JP6464212B2 - Flight system, control device and program - Google Patents

Description

  The present invention relates to a flight system including a flying device that flies in the air, a control device and a program for flying the flying device.

  In recent years, maneuvering flying devices such as drones has been actively performed. For example, Patent Document 1 describes that a flying device is operated by Wi-Fi (registered trademark) using a tablet terminal.

Japanese Patent Laid-Open No. 2006-94188

  When a flying device is controlled by a wireless communication line such as Wi-Fi, Wi-Fi crosstalk may occur due to, for example, many users using the same frequency band in the vicinity. In this case, there is a possibility that the flying device cannot be controlled until the factor that hinders communication is improved.

  Therefore, the present invention has been made in view of these points, and an object thereof is to provide a technique capable of shortening a period during which control information for controlling the flying device is not transmitted to the flying device. .

  A flight system according to a first aspect of the present invention includes a flying device that flies based on control from the outside, and a steering device that controls the flying device, and the flying device has a first wireless communication system. And a flight-side communication unit that receives flight data used for flight of the flying device from the control device using at least one of the second wireless communication methods and the flight data. A flight control unit that causes the flying device to fly, and the control device transmits to the flying device using at least one of the first wireless communication method and the second wireless communication method. In the communication with the flight side communication unit that transmits the flight data and the flight device using the first wireless communication method, the connection side detection unit detects a connection state with the flight side communication unit, Said operation Side communication unit, based on the detection result of the connection state detection unit, the transmitting flight data to the flying device with the second wireless communication method.

  The pilot side communication unit establishes communication using the second wireless communication method with the flying device before the connection state detection unit detects disconnection of communication by the first wireless communication method, and the connection state The flight data may be transmitted to the flying device using the second wireless communication method after detecting disconnection of the communication by the first wireless communication method in the detection unit.

  The pilot side communication unit maintains the communication in the communication using the second wireless communication method with respect to the flying device before the connection state detection unit detects the disconnection of the communication by the first wireless communication method. A keep-alive signal may be transmitted.

  The flight side communication unit transmits a response signal to the flight device in response to the flight data received from the flight control device in communication using the first wireless communication method, and the connection state detection unit If the response signal is not received within a predetermined period after transmission of the data for use, it may be determined that communication using the first wireless communication method has been disconnected.

  The control device includes a wireless communication method used for communication of the flight data, and a wireless communication used for communication of the flight data, of the first wireless communication method and the second wireless communication method. You may further provide the notification part which notifies a user of the availability of the use of the radio | wireless communication system different from a system.

  A management server that associates and stores a first identifier that identifies the flying device and a second identifier that is used for communication with the flying device using the second wireless communication method; A storage unit that stores the first identifier, wherein the control communication unit includes the second identifier used for communication with the flying device specified by the first identifier stored in the storage unit; You may acquire from a management server.

  The first identifier may be a telephone number recorded in a SIM (Subscriber Identity Module) mounted on the flying device.

  The control-side communication unit transmits the flight data to the flight device via a session maintenance server for maintaining communication using the second wireless communication method between the control device and the flight device. The flight-side communication unit transmits non-flight data other than the flight data and a response signal responding to the flight data to the control device via the session maintenance server. Also good.

  A control device according to a second aspect of the present invention is a control device for controlling a flying device, and detects a connection state with the flying device in communication with the flying device using the first wireless communication method. Transmitting flight data used for flight of the flying device to the flying device using a connection state detection unit and at least one of the first wireless communication method and the second wireless communication method; A control-side communication unit that transmits the flight data to the flying device using the second wireless communication method based on a detection result of the connection state detection unit.

  The pilot side communication unit establishes communication using the second wireless communication method with the flying device before the connection state detection unit detects disconnection of communication by the first wireless communication method, and the connection state The flight data may be transmitted to the flying device using the second wireless communication method after detecting disconnection of the communication by the first wireless communication method in the detection unit.

  The pilot side communication unit maintains the communication in the communication using the second wireless communication method with respect to the flying device before the connection state detection unit detects the disconnection of the communication by the first wireless communication method. A keep-alive signal may be transmitted.

  The control communication unit receives a response signal from the flying device in response to the flight data in communication using the first wireless communication method, and the connection state detection unit receives a predetermined signal after transmitting the flight data. If the response signal is not received within the period, it may be determined that communication using the first wireless communication method has been disconnected.

  The control device includes a wireless communication method used for communication of the flight data, and a wireless communication used for communication of the flight data, of the first wireless communication method and the second wireless communication method. You may further provide the notification part which notifies a user of the availability of the use of the radio | wireless communication system different from a system.

  According to a third aspect of the present invention, there is provided a program for detecting a connection state with a flying device in communication using the first wireless communication method with a flying device, and the first wireless communication method. Data for flight of the flying device is transmitted to the flying device using at least one of the second wireless communication method and the second wireless communication method, and based on the detection result in the connection state detecting step, the second And a communication step of transmitting the flight data to the flying device using a wireless communication method.

  According to the present invention, there is an effect that it is possible to shorten a period during which control information for controlling the flying device is not transmitted to the flying device.

It is a figure which shows an example of a structure of flight system S1 which concerns on this Embodiment. FIG. 2 is a diagram showing a configuration of a control device 1. It is a figure which shows an example of operation | movement of the display part 11 of the control apparatus 1. FIG. 2 is a diagram showing a configuration of a flying device 2. FIG. It is a sequence diagram which shows an example of operation | movement of flight system S1. It is a figure which shows an example of a structure of flight system S2 which concerns on this Embodiment. It is a sequence diagram which shows an example of operation | movement of flight system S2. It is a figure which shows an example of a structure of flight system S3 which concerns on this Embodiment. 2 is a diagram showing a configuration of a flying device 30. FIG. 2 is a diagram illustrating a configuration of a control device 5. FIG.

