (step A2), and outputs the generated monitoring information to the abnormality avoidance control unit 13 (step A3).

Next, the abnormality avoidance control unit 13 detects whether an abnormality has occurred in the unmanned aircraft 10 using the monitoring information acquired from the flight control unit 12 (step A4). When the abnormality avoidance control unit 13 detects an abnormality in the unmanned aircraft 10 (Step A4: Yes), the abnormality avoidance control unit 13 transmits (outputs) abnormality avoidance control information used for performing abnormality avoidance control to the flight control unit 12 (Step A4: Yes). A5).

Further, when the abnormality avoidance control unit 13 does not detect an abnormality in the unmanned aircraft 10 (step A4: No), the abnormality avoidance control unit 13 moves to step A1 and continues the monitoring process.

Next, the flight control unit 12 acquires the abnormality avoidance control information and performs abnormality avoidance control (performs a fail-safe action) based on the acquired abnormality avoidance control information (step A6).

(Ground station operation)
The operation of the ground station (information processing device) in the embodiment will be explained using diagrams. FIG. 7 is a diagram for explaining an example of the operation of the ground station. In the following description, reference is made to figures as appropriate. Further, in the embodiment, a ground station control method is implemented by operating the ground station. Therefore, the explanation of the ground station control method in the embodiment will be replaced with the following explanation of the operation of the ground station.

As shown in FIG. 7, the processing unit 34 first displays the monitoring information that is the target of the settings selected by the user on the output unit 33 (step B1). Next, the processing unit 34 displays one or more threshold value candidates and abnormality avoidance control information candidates corresponding to the monitoring information to be set on the output unit 33 (step B2).

Next, the processing unit 34 allows the user to use the input unit 32 to select a threshold value and abnormality avoidance control information to be used for design information from among the displayed threshold value candidates and abnormality avoidance control information candidates (step B3 ).

Next, the processing unit 34 generates design information using the threshold selected by the user and the abnormality avoidance control information (step B4). Next, the processing unit 34 transmits the measurement information to the unmanned aircraft 10 via the communication unit 31 (step B5).

[Effects of embodiment]
As described above, according to the embodiment, when an abnormality occurs in the unmanned aircraft 10, abnormality avoidance control information is transmitted from the abnormality avoidance control unit 13 (companion computer) to the flight control unit 12 (flight controller), and the flight control unit 12 performs abnormality avoidance control, the safety of the unmanned aircraft 10 can be ensured.

That is, by equipping the abnormality avoidance control unit 13 with a unique fail-safe function, safety measures can be redundant, thereby improving safety.

Further, by using the ground station 30, the threshold value can be changed flexibly according to the flight environment and the aircraft.

[program]
The program of the flight control unit 12 (first computer) of the unmanned aircraft in the embodiment may be any program that causes the first computer to execute steps A1 and A6 shown in FIG.

Further, the program of the abnormality avoidance control unit 13 (second computer) of the unmanned aircraft in the embodiment may be any program that causes the second computer to execute steps A2 to A5 shown in FIG.

By installing and executing each of the above-mentioned programs on the first computer and the second computer, the unmanned aircraft and the unmanned aerial vehicle control method in the embodiment can be realized.

In this case, the processor of the first computer functions as the flight control section 11 and performs processing. The processor of the second computer functions as the abnormality avoidance control section 13 and performs processing.

Further, the program of the ground station (third computer) in the embodiment may be any program that causes the third computer to execute steps B1 to B5 shown in FIG. By installing and executing this program on a third computer, the ground station and the ground station control method in the embodiment can be realized. In this case, the processor of the third computer functions as the processing unit 34 and performs processing.

Furthermore, the ground station program in the embodiment may be executed by a computer system constructed by a plurality of computers.

[Physical configuration]
Here, a computer that implements the first computer, second computer, and third computer by executing the program in the embodiment will be described using FIG. 8. FIG. 8 is a block diagram showing an example of the first, second, and third computers in the embodiment.

As shown in FIG. 8, the computer 110 includes a CPU (Central Processing Unit) 111, a main memory 112, a storage device 113, an input interface 114, a display controller 115, a data reader/writer 116, and a communication interface 117. Equipped with. These units are connected to each other via a bus 121 so that they can communicate data. Note that the computer 110 may include a GPU or an FPGA in addition to or in place of the CPU 111.

The CPU 111 loads programs (codes) according to the embodiment stored in the storage device 113 into the main memory 112, and executes them in a predetermined order to perform various calculations. Main memory 112 is typically a volatile storage device such as DRAM (Dynamic Random Access Memory). Further, the program in the embodiment is provided in a state stored in a computer-readable recording medium 120. Note that the program in the embodiment may be distributed on the Internet connected via the communication interface 117. Note that the recording medium 120 is a nonvolatile recording medium.

