JP6485889B2 - Flight control device, flight control method, and program - Google Patents

Description

The present invention, flight control system for controlling the flight of the unmanned aircraft, a flight control method, and relates to a program for realizing these.

  Conventionally, an unmanned aerial plane called “drone” (hereinafter, also referred to as “UAV (Unmanned Aerial Vehicle)”) has been used for various purposes such as military use and agricultural chemical application. In particular, in recent years, small unmanned airplanes that use an electric motor as a power source have been developed due to the reduction in size and output of batteries (see, for example, Non-Patent Documents 1 and 2). Small unmanned aerial vehicles are rapidly becoming popular because of their simple operation.

  The unmanned airplane is equipped with a GPS (Global Positioning System) receiver and can specify its own position. For this reason, in an unmanned aerial vehicle, an autopilot that flies along a set route is realized, and the use of the unmanned aerial vehicle is further increased.

“Unmanned Aircraft”, [online], May 25, 2015, Wikipedia, [Search June 1, 2015], Internet <URL: http: //en.wikipedia.org/wiki/%E7%84%A1 % E4% BA% BA% E8% 88% AA% E7% A9% BA% E6% A9% 9F> “Drone”, [online], April 22, 2015, web dictionary, [Search June 1, 2015], Internet <URL: http://www.weblio.jp/content/%E3%83%89 % E3% 83% AD% E3% 83% BC% E3% 83% B3>

  By the way, in order for an unmanned aerial vehicle to identify its own position, it is necessary to receive GPS signals from three or four satellites by a GPS receiver. However, depending on the environment, all necessary GPS signals cannot be received. There is. In such a case, the unmanned airplane cannot identify its own position and may crash. Unmanned aerial vehicles may also crash due to wind effects, battery voltage drop, and the like.

  However, it is extremely difficult to eliminate the possibility of a crash in a conventional unmanned aerial vehicle. For this reason, if a person, an object, or the like is present at the crash point, a serious collision accident may occur.

An object of the present invention is to provide a flight control device, a flight control method, and a program capable of solving the above-described problems and suppressing the occurrence of a collision accident due to a crash of an unmanned airplane.

In order to achieve the above object, a flight control apparatus according to one aspect of the present invention is an apparatus for controlling an unmanned airplane,
A collision target that detects a target existing below the unmanned airplane and calculates a distance between the detected target and the unmanned airplane based on a signal output from a sensor that can detect a situation below the unmanned airplane. A detection unit;
The altitude and speed of the unmanned airplane are identified, and whether the unmanned airplane and the target collide when the unmanned airplane crashes based on the identified altitude and speed and the calculated distance. A collision determination unit for determining;
It is characterized by having.

In order to achieve the above object, a flight control method according to one aspect of the present invention is a method for controlling an unmanned airplane,
(A) Based on a signal output from a sensor capable of detecting a situation below the unmanned airplane, a target existing below the unmanned airplane is detected, and a distance between the detected target and the unmanned airplane is calculated. , Steps and
(B) The altitude and speed of the unmanned airplane are specified, and when the unmanned airplane crashes based on the specified altitude and speed and the calculated distance, the unmanned airplane and the target collide. Determining whether or not, and
It is characterized by having.

Furthermore, in order to achieve the above object, a program according to an aspect of the present invention, by a computer, a program for controlling the unmanned aircraft,
In the computer,
(A) Based on a signal output from a sensor capable of detecting a situation below the unmanned airplane, a target existing below the unmanned airplane is detected, and a distance between the detected target and the unmanned airplane is calculated. , Steps and
(B) The altitude and speed of the unmanned airplane are specified, and when the unmanned airplane crashes based on the specified altitude and speed and the calculated distance, the unmanned airplane and the target collide. Determining whether or not, and
Allowed to run and wherein the Turkey.

  As described above, according to the present invention, it is possible to suppress the occurrence of a collision accident due to a crash of an unmanned airplane.

FIG. 1 is a configuration diagram showing a schematic configuration of a flight control apparatus according to an embodiment of the present invention. FIG. 2 is a block diagram specifically showing the configuration of the flight control device according to the embodiment of the present invention. FIGS. 3A and 3B are diagrams showing an example of image data output from the sensor of the unmanned airplane in the embodiment of the present invention. FIGS. 3A and 3B show examples in which the distance between the unmanned airplane and the target is different. FIG. 4A is a diagram for explaining a collision determination process when the unmanned airplane is stopped in the air, and FIG. 4B shows a collision area when the unmanned airplane is stopped in the air. FIG. FIG. 5A is a diagram for explaining a collision determination process when the unmanned airplane is moving in the air, and FIG. 5B is a diagram showing a collision area when the unmanned airplane is moving. is there. FIG. 6 is a flowchart showing the operation of the flight control apparatus in the embodiment of the present invention. FIG. 7 is a block diagram illustrating an example of a computer that implements the flight control apparatus according to the embodiment of the present invention. FIG. 8 is a block diagram specifically showing the configuration of the flight control device according to the modification of the embodiment of the present invention.

(Embodiment)
Hereinafter, a flight control device, a flight control method, and a program according to an embodiment of the present invention will be described with reference to FIGS.