[Embodiment 1]
[Outline of this embodiment]
FIG. 1 is a diagram showing an example of the configuration of the flight system S1 according to the present embodiment. The flight system S <b> 1 includes a control device 1 and a flight device 2. The flying device 2 is a device that flies based on external control, and is a drone, for example. The control device 1 is a terminal for controlling the flying device 2 via wireless communication, such as a radio, a smartphone, and a tablet. The steering device 1 is, for example, a dedicated device such as a propo for steering, a terminal in which a steering application is installed in a smartphone and a tablet, or the like. In addition, the control of the flying device 2 includes the control of the flight direction and the flight speed of the control device 1.

  The control device 1 is paired with the flying device 2 so as to be able to transmit and receive data via a wireless communication line, and communicates flight data used for the flight of the flying device 2 with the flying device 2. Do. The flight data includes, for example, control information for maneuvering the rotor and power unit of the flying device 2, position information of the aircraft, which is equipment information indicating the flight state of the flying device 2, height, flight speed, and flight direction. And the remaining battery level. In addition, the control device 1 performs communication of non-flight data that is not used for the flight of the flying device 2. Non-flight data communication includes, for example, reception of image data captured by a camera mounted on the flying device 2, measurement data of ambient environment such as atmospheric pressure and temperature measured by the flying device 2, and imaging of the camera. For example, transmission of a control signal for starting.

  The control device 1 and the flight device 2 can transmit and receive flight data and non-flight data using a plurality of wireless communication lines. The control device 1 and the flying device 2 communicate with each other using the communication W1 based on the first wireless communication method that can establish communication without going through the management server 3 for establishing communication of the mobile phone network. In addition, the control device 1 and the flying device 2 communicate using the communication W2 based on the second wireless communication method for establishing a communication session via the management server 3. The management server 3 is a session construction server for establishing communication between the control device 1 and the flying device 2. The communication W1 according to the first wireless communication method is communication that does not pass through the base station, and is Wi-Fi, for example. The communication W2 by the second wireless communication system is a communication for transmitting and receiving data via a base station before establishing a communication session between the control device 1 and the flying device 2 by P2P. For example, LTE (Long Term Evolution) ).

In the flight system S1, the control device 1 and the flight device 2 can communicate using either or both of the first wireless communication method and the second wireless communication method. In addition, the control device 1 establishes communication W2 by the second wireless communication method with the flying device 2 while transmitting flight data to the flying device 2 by the first wireless communication method. The control device 1 transmits the flight data to the flying device 2 by the second wireless communication method when the communication W1 by the first wireless communication method is disconnected. By adopting such a configuration, the control device 1 can shorten the time taken to resume transmission of flight data to the flying device 2 after the communication W1 is disconnected by the first wireless communication method. .
Hereinafter, the configuration of the control device 1 and the flying device 2 will be described in detail.

[Configuration of the control device 1]
FIG. 2 is a diagram showing a configuration of the control device 1 of FIG. The control device 1 includes a display unit 11, an operation unit 12, a communication unit 13, a storage unit 14, and a control unit 15. The control unit 15 includes a display control unit 151, an operation reception unit 152, a control information generation unit 153, a connection state detection unit 154, a communication control unit 155, and a notification unit 156.

  The display unit 11 is a display for displaying information necessary for the user to operate the flying device 2. The display unit 11 displays display data input from the display control unit 151.

  The operation unit 12 is a device for a user to perform an operation for maneuvering the flying device 2, and includes, for example, a joystick or a volume for controlling a flight direction and a flight speed. The operation unit 12 may further include a touch panel provided on the surface of the display unit 11. The operation unit 12 notifies the operation reception unit 152 of a signal corresponding to the user operation content.

  The communication unit 13 is a communication module that transmits and receives radio waves for communication using the first wireless communication method and the second wireless communication method. The communication unit 13 modulates transmission data input from the communication control unit 155, and transmits a modulated data as a high-frequency signal in a frequency band assigned to either Wi-Fi or LTE. Part. The communication unit 13 includes a demodulator that demodulates a high-frequency signal received from the flying device 2 by the high-frequency unit. The demodulator inputs the received data after demodulation to the communication control unit 155. In addition, the communication unit 13 measures the radio wave strengths of the communications W1 and W2 using the first wireless communication method and the second wireless communication method, and inputs the measured radio wave strengths to the connection state detection unit 154.

  The communication unit 13 transmits the flight data to the flying device 2 in the communication W1 and W2 using the first wireless communication method and the second wireless communication method. In addition, the communication unit 13 transmits to the flying device 2 a keep-alive signal for maintaining the sessions of the communication W1 and W2 using the first wireless communication method and the second wireless communication method. The keep-alive signal is a signal that is periodically transmitted and received between the control device 1 and the flying device 2 in order to maintain a communication session. The communication unit 13 also transmits the Ack signal transmitted by the flying device 2 in response to the flight data and the flight state of the flying device 2 in the communication W1 and W2 using the first wireless communication method and the second wireless communication method. The device information shown is received.

  The storage unit 14 is a storage medium including a ROM (Read Only Memory) and a RAM (Random Access Memory). The storage unit 14 stores a program executed by the control unit 15. The storage unit 14 is used as a work memory for the control unit 15.

  The control unit 15 is, for example, a CPU (Central Processing Unit), and by executing various programs stored in the storage unit 14, the display control unit 151, the operation reception unit 152, the control information generation unit 153, and the connection It functions as a state detection unit 154, a communication control unit 155, and a notification unit 156. The display control unit 151 generates display data to be displayed on the display unit 11. The display control unit 151 inputs the generated display data to the display unit 11.

  The operation reception unit 152 specifies the operation content of the user based on the signal indicating the operation content input from the operation unit 12. The operation reception unit 152 notifies the display control unit 151 and the control information generation unit 153 of the specified operation content.

  The control information generation unit 153 generates control information for controlling the flying device 2 based on the operation content notified from the operation reception unit 152. The control information generation unit 153 inputs the generated control information to the communication control unit 155.

  The connection state detection unit 154 detects the connection state with the flying device 2 in the communication W1 with the flying device 2 using the first wireless communication method. More specifically, the connection state detection unit 154 detects whether or not the Ack signal has been received from the flying device 2 within a predetermined period after the communication control unit 155 has transmitted the flight data. Detect the connection status of. That is, the connection state detection unit 154 determines that the communication W1 by the first wireless communication method is continued if the Ack signal is received within a predetermined period after the communication control unit 155 transmits the flight data. If the communication control unit 155 does not receive the Ack signal within a predetermined period after transmitting the flight data, it is determined that the communication W1 by the first wireless communication method is disconnected. The connection state detection unit 154 notifies the communication control unit 155 and the notification unit 156 of the detected connection state.

