JP6452665B2 - Flight apparatus and communication method - Google Patents

Description

  The present invention relates to a flying device that flies based on control from the outside, and a communication method in the flying device.

  In recent years, drones, which are flying devices that can be remotely controlled, have become widespread. Japanese Patent Application Laid-Open No. 2004-228561 discloses a technique in which the surroundings are photographed by a camera mounted on a flying device, and data of the photographed image is transmitted to a terminal used by a user to operate the flying device.

Japanese Patent Laid-Open No. 2006-174360

  In a conventional system, image data captured by a camera and control data for controlling a flying device are transmitted to a user terminal via a wireless communication line. In this way, when the flying device transmits image data and control data, control data cannot be transmitted while large-capacity image data is being transmitted, and a delay occurs until control data is transmitted to the control device. End up. When transmission of control data is delayed, there is a problem that rapid control according to the state of the flying device becomes difficult, and flight performance of the flying device deteriorates.

  Accordingly, the present invention has been made in view of these points, and provides a flying device that can prevent a decrease in flight performance when data other than control data is transmitted between the flying device and the control device. The purpose is to do.

  A flying device according to a first aspect of the present invention is a flying device that flies based on control from the outside, a text data generating unit that generates text data relating to a state of the flying device in flight, and a flight An image data generation unit that captures the vicinity of a position and generates captured image data, and transmission that transmits the text data to a control device for operating the flying device in preference to the transmission of the captured image data And a control unit.

The transmission control unit may make the time for continuing the retransmission process when transmitting the text data longer than the time for continuing the retransmission process when transmitting the captured image data.
The transmission control unit may reduce the amount of the captured image data at a predetermined time before the timing of transmitting the text data.

  The transmission control unit may stop transmitting the captured image data while transmitting the text data. The transmission control unit may stop the transmission of the captured image data at a predetermined time before the timing of starting the transmission of the text data.

  The transmission control unit has priority over the transmission of the captured image data on the condition that the communication quality of the wireless communication line used for transmitting the captured image data and the text data has decreased to a predetermined threshold value or less. The text data may be transmitted to a control device for operating the device.

  The transmission control unit further includes a position detection unit that detects a position in flight, and the transmission control unit has priority over transmission of captured image data on condition that the position detected by the position detection unit is included in a predetermined area. The text data may be transmitted to a control device for controlling the flying device.

  The transmission control unit is capable of transmitting data to the control device without passing through a first wireless communication line capable of transmitting data to the control device via a base station of a mobile phone network and a base station of a mobile phone network. The text data can be transmitted using a wireless communication line, and the text data is transmitted using a wireless communication line having a small propagation delay time among the first wireless communication line and the second wireless communication line, The captured image data may be transmitted using a wireless communication line having a long propagation delay time among the first wireless communication line and the second wireless communication line.

  The transmission control unit generates a first radio wave that can transmit data to the control device via a base station of a mobile phone network and a second radio wave that can transmit data to the control device without going through a base station of a mobile phone network. The text data can be transmitted using the first radio wave and the second radio wave, and the text data is transmitted using a radio wave having a high intensity, and the first radio wave and the second radio wave have an intensity. The captured image data may be transmitted using a radio wave having a small.

  The wireless communication system further includes an acquisition unit that acquires radio wave state information indicating an intensity distribution of the first radio wave used for data communication, and the transmission control unit includes the first on the flight path specified based on the radio wave state information. The radio wave for transmitting the text data and the captured image data may be determined based on the radio wave intensity and the measured radio wave intensity of the second radio wave.

  The transmission control unit is based on the intensity of the first radio wave at a position for transmitting the text data specified based on the timing of transmitting the text data specified based on the radio wave state information and the flight speed. The radio wave for transmitting the captured image data may be determined while transmitting the text data.

  A communication method according to a second aspect of the present invention includes a step of generating text data relating to an in-flight state of a flying device flying in the air based on external control executed by a computer; Photographing the periphery and generating captured image data; and prioritizing transmission of the captured image data and transmitting the text data to a control device for operating the flying device.