Further, specific examples of the storage device 113 include a hard disk drive and a semiconductor storage device such as a flash memory. Input interface 114 mediates data transmission between CPU 111 and input devices 118 such as a keyboard and mouse. The display controller 115 is connected to the display device 119 and controls the display on the display device 119.

The data reader/writer 116 mediates data transmission between the CPU 111 and the recording medium 120, reads programs from the recording medium 120, and writes processing results in the computer 110 to the recording medium 120. Communication interface 117 mediates data transmission between CPU 111 and other computers.

Specific examples of the recording medium 120 include general-purpose semiconductor storage devices such as CF (Compact Flash (registered trademark)) and SD (Secure Digital), magnetic recording media such as flexible disks, or CD-ROMs. Examples include optical recording media such as ROM (Compact Disk Read Only Memory).

Although the description has been made above with reference to the embodiments, the present invention is not limited to the embodiments described above. Various changes can be made to the configuration and details that can be understood by those skilled in the art within the scope of the invention.

According to the above description, even if an abnormality occurs in the unmanned aircraft, the safety of the unmanned aircraft can be ensured. It is also useful in fields where safety must be ensured, such as in unmanned aerial vehicles.

10 Unmanned Aerial Vehicle 11, 11a, 11b Sensor 12 Flight Control Unit 13 Abnormality Avoidance Control Unit 14, 14a, 14d Rotor Drive Unit 141a Rotor 142a Motor 143a Motor Drive Unit 15 Communication Unit 15a Antenna 16 Safety Device 20 Propo Controller 30 Ground Station 31 Communication Section 31a Antenna 32 Input section 33 Output section 34 Processing section 100 System 110 Computer 111 CPU
112 Main memory 113 Storage device 114 Input interface 115 Display controller 116 Data reader/writer 117 Communication interface 118 Input device 119 Display device 120 Recording medium 121 Bus

Claims (8)

Multiple sensors attached to the body of the unmanned aircraft,
flight control means for controlling the flight of the unmanned aircraft based on measurement information measured by the sensor and control information for controlling the unmanned aircraft;
Abnormality avoidance control means that transmits abnormality avoidance control information used for performing abnormality avoidance control to the flight control means when an abnormality occurs in the unmanned aircraft, and causes the flight control means to perform abnormality avoidance control;
Unmanned aerial vehicle with. The abnormality avoidance control means acquires one or more pieces of monitoring information used for monitoring the unmanned aircraft from the flight control means, and if any of the monitoring information has an abnormality, the abnormality avoidance control means detects an abnormality corresponding to the monitoring information. Select avoidance control information,
The unmanned aircraft according to claim 1. The abnormality avoidance control means acquires setting information transmitted from an information processing device provided outside the unmanned aircraft, and acquires the monitoring information and a threshold value for determining whether or not the monitoring information is abnormal. , and the abnormality avoidance control corresponding to the monitoring information are stored in association with each other. The abnormality avoidance control means is provided with one or more auxiliary sensors, and when the sensor corresponding to the auxiliary sensor is abnormal, the flight control means performs the flight control using measurement information measured by the auxiliary sensor. The unmanned aircraft according to claim 1. When the unmanned aircraft performs the abnormality avoidance control, the abnormality avoidance control means causes the information processing device to output a notification that the abnormality avoidance control has been performed to an output device connected to the information processing device. Sends the contents of the abnormality avoidance control.
The unmanned aircraft according to claim 3. A method for controlling an unmanned aircraft, the method comprising:
The unmanned aircraft has a flight control means and an abnormality avoidance control means,
The flight control means controls the flight of the unmanned aircraft based on measurement information measured by a plurality of sensors attached to the main body of the unmanned aircraft and control information for controlling the unmanned aircraft,
The abnormality avoidance control means transmits abnormality avoidance control information used for abnormality avoidance control to the flight control means when the unmanned aircraft is abnormal, and causes the flight control means to perform abnormality avoidance control. Control method. on the first computer,
a first program that controls the flight of the unmanned aircraft based on measurement information measured by a plurality of sensors attached to the main body of the unmanned aircraft and control information for controlling the unmanned aircraft;
to the second computer,
a second program that causes the first computer to transmit abnormality avoidance control information used to perform abnormality avoidance control when the unmanned aircraft is abnormal; and a second program that causes the first computer to perform abnormality avoidance control;
A program with A system having an unmanned aerial vehicle and an information processing device,
The unmanned aerial vehicle is
Multiple sensors attached to the main body,
flight control means for controlling the flight of the unmanned aircraft based on measurement information measured by the sensor and control information for controlling the unmanned aircraft;
an abnormality avoidance control means that transmits abnormality avoidance control information used for abnormality avoidance control to the flight control means when the unmanned aircraft is abnormal, and causes the flight control means to perform abnormality avoidance control;
The information processing device includes:
A system for transmitting setting information used for setting the abnormality avoidance control to the abnormality avoidance control means.

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