  Note that the connection state detection unit 154 determines that the throughput of the communication W1 using the first wireless communication method falls below a predetermined value when the communication control unit 155 does not receive flight data such as device information from the flying device 2 within a predetermined period. When the communication unit 13 cannot receive the radio wave transmitted by the flying device 2 or the base station, or the radio field intensity of the first wireless communication method and the second wireless communication method measured by the communication unit 13 has a predetermined value. A configuration in which it is determined that the communication W1 using the first wireless communication method has been disconnected when it falls below the limit.

  For example, the connection state detection unit 154 has a predetermined throughput when the communication control unit 155 performs data retransmission a predetermined number of times, or when the data error rate of device information received by the communication control unit 155 exceeds a threshold value. It is determined that the communication W1 according to the first wireless communication method has been disconnected due to being below the value of.

  Moreover, the connection state detection part 154 detects the connection state with the flying apparatus 2 in a 2nd wireless communication system in communication W2 with the flying apparatus 2 which uses a 2nd wireless communication system. The connection state detection unit 154 detects whether or not the Ack signal is received from the flying device 2 within a predetermined period after the communication control unit 155 transmits the flight data or the keep-alive signal. Detect the connection status of. For example, the connection state detection unit 154 determines that the radio wave transmitted by the base station cannot be received when the communication control unit 155 cannot receive the identification information for identifying the base station of the predetermined mobile phone network from the base station. To do.

  The communication control unit 155 uses at least one of a first wireless communication method that can establish communication without going through the management server 3 and a second wireless communication method that establishes communication through the management server 3. Then, the flight data and the non-flight data are transmitted via the communication unit 13. The communication control unit 155 transmits the flight data to the flying device 2 using the second wireless communication method based on the detection result of the connection state detection unit 154. For example, when the communication control unit 155 transmits the flight data to the flying device 2 using the first wireless communication method, and the connection state detection unit 154 detects disconnection of the communication W1 using the first wireless communication method, The flight data is transmitted to the flying device 2 using the second wireless communication system.

  In this case, in consideration of shortening the time required for switching from the first wireless communication method to the second wireless communication method, before the connection state detection unit 154 detects the disconnection of the communication W1 by the first wireless communication method. In addition, it is desirable to establish communication W2 by the second wireless communication method. Therefore, the communication control unit 155 establishes the communication W2 using the second wireless communication method with the flying device 2 before the connection state detection unit 154 detects the disconnection of the communication W1 by the first wireless communication method, and the communication W2 By repeatedly transmitting a keep-alive signal to maintain the flying device 2 to the flying device 2, the communication W2 with the flying device 2 is maintained. Further, the communication control unit 155 causes the flight data 2 to be transmitted to the flying device 2 using the communication W2 after the connection state detection unit 154 detects the disconnection of the communication W1.

  The notification unit 156 acquires the connection states of the communications W1 and W2 by the first and second wireless communication methods detected by the connection state detection unit 154. The notification unit 156 is different from the wireless communication method used for the flight data communication and the wireless communication method used for the flight data communication among the first wireless communication method and the second wireless communication method. The display control unit 151 is notified of whether or not the wireless communication method can be used. Hereinafter, with reference to FIG. 3, notification of availability of use by the notification unit 156 will be described.

  FIGS. 3A and 3B are diagrams illustrating an example of a screen displayed on the display unit 11 of the control device 1, and a wireless communication method used for communication of flight data and communication of flight data. It shows whether or not a backup wireless communication system that is not used for use can be used. For example, the display control unit 151 causes the display unit 11 to display the screens of FIGS. 3A and 3B when the communication control unit 155 changes the wireless communication method used for communication of flight data. The screens of FIGS. 3A and 3B show an icon A1 indicating a wireless communication method used for flight data communication, and a spare wireless communication method not used for flight data communication. Icon A2 is shown.

  In the upper part of the screen of FIG. 3A, the communication control unit 155 of the control device 1 uses the first wireless communication method such as Wi-Fi for communication of flight data, and the communication control unit 155 It shows that communication W1 by the first wireless communication method is established between Further, in the lower part of the screen of FIG. 3A, the communication control unit 155 selects the second wireless communication method such as LTE as a backup wireless communication method not used for the flight data communication. It shows that the unit 155 establishes communication W2 by the second wireless communication method with the flying device 2.

  The screen of FIG. 3B is displayed when, for example, the connection state detection unit 154 detects the disconnection of the communication W1 in the state of FIG. 3A, and then the communication control unit 155 starts the communication W2. This is a screen that the unit 151 displays on the display unit 11. The upper part of the screen in FIG. 3B shows that the communication control unit 155 of the control device 1 uses the second wireless communication method for the flight data communication. In the lower part of the screen of FIG. 3B, the communication control unit 155 has selected the first wireless communication method as the backup wireless communication method, and the communication W1 using the first wireless communication method with the flying device 2 is performed. Is not established.

[Configuration of the flying device 2]
FIG. 4 is a diagram showing the configuration of the flying device 2 of FIG. The flying device 2 includes a camera 21, a detection unit 22, a communication unit 23, a flight mechanism 24, a storage unit 25, and a control unit 26. The control unit 26 includes a data management unit 261, a communication control unit 262, and a flight control unit 263.

  The camera 21 captures the periphery of the flying device 2 and generates image data. The camera 21 outputs the generated image data to the data management unit 261 as non-flight data. The detection unit 22 includes, for example, an acceleration sensor, a GPS (Global Positioning System) receiver, a pressure sensor, a thermometer, and the like, and includes position information, height, flight speed, and flight information that are device information indicating the flight state of the flying device 2. For the flight of the flying device 2, such as the direction, the radio field intensity around the flying device 2 in the first and second wireless communication systems, and the remaining amount of the battery that supplies the power used by the flying device 2 for the flight The flight data used and the non-flight data that is not used for the flight of the flight device 2 such as atmospheric pressure and temperature are output to the data management unit 261.