  According to the present invention, it is possible to prevent a decrease in flight performance when data other than control data is transmitted between the flying device and the control device.

It is a figure which shows the structure of the flight system which concerns on this Embodiment. It is a figure which shows the structure of a flight apparatus. It is a figure which shows radio wave state information typically. It is a flowchart for demonstrating operation | movement of a flying device. It is a figure which shows the structure of the flight system which concerns on 2nd Embodiment. It is a figure which shows the structure of the flying apparatus which concerns on 2nd Embodiment.

<First Embodiment>
[Outline of this embodiment]
FIG. 1 is a diagram showing a configuration of a flight system S according to the present embodiment. The flight system S includes a flying device 1 and a control device 2. The flying device 1 is a device that can be operated by the user using the control device 2, and is a drone, for example. The control device 2 is a terminal that can transmit control information for controlling the flying device 1 via a wireless communication line, such as a radio, a smartphone, and a tablet.

  When the user operates the control device 2, the control device 2 transmits control information corresponding to the operation content to the flying device 1. The flying device 1 performs flight control using the control information received from the control device 2. The flight control includes control of the flight direction and flight speed of the control device 2, and specifically, controls the propeller and rudder of the control device 2. Further, the flying device 1 transmits flight information such as a flight position and a flight speed necessary for maneuvering to the maneuvering device 2. The flight information is, for example, information on the position, altitude, speed, direction, posture (tilt), wind speed, and remaining battery level for supplying power to the flying device 1. The flying device 1 has a camera and transmits captured image data generated by photographing with the camera to the control device 2.

  The flying device 1 can transmit flight information and captured image data using a wireless communication line. The control device 2 can transmit control information for controlling the flying device 1 using a wireless communication line. The flying device 1 and the control device 2 transmit and receive information via, for example, the wireless communication line W11, the mobile phone network base station 3, and the wireless communication line W12.

  The wireless communication line W11 and the wireless communication line W12 are, for example, LTE (Long Term Evolution) lines. The wireless communication line W12 is a wireless communication line between the control device 2 that is a kind of mobile terminal of the mobile phone network and the base station 3, and the wireless communication line W11 is a flight that is a kind of mobile terminal of the mobile phone network. A wireless communication line between the device 1 and the base station 3.

The flying device 1 transmits text data (for example, flight information) related to the state of the flying device in flight to the control device for maneuvering the flying device in preference to the transmission of the captured image data. In this manner, in the flight system S, even when the flying device 1 needs to transmit the captured image data, flight information important for operating the flying device 1 is transmitted to the flying device 2. The certainty of arrival can be improved, and the flight safety of the flying device 1 can be ensured.
Hereinafter, the configuration of the flying device 1 will be described in detail.

[Configuration of the flying device 1]
FIG. 2 is a diagram illustrating a configuration of the flying device 1. The flying device 1 includes a detection unit 11, a camera 12, a communication unit 13, a flight mechanism 14, a storage unit 15, and a control unit 16. The control unit 16 includes a reception control unit 161, a flight control unit 162, a text data generation unit 163, a captured image data generation unit 164, and a transmission control unit 165.

The detection unit 11 includes, for example, an acceleration sensor and a GPS (Global Positioning System) receiver, and information used for specifying the state of the flying device 1 such as the flight speed, inclination, and flight position of the flying device 1 is converted into text. The data is output to the data generation unit 163.
The camera 12 captures the periphery of the flying device 1 and generates captured image data. The camera 12 outputs the generated captured image data to the captured image data generation unit 164.

  The communication unit 13 is a communication module that transmits and receives radio waves for communication via the wireless communication line W11. The communication unit 13 includes a modulator that modulates transmission data input from the transmission control unit 165, and a high-frequency unit that transmits the modulated data as a high-frequency signal in a frequency band assigned to the LTE line. In addition, the communication unit 13 includes a demodulator that demodulates a high-frequency signal received from the base station 3 by the high-frequency unit. The demodulator inputs the received data after demodulation to the reception control unit 161.

  The flight mechanism 14 includes a propeller, a motor that rotates the propeller, a rudder, and the like. The flight mechanism 14 can change the flight speed and the flight direction by operating these mechanisms based on the control of the flight control unit 162.

  The storage unit 15 is a storage medium including a ROM (Read Only Memory) and a RAM (Random Access Memory). The storage unit 15 stores a program executed by the control unit 16. The storage unit 15 is used as a work memory of the control unit 16 and temporarily stores control information received from the control device 2, for example.

  The control unit 16 is, for example, a CPU (Central Processing Unit). The control unit 16 functions as a reception control unit 161, a flight control unit 162, a text data generation unit 163, a captured image data generation unit 164, and a transmission control unit 165 by executing a program stored in the storage unit 15.

  The reception control unit 161 receives control information via the wireless communication line W11. The reception control unit 161 stores the control information received by the communication unit 13 via the wireless communication line W11 in the storage unit 15, and notifies the flight control unit 162 that the control information has been received.

  The flight control unit 162 controls the flight state by controlling the flight mechanism 14 based on the control information received from the control device 2. When the control information received from the control device 2 includes the time when the control information was generated, the flight control unit 162 controls the flight state based on the control information including the latest time.

  The text data generation unit 163 generates text data relating to the state of the flying device 1 in flight. Specifically, the text data generation unit 163 generates text data indicating output values of various sensors included in the detection unit 11 or text data having a predetermined content in association with the output values. The text data generation unit 163 generates text data indicating the flight speed, inclination, flight position, and the like of the flying device 1 based on the output value of the acceleration sensor, for example. The text data generation unit 163 may generate text data including information indicating the radio field intensity of the wireless communication line W11 detected by the communication unit 13. The text data generation unit 163 inputs the generated text data to the transmission control unit 165.

  The captured image data generation unit 164 causes the camera 12 to capture the periphery of the position where the flying device 1 is flying to generate captured image data. The captured image data generation unit 164 generates captured image data based on the image signal input from the camera 12. The captured image data generation unit 164, for example, instructs the camera 12 to take a surrounding image of the vicinity of the flying position at predetermined time intervals, acquires an image signal output by the camera 12, Captured image data to which information indicating the shooting time and position is added is generated. The captured image data generation unit 164 inputs the generated captured image data to the transmission control unit 165.

  The transmission control unit 165 transmits the text data input from the text data generation unit 163 and the captured image data input from the captured image data generation unit 164 to the control device 2 via the communication unit 13. The transmission control unit 165 transmits the text data to the control device for controlling the flying device in preference to the transmission of the captured image data.

  For example, the transmission control unit 165 gives priority to the transmission of the captured image data on the condition that the communication quality of the wireless communication line W11 used for transmitting the captured image data and the text data is lower than a predetermined threshold. Priority control for transmitting text data to the control device 2 for controlling the flying device is executed. The communication quality includes, for example, the radio wave intensity of the wireless communication line W11 received from the base station 3 by the communication unit 13, the bit error rate when data is transmitted to and received from the control device 2, and the control device 2. It is determined by the number of retransmissions when transmitting / receiving data.

  As the transmission control unit 165 executes priority control based on the communication quality, the text data and the captured image data are transmitted to the control device 2 while the communication quality of the wireless communication line W11 is good, and the communication quality is deteriorated. In this case, it is possible to ensure that highly important text data reaches the control device 2. In this way, the user who operates the flying device 1 can comfortably operate using the captured image data together with the text data in the normal state, and can operate even in situations where the captured image data is not suitable for communication. Safe maneuvering can be continued using important text data.

  Instead of specifying the communication quality by actually measuring the radio wave intensity of the radio communication line W11, the transmission control unit 165 performs radio communication based on the radio wave state information indicating the radio wave intensity distribution acquired by the reception control unit 161. The intensity of the radio wave on the line W11 may be specified. The radio wave state information is information created in advance based on the radio wave intensity actually measured by many other flying devices.