  The communication unit 23 is a communication module that transmits and receives radio waves for communication using the first wireless communication method and the second wireless communication method, and has a function equivalent to that of the communication unit 13. In addition, the communication unit 23 measures the radio wave strengths of the communications W1 and W2 based on the first wireless communication method and the second wireless communication method, and inputs them to the data management unit 261.

  The flight mechanism 24 includes a propeller, a motor that rotates the propeller, and a rudder. The flight mechanism 24 can change the flight speed and the flight direction by operating these mechanisms based on the control of the flight control unit 263.

  The storage unit 25 is a storage medium including a ROM and a RAM. The storage unit 25 stores a program executed by the control unit 26. The storage unit 25 is used as a work memory of the control unit 26, and temporarily stores control information received from the control device 1, for example. The control unit 26 is a CPU, for example, and functions as a data management unit 261, a communication control unit 262, and a flight control unit 263 by executing various programs stored in the storage unit 25.

  The data management unit 261 acquires image data captured by the camera 21 as non-flight data. Further, the data management unit 261 acquires flight data such as position information input from the detection unit 22 and non-flight data such as atmospheric pressure and temperature.

  The communication control unit 262 receives the flight data via the communication unit 23 using at least one of the first wireless communication method and the second wireless communication method. Further, the communication control unit 262 uses at least one of the first wireless communication method and the second wireless communication method, and uses the flight data input from the data management unit 261 via the communication unit 23 and the non-flight data. Data is transmitted to the control device 1.

  Further, when the communication control unit 262 receives the flight data from the control device 1 in the communication W1, the communication control unit 262 transmits an Ack signal to the control device 1 in the communication W1 in response to the flight data. Further, when the communication control unit 262 receives flight data from the control device 1 in the communication W2, the communication control unit 262 transmits an Ack signal to the control device 1 in the communication W2 in response to the flight data. The flight control unit 263 acquires the flight data from the communication control unit 262 and controls the flight mechanism 24 by using the flight data to control the flight state.

  The communication control unit 262 receives flight data from the control device 1 using the second wireless communication method while receiving flight data from the control device 1 using the first wireless communication method. It is determined that the communication W1 using the first wireless communication method has been disconnected. In this case, the communication control unit 262 transmits and receives flight data and non-flight data to and from the control device 1 using the second wireless communication method.

  By adopting such a configuration, when the connection state detection unit 154 determines that the communication W1 using the first wireless communication method is disconnected, the communication control unit 155 uses the communication W2 using the second wireless communication method. Thus, the flight data can be transmitted to the flying device 2. For this reason, the user can control the flying device 2 even after the communication W1 is disconnected by the first wireless communication method.

  By the way, since the communication W2 by the second wireless communication method passes through the base station, communication is possible even when the distance between the control device 1 and the flying device 2 is long. On the other hand, since the communication W1 by the first wireless communication method does not pass through the base station, the communicable range in the first wireless communication method is limited to a predetermined range (for example, 2 km) from the control device 1.

  For this reason, the flight control unit 263 has the radio wave intensity of the communication W1 in a state where the communication W2 by the second wireless communication method is disconnected, for example, in a state where the keep-alive signal cannot be received for a predetermined period or longer in the second wireless communication method. The flight mechanism 24 is controlled so as to be equal to or greater than a predetermined threshold. In this case, the flight control unit 263 does not move to an area where the radio wave intensity of the communication W1 acquired by the detection unit 22 is lower than this threshold value. For example, the threshold value is a value at which the communication control unit 262 can transmit and receive flight data in the communication W1.

  FIG. 5 is a sequence diagram showing an example of the operation of the flight system S1 of FIG. This processing procedure is started when the control device 1 and the flying device 2 are each turned on. Here, after the communication control unit 155 of the control device 1 transmits the flight data to the flying device 2 by the first wireless communication method, and the connection state detection unit 154 detects the disconnection of the communication W1 by the first wireless communication method. An example in which the communication control unit 155 transmits flight data to the flying device 2 by the second wireless communication method will be described.

  First, the communication control unit 155 of the control device 1 performs location registration with an HSS (Home Subscriber Server). The location registration is to register, in the HSS, a base station that can call a radio communication device such as the control device 1 or a group of base stations to which a base station that can call the radio communication device belongs. Similarly, the communication control unit 262 of the flying device 2 performs position registration with the HSS.

  The management server 3 holds an identifier for specifying the control device 1 and the flying device 2. The management server 3 includes a destination identifier such as an IP (Internet Protocol) address for directly transmitting and receiving data between the control device 1 and the flying device 2 using the second wireless communication method, and the control device 1 and the flying device 2. Holds a connection identifier used to acquire the other destination identifier.

  The connection identifier is a first identifier unique to the control device 1 and the flying device 2, and is, for example, a telephone number recorded in a SIM (Subscriber Identity Module), but may be a SIM card identifier and a terminal identification number. Good. For example, the management server 3 holds the connection identifier of the control device 1 and the connection identifier of the flight device 2 in association with the pairing information obtained by pairing the control device 1 and the flight device 2 in advance.

  The destination identifier corresponds to the second identifier and is used when data is directly transmitted / received between the control device 1 and the flying device 2. When the operation accepting unit 152 accepts a user operation for enabling the communication W2 by the second wireless communication method (S11), the communication control unit 155 of the control device 1 includes the connection identifier of the control device 1 recorded in the SIM. The identifier for connection of the flying device 2 held in the storage unit 14 is transmitted to the management server 3. By transmitting these connection identifiers, the communication control unit 155 requests the management server 3 to establish a P2P session for the communication W2 by the second wireless communication method.

  The management server 3 receives the connection identifiers of the control device 1 and the flying device 2 from the control device 1, and the connection identifier of the control device 1 and the connection identifier of the flight device 2 are associated in the pairing information. It is determined whether or not. When the connection identifier of the control device 1 and the connection identifier of the flying device 2 are associated in the pairing information, the management server 3 determines the control device 1 and the flying device 2 from the IP database. The IP addresses are acquired and temporarily stored in association with the connection identifiers of the control device 1 and the flying device 2, respectively.

  Furthermore, the management server 3 notifies the control device 1 and the flying device 2 of the acquired IP address as a destination identifier. That is, the management server 3 transmits the destination identifier assigned to the flying device 2 to the control device 1 in response to receiving the P2P session establishment request from the control device 1. In addition, the management server 3 transmits the destination identifier assigned to the control device 1 to the flying device 2. When receiving the destination identifier of the flying device 2, the communication control unit 155 of the control device 1 starts communication W <b> 2 with the flying device 2 through the P2P session that designates the destination identifier of the flying device 2 as the communication destination. The management server 3 may also transmit the destination identifier assigned to the control device 1 to the control device 1 and transmit the destination identifier assigned to the flying device 2 to the flying device 2.

  The communication control unit 155 transmits a keep alive signal for maintaining communication to the flying device 2 in the communication W2 by the second wireless communication method. The communication control unit 262 of the flying device 2 transmits an Ack signal to the control device 1 in response to the received keep alive signal. Thereafter, the communication control unit 155 of the control device 1 repeatedly transmits the keep-alive signal to the flying device 2 through the communication unit 23 in the communication W2 based on the second wireless communication method, thereby transmitting the communication W2 based on the second wireless communication method. maintain.

  In a state where the communication control unit 155 maintains the communication W2 with the flying device 2, when the connection state detection unit 154 detects the disconnection of the communication W1 (S12), the display control unit 151 transmits to the flying device 2. Information indicating that the wireless communication system for transmitting the flight data is being switched is displayed on the display unit 11 (S13). Next, the communication control unit 155 of the control device 1 transmits the flight data to the flight device 2 in the communication W2.

  The communication control unit 262 of the flying device 2 transmits an Ack signal to the control device 1 in response to the received flight data. When the communication control unit 155 receives the Ack signal from the flying device 2 in the communication W2 after the connection state detection unit 154 detects the disconnection of the communication W1, the display control unit 151 of the control device 1 Information indicating that the flight data is being transmitted using the wireless communication method is displayed on the display unit 11. Thereafter, the communication control unit 155 of the control device 1 repeats the transmission of the flight data to the flying device 2 in the communication W2.

  According to the present embodiment, when the connection state detection unit 154 detects disconnection of the communication W1, the communication unit 13 of the control device 1 performs a handover from the first wireless communication method to the second wireless communication method. Thus, the flight data can be transmitted to the flying device 2 using the second wireless communication method. For this reason, the communication control unit 155 can transmit the flight data to the flying device 2 without waiting for the recovery of the communication W1 by the first wireless communication method, and the flying data is not transmitted to the flying device 2. The period can be shortened.

  Further, according to the present embodiment, before the connection state detection unit 154 detects the disconnection of the communication W1 by the first wireless communication method, the communication control unit 155 transmits the communication W2 using the second wireless communication method to the flying device. Established with 2. Therefore, the communication control unit 155 starts transmitting the flight data to the flying device 2 using the second wireless communication method after the connection state detection unit 154 detects the disconnection of the communication W1 using the first wireless communication method. It is possible to further shorten the period until the operation is performed.

  In addition, according to the present embodiment, the display control unit 151 includes the first wireless communication method and the second wireless communication method, the wireless communication method used for the flight data communication, and the flight data communication. The display unit 11 displays whether or not the wireless communication method different from the wireless communication method used for the use can be used. For this reason, the user can grasp | ascertain the radio | wireless communication system which the communication part 13 of the control apparatus 1 is using for communication of the data for flight. In addition, when the connection state detection unit 154 detects disconnection of the wireless communication method used for the flight data communication, the user can grasp the presence or absence of a wireless communication method that can be used instead. .

  In the present embodiment, an example in which the communication control unit 155 of the control device 1 transmits a keep-alive signal to the flying device 2 has been described. However, the present invention is not limited to this. For example, the communication control unit 262 of the flying device 2 transmits a keep alive signal to the control device 1, and the communication control unit 155 of the control device 1 transmits an Ack signal to the flying device 2 in response to the received keep alive signal. It may be configured to.

  In addition, when the communication unit 13 of the control device 1 can communicate with the flying device 2 by both the first wireless communication method and the second wireless communication method, the communication control unit 155 of the control device 1 uses the first wireless communication method. The flight data may be transmitted to the flying device 2 using the and the non-flight data may be received from the flying device 2 using the second wireless communication method. For example, the communication control unit 155 uses the second wireless communication method to transmit image data captured by a camera mounted on the flying device 2 while transmitting flight data using the first wireless communication method. Receive.

  Further, in the present embodiment, the communication control unit 155 of the control device 1 performs a flight with respect to the management server 3 when the operation receiving unit 152 receives a user operation for enabling the communication W2 by the second wireless communication method. The configuration for requesting the destination identifier of the device 2 has been described. However, the present invention is not limited to the case where the operation for enabling the communication W2 by the second wireless communication method is a trigger for requesting the destination identifier. For example, when the user performs an operation of turning on power to both the control device 1 and the flying device 2, or when the operation reception unit 152 receives a user operation for starting a control application in the control device 1, the control is performed. The communication control unit 155 of the device 1 may be configured to request the destination identifier of the flying device 2 from the management server 3.

  In the present embodiment, the communication control unit 155 of the control device 1 uses the connection identifier of the control device 1 recorded in the SIM and the connection identifier of the flying device 2 stored in the storage unit 14. The example in the case where the management server 3 is requested to establish the communication W2 between the control device 1 and the flying device 2 by transmitting to the management server 3 by the communication unit 13 has been described. However, the present invention is not limited to the configuration in which the communication control unit 155 reads the connection identifier of the flying device 2 from the storage unit 14. For example, the operation reception unit 152 acquires the connection identifier of the flying device 2 by the user's operation input that inputs the connection identifier to the operation unit 12, and the communication control unit 155 includes the connection identifier of the control device 1, The connection identifier of the flying device 2 acquired by the operation reception unit 152 may be transmitted to the management server 3.