  FIG. 3 is a diagram schematically showing the radio wave state information. FIG. 3 shows a region where the radio wave intensity is strong, a region where the radio wave intensity is medium, and a region where the radio wave intensity is weak. The position P1 in FIG. 3 is the current position of the flying device 1, and it is assumed that the flying device 1 is at a position where the radio wave intensity is strong. The arrows in FIG. 3 indicate the planned flight route of the flying device 1. According to FIG. 3, the radio wave intensity becomes weak while the flying device 1 flies along the planned flight path, and enters a region where the radio wave intensity is weak at the position P2. The transmission control unit 165 estimates the intensity of the radio wave at the position where the flight is scheduled based on the planned flight position of the flying device 1 and the radio wave state information. The transmission control unit 165 performs priority control based on the communication quality at the planned flight position specified based on the estimated radio wave intensity.

  By doing in this way, the transmission control part 165 can start priority control early, when there is a high possibility that communication quality will deteriorate if flight is continued along the scheduled flight route. As a result, even if the communication quality suddenly decreases, it is possible to improve the probability that important text data reaches the control device 2 by starting the priority control in advance.

  The conditions under which the transmission control unit 165 executes priority control satisfy other conditions in addition to the case where the communication quality of the wireless communication line W11 is reduced or in addition to the case where the communication quality of the wireless communication line W11 is reduced. In this case, priority control may be executed. For example, the transmission control unit 165 gives priority to the text data over the transmission of the captured image data on condition that the flight position of the flying device 1 detected by the detection unit 11 functioning as the position detection unit is included in a predetermined area. May be transmitted to the control device 2.

  Specifically, the transmission control unit 165 is an area where a collision accident is likely to occur, such as an area where the impact of a crash is large, such as an urban area, or an area where many other flying devices are flying. The text data is preferentially transmitted so that the flight information reaches the control device 2 more reliably. By doing in this way, the safety | security during the flight of the flying apparatus 1 can be improved.

  It should be noted that it is relatively less important to preferentially transmit text data in a depopulated area or an area where other flying devices are hardly flying. Therefore, the transmission control unit 165 determines whether or not to execute priority control based on map information indicating the strength of the degree of demand for highly safe flight, such as population density and the number of flying devices. May be. Further, the transmission control unit 165 may determine whether to execute priority control based on an instruction from the control device 2 or the control station.

[Priority control method]
The transmission control unit 165 can use various priority control methods.
The transmission control unit 165 performs retransmission control to retransmit the same data to the control device 2 when a response is not received from the control device 2 until a predetermined time has elapsed after data is transmitted to the control device 2. At this time, if a large number of captured image data having a large data capacity is retransmitted repeatedly, the wireless communication line W11 is used to retransmit the captured image data, thereby reducing the effective transmission rate of the text data.

  Therefore, the transmission control unit 165 makes the time for continuing the retransmission process when transmitting the text data longer than the time for continuing the retransmission process when transmitting the captured image data. For example, the transmission control unit 165 stops the retransmission of the captured image data when a predetermined retransmission permission time has elapsed, and continues the retransmission of the text data even after the retransmission permission time has elapsed. By doing in this way, the transmission control part 165 can make text data reach the control apparatus 2 more reliably.

  In addition, the transmission control unit 165 may reduce the amount of captured image data at a predetermined time before the transmission timing of text data. For example, the transmission control unit 165 divides the captured image data within a predetermined period before the transmission timing of the text data, and transmits the captured image data reduced in size by the division. The transmission control unit 165 reduces the capacity of the captured image data by increasing the compression rate of the captured image data or by thinning the captured image data at a predetermined time before the transmission timing of the text data. May be.

  Further, the transmission control unit 165 may stop the transmission of the captured image data at a predetermined time before the timing for starting the transmission of the text data. For example, the transmission control unit 165 stops the transmission of the captured image data at a time before the start of the transmission of the text data or more than the time required from the transmission start of the captured image data to the completion of the transmission. As described above, the transmission control unit 165 stops the transmission of the captured image data at the timing of transmitting the text data, and the text data is transmitted by transmitting the captured image data at the timing of transmitting the text data. It is possible to prevent a situation in which transmission is not possible.