[Embodiment 2]
In the first embodiment, the communication control unit 155 of the control device 1 communicates with the flying device 2 by the second wireless communication method in the P2P session that specifies the destination identifier of the flying device 2 as the communication destination. Explained. In contrast, in the present embodiment, the communication is established between the session maintenance server 4 and the flying device 2 and between the session maintenance server 4 and the control device 1 through two communication paths. Different from Form 1. In this case, the control device 1 acquires the destination identifier of the session maintenance server 4, but does not acquire the destination identifier of the flying device 2, and transmits and receives flight data and non-flight data via the session maintenance server 4.

  FIG. 6 is a diagram showing an example of the configuration of the flight system S2 according to the present embodiment. In the flight system S2, the control device 1 and the flight device 2 communicate with the session maintenance server 4 for maintaining the communication W2 by the second wireless communication method. As in the first embodiment, the control device 1 transmits the flight data to the flying device 2 without going through the session maintenance server 4 in the communication W1 using the first wireless communication method. In addition, the control device 1 transmits the flight data to the flying device 2 via the session maintenance server 4 by using the destination identifier of the session maintenance server 4 in the communication W2 by the second wireless communication method.

  FIG. 7 is a sequence diagram showing an example of the operation of the flight system S2 of FIG. This processing procedure is started when the control device 1 and the flying device 2 are each turned on. Hereinafter, referring to FIG. 7, the communication control unit 155 of the control device 1 transmits the flight data to the flying device 2 by the first wireless communication method, and the connection state detection unit 154 performs the communication W1 by the first wireless communication method. An example in which the flight data is transmitted to the flying device 2 via the session maintenance server 4 using the second wireless communication method after the disconnection of the vehicle is detected will be described.

  The communication control unit 155 of the control device 1 establishes communication W <b> 2 using the second wireless communication method with the session maintenance server 4. Similarly, the communication control unit 262 of the flying device 2 establishes communication W <b> 2 using the second wireless communication method with the session maintenance server 4.

  Next, the communication control unit 155 of the flight control device 1 transmits the telephone number of the flight device 2 to the session maintenance server 4 as the connection identifier of the flight device 2, for example. 1 and the flying device 2 are requested to establish the communication W2 by the second wireless communication method. The session maintenance server 4 holds pairing information that associates the connection identifier of the control device 1 with the connection identifier of the flying device 2, and the connection identifier of the control device 1 and the flying device 2 received from the control device 1. Is determined in the pairing information. When the session maintenance server 4 determines that the connection identifiers of the control device 1 and the flying device 2 received from the control device 1 are associated with each other, the session maintenance server 4 establishes communication between the control device 1 and the flying device 2. .

  The session maintenance server 4 transmits a connection completion notification indicating that communication has been established between the control device 1 and the flying device 2 to the control device 1 and the flying device 2, respectively. Further, the session maintenance server 4 maintains communication between the control device 1 and the flying device 2 by repeatedly transmitting a keep-alive signal to the control device 1 and the flying device 2.

  When the connection state detection unit 154 detects disconnection of the communication W1 by the first wireless communication method (S21), the display control unit 151 is switching the wireless communication method for transmitting the flight data to the flying device 2. Information indicating this is displayed on the display unit 11 (S22).

  Further, the communication control unit 155 of the control device 1 transmits the flight data to the session maintenance server 4 in the second wireless communication method, and the session maintenance server 4 uses the second wireless communication method for the received flight data. To the flying device 2. On the other hand, in response to the received flight data, the communication control unit 262 of the flying device 2 transmits an Ack signal to the session maintenance server 4 using the second wireless communication method. The session maintenance server 4 transmits the received Ack signal to the control device 1 using the second wireless communication method. Similarly, the communication control unit 262 of the flying device 2 uses the second wireless communication method to send non-flight data such as image data captured by the camera 21 to the control device 1 via the session maintenance server 4. Send.

  In the present embodiment, the session maintenance server 4 transmits a keep-alive signal to the control device 1 and the flying device 2 to maintain communication between the control device 1 and the flying device 2. explained. However, the present invention is not limited to this. For example, the communication control unit 155 of the control device 1 transmits a keep alive signal to the session maintenance server 4 in the second wireless communication method, and the communication control unit 262 of the flying device 2 maintains the keep alive in the second wireless communication method. The configuration may be such that the communication W2 between the control device 1 and the flying device 2 by the second wireless communication method is maintained by transmitting a signal to the session maintenance server 4.

  In the first and second embodiments, the communication control unit 155 of the control device 1 performs the second wireless communication with the flying device 2 before the connection state detection unit 154 detects the disconnection of the communication by the first wireless communication method. The example in the case of establishing the communication W2 using a system was demonstrated. However, the present invention is not limited to this. For example, the communication control unit 155 of the control device 1 establishes the communication W2 using the second wireless communication method with the flying device 2 after the connection state detection unit 154 detects the disconnection of the communication W1 by the first wireless communication method. It may be a configuration.

[Embodiment 3]
In the first and second embodiments, when the connection state detection unit 154 detects the disconnection of the communication W1 by the first wireless communication method, the communication control unit 262 transmits the flight data to the flying device 30 by the second wireless communication method. An example of doing this was described. On the other hand, in the present embodiment, an example in which the communication unit 23 of the flying device 30 receives flight data from the control device 5 by the second wireless communication method after the communication W1 by the first wireless communication method is disconnected. explain.

  FIG. 8 is a diagram showing an example of the configuration of the flight system S3 according to the present embodiment. The flying device 30 in the flight system S3 receives a communication disconnection signal indicating that the disconnection of the communication W1 by the first wireless communication method is detected after the communication W1 by the first wireless communication method with the control device 1 is disconnected. 2 Transmit to the control device 5 using a wireless communication system. In response to the communication disconnection signal, the control device 5 transmits flight data for flying the flying device 30 in the direction of the destination registered in advance to the flying device 30 using the second wireless communication method. .

  FIG. 9 is a diagram showing the configuration of the flying device 30 of FIG. FIG. 9 is different from the flying device 2 of FIG. 4 in that the control unit 26 of the flying device 30 further includes a connection state detection unit 301. The same components as those of the flying device 2 of FIG. The connection state detection unit 301 detects the connection state with the control device 1 in the communication W1 with the control device 1 using the first wireless communication method. The connection state detection unit 301 determines that the communication W1 by the first wireless communication method has been disconnected when the Ack signal is not received from the control device 1 within a predetermined period after the communication unit 23 transmits the device information. The connection state detection unit 301 notifies the communication control unit 262 of the detected connection state. When the connection state detection unit 301 detects the disconnection of the communication W1 using the first wireless communication method, the communication control unit 262 generates a communication disconnection signal indicating that the communication W1 has been disconnected by the first wireless communication method. It transmits to the control apparatus 5 using a 2nd wireless communication system. Further, the communication control unit 262 receives the flight data from the control device 5 using the second wireless communication method.

  FIG. 10 is a diagram showing a configuration of the control device 5 of FIG. The control device 5 includes a communication unit 51, a storage unit 52, and a control unit 53. The control unit 53 includes an acquisition unit 531, an estimation unit 532, a control unit 533, and a communication control unit 534. The communication unit 51 is a communication module for communicating with the flying device 30 using the second wireless communication method. The storage unit 52 is a storage medium including a ROM and a RAM. The storage unit 52 stores a program executed by the control unit 53. The storage unit 52 is used as a work memory for the control unit 53.

  The control unit 53 is a CPU, for example, and executes various programs stored in the storage unit 52. Further, the acquisition unit 531 receives position information, height, flight speed, flight direction, and power used by the flight device 30 for flight, which are device information indicating the flight state of the flight device 30 via the communication unit 51. The flight data used for the flight of the flying device 30 such as the remaining amount of the battery to be supplied, and the non-flight data not used for the flight of the flying device 30 such as atmospheric pressure and temperature are acquired. . In addition, the acquisition unit 531 acquires the current position of the flying device 30 and the flight start position where the flying device 30 started flying as an example of position information.

  The estimation unit 532 reads the destination of the flying device 30 registered in advance from the storage unit 52 and estimates the power required for the flying device 30 to move from the current position of the flying device 30 to the destination. Note that the communication control unit 155 of the control device 1 may transmit information indicating the destination of the flying device 30 to the control device 5 using the second wireless communication method.

  When the communication unit 51 receives the communication disconnection signal from the flying device 30, the control unit 533 reads the destination of the flying device 30 registered in advance from the storage unit 52 and moves the flying device 30 toward the destination. Generate flight data for flight. More specifically, the control unit 533 determines whether or not the flying device 30 can reach the destination based on the remaining battery level acquired by the acquisition unit 531 and the required power estimated by the estimation unit 532. When it is determined that the flying device 30 can reach the destination, the control unit 533 generates flight data for flying the flying device 30 in the direction of the destination. On the other hand, when it is determined that the flying device 30 cannot reach the destination, the control device 5 generates flight data for flying the flying device 30 in the direction of the flight start position.

  The communication control unit 534 transmits the flight data generated by the control unit 533 to the flying device 30. In addition, when the control unit 533 determines that the flying device 30 can reach the destination, the communication control unit 534 sends the flight data for flying the flying device 30 toward the destination to the flying device 30. Send. On the other hand, when the control unit 533 determines that the flying device 30 cannot reach the destination, the communication control unit 534 transmits flight data for flying the flying device 30 in the direction of the flight start position to the flying device 30. To do.

  According to the present embodiment, control unit 533 generates flight data for flying flight device 30 in the direction of the destination, and transmits the generated flight data to flight device 30. Therefore, the communication control unit 155 of the control device 1 cannot transmit the flight data to the flight device 30 due to the disconnection of the communication W1 by the first wireless communication method between the control device 1 and the flight device 30. Even so, the flying device 30 can be made to fly to the destination.

  Further, according to the present embodiment, control unit 533 determines whether or not flying device 30 can reach the destination, and generates flight data based on the determined result. Therefore, in the state where the flying device 30 is flying by the flight data from the control device 5, it is possible to suppress the flight from being unable to continue due to a shortage of remaining battery power while the flying device 30 reaches the destination. .

  In the present embodiment, an example in which the communication control unit 262 of the flying device 30 communicates with the control device 5 by the second wireless communication method after the communication W1 by the first wireless communication method is disconnected has been described. However, the present invention is not limited to this. For example, the communication control unit 262 of the flying device 30 may communicate with the control device 5 using the second wireless communication method before disconnecting the communication W1 using the first wireless communication method.

  In this case, the communication control unit 262 of the flying device 30 receives the flight data from the control device 1 using the first wireless communication method, and the flight control unit 263 uses the received flight data to control the flight mechanism 24. By controlling, the flight state is controlled. The communication control unit 262 transmits the current position of the flying device 30 to the control device 5 during the flight of the flying device 30 using the second wireless communication method.

  The control unit 533 of the control device 5 reads the flight prohibited area where the flight is prohibited from the storage unit 52, and determines whether the flying device 30 is flying in the vicinity of the flight prohibited area. The control unit 533 notifies the control device 1 and the flying device 30 when the current position acquired by the acquiring unit 531 from the flying device 30 is in the vicinity of the flight prohibited area. At this time, the display control unit 151 of the control device 1 causes the display unit 11 to display a message that prompts the user to move the flying device 30 to an area away from the flight prohibited area.

  By adopting such a configuration, the display control unit 151 of the control device 1 displays a message on the display unit 11 prompting the user to move the flying device 30 to an area away from the prohibited flight area. It is possible to prevent the flying device 30 from entering the flight prohibition area while there is not.

  In the first to third embodiments, the communication control unit 155 uses the second wireless communication method to fly the flying device 2 when the connection state detection unit 154 detects the disconnection of the communication W1 by the first wireless communication method. An example of transmitting flight data to a vehicle has been described. However, the present invention is not limited to the configuration in which the flight control device 1 instructs the flight device 2 to switch the wireless communication method. For example, when the connection state detection unit 301 of the flying device 2 detects the disconnection of the communication W <b> 1 by the first wireless communication method, the communication control unit 262 of the flying device 2 notifies the control device 1 by the second wireless communication method. The structure which requests | requires transmitting the data for flight may be sufficient.