[Operation Flowchart of Flying Device 1]
FIG. 4 is a flowchart for explaining the operation of the flying device 1. In the flying device 1, the captured image data generation unit 164 generates captured image data (S11), and the text data generation unit 163 generates text data (S12). Although the relationship between the timing at which the captured image data generation unit 164 generates captured image data and the timing at which the text data generation unit 163 generates text data is arbitrary, in this example, the captured image data is ahead of the text data. Shall be generated.

  The transmission control unit 165 periodically monitors the communication quality of the wireless communication line W11 (S13). If transmission control unit 165 determines that the communication quality has fallen below a predetermined threshold (YES in S13), it executes priority control and transmits text data with priority over captured image data (S14).

  When it is determined in step S13 that the communication quality has not deteriorated (NO in S13), the transmission control unit 165 is a predetermined area where the flying device 1 is highly important to fly safely such as an urban area. It is determined whether or not the aircraft is in flight (S15). If transmission control unit 165 determines that the predetermined area is in flight (YES in S15), it proceeds to step S14 and executes priority control (S14).

  On the other hand, if it determines with the transmission control part 165 not flying in the predetermined area in step S15 (in S15 NO), it will transmit in order with which the data were produced | generated (S16). That is, in the example illustrated in FIG. 4, the transmission control unit 165 transmits the captured image data generated by the captured image data generation unit 164 in step S11 and then the text data generated by the text data generation unit 163 in step S12. Send.

[Effects of the flying device 1 of the first embodiment]
As described above, in the flying device 1, when the condition for executing the priority control is satisfied, the flying device used in the control device 2 for controlling the flying device 1 in preference to the transmission of the captured image data. Text data including flight information regarding the position, orientation, speed, etc. of 1 is transmitted to the control device 2. By doing so, the probability that flight information used for controlling the flying device 1 reaches the control device 2 is improved, and the delay time until the flight information reaches the control device 2 is reduced. As a result, the user can control the flight while referring to flight information useful for control, and thus the flying device 1 can improve flight safety.

  For example, when the communication quality of the wireless communication line W11 is lowered, the transmission control unit 165 transmits the text data with priority. In this way, even when the effective transmission speed in the wireless communication line W11 is reduced, it is possible to improve the probability that important text data reaches the control device 2 in order to ensure flight safety. .

  Moreover, the transmission control part 165 transmits text data preferentially, when the position which the flying apparatus 1 is flying is an area where the required degree of safety is high. By doing so, the probability that text data including information important for flight control will quickly reach the control device 2 in an area where a crash is not allowed increases, so the safety of flight in an area where safety is required. Can be improved.

(Modification 1)
If there are no tall buildings or other flying devices in the surrounding area and there is no flight prohibition area in the vicinity, the user who controls the vehicle does not need to carefully operate while looking at the captured image captured by the camera. Therefore, in such a case, the transmission control unit 165 gives priority to text data including position information indicating the flight position so that the flight position is indicated on the map in the control device 2 without transmitting the captured image data. May be transmitted automatically.

  Further, the transmission control unit 165 may switch between a first mode that prioritizes the transmission of text data and a second mode that does not prioritize the transmission of text data according to the surrounding situation. For example, the transmission control unit 165 switches to the second mode in which captured image data is transmitted when it is detected that there are tall buildings or other flying devices in the vicinity during the flight in the first mode.

(Modification 2)
The transmission control unit 165 may switch whether to preferentially transmit the text data based on the remaining amount of the battery that provides power for flying. For example, when the remaining amount of the battery is less than a predetermined threshold, the transmission control unit 165 preferentially transmits the text data including the flight information without repeatedly transmitting the captured image data. . The transmission control unit 165 may transmit only the information indicating the flight position and the flight altitude as important information in the flight information when the remaining amount of the battery is less than a predetermined threshold.

<Second Embodiment>
In the first embodiment, the flying device 1 transmits / receives data to / from the control device 2 via the wireless communication line W11, the base station 3, and the wireless communication line W12. The second embodiment differs from the first embodiment in that the flying device 1 can transmit and receive data to and from the control device 2 via a plurality of wireless communication lines.

  FIG. 5 is a diagram showing a configuration of a flight system S according to the second embodiment. As shown in FIG. 5, the flying device 1 can directly transmit and receive data to and from the control device 2 via the wireless communication line W2. The wireless communication line W2 is a line that can transmit data to the control device 2 without going through the base station 3 of the mobile phone network, and is, for example, a Wi-Fi (registered trademark) line.

  FIG. 6 is a diagram illustrating a configuration of the flying device 1 according to the second embodiment. 6 differs from the flying device 1 shown in FIG. 2 in that the communication unit 13 includes a first communication unit 131 and a second communication unit 132, and is the same in other points. The first communication unit 131 has a communication module for LTE line, and the second communication unit 132 has a communication module for Wi-Fi line.

  The transmission control unit 165 transmits text data using a wireless communication line having a small propagation delay time among the wireless communication line W11 (first wireless communication line) and the wireless communication line W2 (second wireless communication line). Further, the transmission control unit 165 transmits the captured image data using a wireless communication line having a long propagation delay time among the wireless communication line W11 and the wireless communication line W2. In this way, the transmission control unit 165 can transmit important text data such as flight information to the control device 2 with as little delay as possible. The transmission control unit 165 may transmit the captured image data using the wireless communication line W2 on the condition that the communication quality of the wireless communication line W11 has deteriorated.

  In addition, the transmission control unit 165 transmits text data using a high-intensity radio wave among the first radio wave of the radio communication line W11 and the second radio wave of the radio communication line W2, and out of the first radio wave and the second radio wave The captured image data may be transmitted using a radio wave having a low intensity. By doing in this way, the transmission control part 165 can raise the probability that text data will arrive at the control apparatus 2 without an error.

  Instead of the actually measured first radio wave intensity, the transmission control unit 165, for example, based on the radio wave state information indicating the intensity distribution of the first radio wave acquired by the reception control unit 161 functioning as an acquisition unit, the intensity of the first radio wave May be specified. The transmission control unit 165 determines the radio wave for transmitting the text data and the captured image data based on the intensity of the first radio wave on the flight path specified based on the radio wave state information and the measured intensity of the second radio wave. May be. For example, the transmission control unit 165 identifies the intensity of the first radio wave at the scheduled flight position at the time when the text data is scheduled to be transmitted next, based on the radio wave state information.

  Specifically, the transmission control unit 165 specifies the position to transmit the text data specified based on the timing of transmitting the text data and the flight speed based on the radio wave state information. And the transmission control part 165 determines the radio wave which transmits captured image data, while transmitting text data based on the intensity | strength of the 1st radio wave in the specified position. When the intensity of the first radio wave is sufficiently high, the transmission control unit 165 transmits the text data via the wireless communication line W11 and also transmits the captured image data via the wireless communication line W11. If the intensity of the first radio wave is large enough to transmit the text data but is insufficient to transmit the text data and the captured image data at the same time, the transmission control unit 165 passes the wireless communication line W2. The captured image data is transmitted. In this way, when the intensity of the first radio wave is small, it is not necessary to transmit the text data and the captured image data in parallel using the same radio wave, so that the text data is more reliably transmitted to the control device 2. Can be sent.

  When the intensity of the identified first radio wave is greater than the actually measured second radio wave intensity, the transmission control unit 165 transmits text data through the wireless communication line W11 and transmits captured image data through the wireless communication line W2. On the other hand, when the intensity of the identified first radio wave is equal to or lower than the actually measured second radio wave intensity, the transmission control unit 165 transmits the captured image data via the wireless communication line W11 and transmits the text via the wireless communication line W2. Send data. Note that the transmission control unit 165 has sufficient effective transmission when the effective transmission speed of either the wireless communication line W11 or the wireless communication line W2 is a state in which the captured image data and the text data can be transmitted simultaneously. Text data and captured image data may be transmitted simultaneously using a high-speed wireless communication line.

[Effects of the flying device 1 of the second embodiment]
As described above, the flying device 1 according to the second embodiment can transmit text data including flight information using the wireless communication line W2 when the communication quality of the wireless communication line W11 decreases. In addition, the transmission control unit 165 can transmit only text data using the wireless communication line W11, and can transmit the captured image data using the wireless communication line W2. As described above, the transmission control unit 165 uses the wireless communication line W11 and the wireless communication line W2, so that text data such as flight information can be more reliably transmitted to the control device 2.