  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 ... Control apparatus 2 ... Flight apparatus 3 ... Management server 4 ... Session maintenance server 5 ... Control apparatus 11 ... Display part 12 ... Operation part 13,23,51 ... Communication unit 14, 25, 52 ... Storage unit 15, 26, 53 ... Control unit 21 ... Camera 22 ... Detection unit 24 ... Flight mechanism 151 ... Display control unit 152 ... Operation accepting unit 153 ... Control information generating unit 154 ... Connection state detecting unit 155, 262, 534 ... Communication control unit 156 ... Notifying unit 261 ... Data management unit 263 ... Flight control Part S1-S3 ... Flight system W1, W2 ... Communication

Claims (13)

A flying device that flies based on external control;
A control device for controlling the flying device;
With
The flying device is
A flight-side communication unit that receives flight data used for flight of the flying device from the control device using at least one of the first wireless communication method and the second wireless communication method;
A flight control unit for flying the flying device using the flight data;
Have
The steering device is
A control-side communication unit that transmits the flight data to the flying device using at least one of the first wireless communication method and the second wireless communication method;
In communication with the flying device using the first wireless communication method, a connection state detection unit that detects a connection state with the flight side communication unit,
The steering-side communication unit, based on the detection result of the connection state detection unit, and transmits the data for the flies to the flying device with the second wireless communication scheme,
The pilot side communication unit establishes communication using the second wireless communication method with the flying device before the connection state detection unit detects disconnection of communication by the first wireless communication method, and the connection state After detecting disconnection of communication by the first wireless communication method in the detection unit, the flight data is transmitted to the flying device using the second wireless communication method,
The control-side communication unit transmits the flight data to the flight device via a session maintenance server for maintaining communication using the second wireless communication method between the control device and the flight device. And
The flight side communication unit transmits a response signal responding to the flight data to the control device via the session maintenance server.
Flight system. Before SL-flight communication unit via the session maintenance server, to the steering device transmits the non-flight data other than the flight data,
The flight system according to claim 1 . The pilot side communication unit maintains the communication in the communication using the second wireless communication method with respect to the flying device before the connection state detection unit detects the disconnection of the communication by the first wireless communication method. Send keep-alive signal for,
The flight system according to claim 1 or 2 . The flight-side communication unit transmits a response signal to the flight control device in response to the flight data received from the flight control device in communication using the first wireless communication method,
The connection state detection unit determines that communication using the first wireless communication method is disconnected when the response signal is not received within a predetermined period after transmission of the flight data.
The flight system according to any one of claims 1 to 3. The control device includes a wireless communication method used for communication of the flight data, and a wireless communication used for communication of the flight data, of the first wireless communication method and the second wireless communication method. A notification unit for notifying the user of the availability of a wireless communication method different from the method;
The flight system according to any one of claims 1 to 4. A management server that associates and stores a first identifier that identifies the flying device and a second identifier that is used for communication with the flying device using the second wireless communication method;
The control device further includes a storage unit that stores the first identifier,
The control-side communication unit acquires the second identifier used for communication with the flying device specified by the first identifier stored in the storage unit from the management server.
The flight system according to any one of claims 1 to 3 . The first identifier is a telephone number recorded in a SIM (Subscriber Identity Module) mounted on the flying device.
The flight system according to claim 6. A control device for controlling a flying device,
In communication with the flying device using the first wireless communication method, a connection state detection unit that detects a connection state with the flying device;
The flight data used for the flight of the flying device is transmitted to the flying device using at least one of the first wireless communication method and the second wireless communication method, and the connection state detection unit detects the flight data. Based on the result, a control communication unit that transmits the flight data to the flying device using the second wireless communication method;
I have a,
The pilot side communication unit establishes communication using the second wireless communication method with the flying device before the connection state detection unit detects disconnection of communication by the first wireless communication method, and the connection state After detecting disconnection of communication by the first wireless communication method in the detection unit, the flight data is transmitted to the flying device using the second wireless communication method,
The control-side communication unit transmits the flight data to the flight device via a session maintenance server for maintaining communication using the second wireless communication method between the control device and the flight device. And receiving a response signal responding to the flight data from the flying device via the session maintenance server.
Steering device. The pilot side communication unit establishes communication using the second wireless communication method with the flying device before the connection state detection unit detects disconnection of communication by the first wireless communication method, and the connection state After detecting the disconnection of communication by the first wireless communication method in the detection unit, the flight data is transmitted to the flying device using the second wireless communication method.
The control device according to claim 8 . The pilot side communication unit maintains the communication in the communication using the second wireless communication method with respect to the flying device before the connection state detection unit detects the disconnection of the communication by the first wireless communication method. Send keep-alive signal for,
The control device according to claim 9 . The pilot side communication unit receives a response signal from the flying device in response to the flight data in communication using the first wireless communication method,
The connection state detection unit determines that communication using the first wireless communication method is disconnected when the response signal is not received within a predetermined period after transmission of the flight data.
The control device according to any one of claims 8 to 10 . The control device includes a wireless communication method used for communication of the flight data, and a wireless communication used for communication of the flight data, of the first wireless communication method and the second wireless communication method. A notification unit for notifying the user of the availability of a wireless communication method different from the method;
The control device according to any one of claims 8 to 11 . On the computer,
Detecting a connection state with the flying device in communication using the first wireless communication method with the flying device;
Transmitting flight data used for flight of a flying device to the flying device using at least one of the first wireless communication method and the second wireless communication method;
Transmitting the flight data to the flying device using the second wireless communication method based on a detection result in the step of detecting the connection state;
Receiving a response signal in response to the flight data via a session maintenance server for maintaining communication by a second wireless communication method between the control device and the flight device;
A program for executing
The step of transmitting the flight data to the flying device establishes communication using the second wireless communication method with the flying device before detecting the disconnection of the communication by the first wireless communication method, After detecting the disconnection of the communication by the wireless communication method, the flight data is transmitted to the flying device using the second wireless communication method via the session maintenance server.
program.

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