  As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be added to the above embodiment. In particular, the specific embodiments of the distribution / integration of the devices are not limited to those illustrated above, and all or a part thereof may be added in arbitrary units according to various additions or according to functional loads. It can be configured functionally or physically distributed and integrated.

DESCRIPTION OF SYMBOLS 1 Flight apparatus 2 Control apparatus 3 Base station 11 Detection part 12 Camera 13 Communication part 14 Flight mechanism 15 Storage part 16 Control part 131 1st communication part 132 2nd communication part 161 Reception control part 162 Flight control part 163 Text data generation part 164 Captured image data generation unit 165 transmission control unit

Claims (12)

A flying device that flies based on external control,
A text data generator for generating text data relating to the state of the flying device during flight;
An image data generation unit that shoots the vicinity of the flying position and generates captured image data;
Prior to the transmission of the captured image data, a transmission control unit that transmits the text data to a control device for controlling the flying device;
Having a flying device. The transmission control unit makes the time for continuing the retransmission process when transmitting the text data longer than the time for continuing the retransmission process when transmitting the captured image data,
The flying device according to claim 1. The transmission control unit reduces the amount of the captured image data at a predetermined time before the transmission timing of the text data;
The flying device according to claim 1 or 2. The transmission control unit stops transmission of the captured image data while transmitting the text data.
The flying device according to any one of claims 1 to 3. The transmission control unit stops transmission of the captured image data at a predetermined time before the timing of starting transmission of the text data;
The flying device according to claim 4. The transmission control unit has priority over the transmission of the captured image data on the condition that the communication quality of the wireless communication line used for transmitting the captured image data and the text data has decreased to a predetermined threshold value or less. Sending the text data to a maneuvering device for maneuvering the device;
The flying device according to any one of claims 1 to 4. It further has a position detector for detecting the position during the flight,
The transmission control unit gives the text to the control device for operating the flying device in preference to the transmission of the captured image data on condition that the position detected by the position detection unit is included in a predetermined area. Send data,
The flying device according to any one of claims 1 to 4. The transmission control unit is capable of transmitting data to the control device without passing through a first wireless communication line capable of transmitting data to the control device via a base station of a mobile phone network and a base station of a mobile phone network. The text data can be transmitted using a wireless communication line, and the text data is transmitted using a wireless communication line having a small propagation delay time among the first wireless communication line and the second wireless communication line, The captured image data is transmitted using a wireless communication line having a large propagation delay time among the first wireless communication line and the second wireless communication line.
The flying device according to any one of claims 1 to 7. The transmission control unit generates a first radio wave that can transmit data to the control device via a base station of a mobile phone network and a second radio wave that can transmit data to the control device without going through a base station of a mobile phone network. The text data can be transmitted using the first radio wave and the second radio wave, and the text data is transmitted using a radio wave having a high intensity, and the first radio wave and the second radio wave have an intensity. Transmitting the captured image data using a small radio wave,
The flying device according to any one of claims 1 to 7. An acquisition unit for acquiring radio wave state information indicating an intensity distribution of the first radio wave used for data communication;
The transmission control unit is configured to transmit the text data and the captured image data based on the intensity of the first radio wave on the flight path specified based on the radio wave state information and the measured radio wave intensity of the second radio wave. Determine the radio wave to send,
The flying device according to claim 9. The transmission control unit is based on the intensity of the first radio wave at a position for transmitting the text data specified based on the timing of transmitting the text data specified based on the radio wave state information and the flight speed. Determining radio waves for transmitting the captured image data while transmitting the text data,
The flying device according to claim 10. The computer runs,
Generating text data relating to the in-flight state of the flying device flying in the air based on external control;
Photographing the vicinity of the flying position and generating captured image data; and
Prioritizing transmission of the captured image data, transmitting the text data to a control device for operating the flying device;
A communication method comprising:

Images