[Device configuration]
Initially, the structure of the flight control apparatus in embodiment of this invention is demonstrated. FIG. 1 is a configuration diagram showing a schematic configuration of a flight control apparatus according to an embodiment of the present invention.

As shown in FIG. 1, the flight control device 10 in the present embodiment is a device for controlling the unmanned airplane 20. The flight control device 10 includes a collision target detection unit 11 and a collision determination unit 12.

  The collision target detection unit 11 detects a target existing below the unmanned airplane 20 based on a signal output from the sensor 22 that can detect the situation below the unmanned airplane 20. Further, the collision target detection unit 11 calculates the distance between the detected target and the unmanned airplane 20.

  The collision determination unit 12 identifies the altitude and speed of the unmanned airplane 20 and whether the unmanned airplane 20 collides with the target when the unmanned airplane 20 crashes based on the identified altitude and speed and the calculated distance. Determine if.

  Thus, in the present embodiment, detection of an object that may collide with the unmanned airplane 20 is always performed, and when the object is detected, the object and the unmanned airplane 20 can collide. Sex is judged. For this reason, the occurrence of a collision accident due to the crash of an unmanned airplane is suppressed.

  Next, the configuration of the flight control apparatus 10 according to the present embodiment will be described more specifically with reference to FIGS. 2 to 5 in addition to FIG. FIG. 2 is a block diagram specifically showing the configuration of the flight control device according to the embodiment of the present invention. FIG. 2 also discloses the configuration of an unmanned airplane to be controlled.

  First, as shown in FIG. 1, in the present embodiment, the unmanned airplane 20 to be controlled is a multicopter including a plurality of rotors, and is a so-called drone. As shown in FIG. 2, the unmanned airplane 20 includes a data processing unit 21, a sensor 22, a GPS signal receiving unit 23, a thrust generating unit 24, and a wireless communication unit 25.

  In the unmanned airplane 20, the wireless communication unit 25 performs wireless data communication with the flight control device 10. The wireless communication unit 25 is realized by a communication device for Wi-Fi communication, for example.

GPS signal receiving unit 23 receives a GPS (Global Positioning System) signal from a satellite, based on the received GPS signals to measure the current position and altitude _{d h} of unmanned aircraft 20. In the example of FIG. 1, four thrust generation units 24 are provided, each including a rotor that generates thrust and an electric motor that is a driving source thereof.

The data processing unit 21, based on the current position and altitude d _h measured by the GPS signal receiving unit 23, calculates the velocity v of the unmanned aircraft 20. The data processing unit 21, the calculated velocity v, the current position and altitude d _h, as the state information, via the wireless communication unit 25 to transmit to the flight control device 10. Further, the data processing unit 21 controls the speed v, the altitude d _h , and the traveling direction of the unmanned airplane 20 by adjusting the thrust of each thrust generating unit 24. The unmanned airplane 20 may be equipped with a sensor for detecting the speed v. In this case, the speed v is measured by the sensor.

  Further, in the unmanned airplane 20, the sensor 22 may be any sensor that can detect the situation below the unmanned airplane 20. As a specific example of the sensor 22, for example, an imaging element that outputs a pixel signal in accordance with received light can be cited. In addition, since an image pickup element is usually combined with a lens or the like to construct a camera, in practice, a camera including an image pickup element is used as the sensor 22. Further, the wavelength range that can be received by the imaging device may be visible light or infrared light, so the camera may be a visible light camera or an infrared camera. good.

  When a camera is used as the sensor 22, the sensor 22 outputs image data created from the pixel signal (see FIGS. 3A and 3B described later). Thereby, the data processing unit 21 receives the output image data and transmits it to the flight control device 10 via the wireless communication unit 25. In the present embodiment, the camera as the sensor 22 is installed on the bottom surface of the unmanned airplane 20 so as to face downward (see FIG. 1). Therefore, the image specified by the image data is an image from above.

  Another example of the sensor 22 is a sensor in which the characteristics of the output signal change according to the distance to the target existing below. In this case, the sensor 22 includes, for example, a light source that irradiates light to the target and a light receiving element that receives light reflected by the target, and uses the output signal of the light receiving element to specify data that identifies the surrounding situation. Generate. Specifically, examples of the sensor 22 include a laser range finder that uses a laser beam as outgoing light, and a depth camera that uses infrared light as outgoing light.

  With such a configuration, the unmanned airplane 20 can fly along a set route, for example, while confirming the current location. The unmanned airplane 20 can also fly in response to an instruction from the flight control device 10. Then, the unmanned airplane 20 detects the lower situation by the sensor 22 during the flight.

  As shown in FIG. 2, in the present embodiment, the flight control device 10 is installed outside the unmanned airplane 20 and performs data communication with the unmanned airplane 20 by wireless communication. For this reason, the flight control device 10 includes a wireless communication unit 13 in addition to the collision target detection unit 11 and the collision determination unit 12 described above.

  The wireless communication unit 13 performs wireless data communication with the unmanned airplane 20 in accordance with instructions from the collision target detection unit 11 and the collision determination unit 12. The wireless communication unit 13 is also realized by a communication device for Wi-Fi communication, for example.

  In the present embodiment, as described above, the collision target detection unit 11 performs detection of a target existing below the unmanned airplane 20 and calculation of a distance to the target. This differs depending on the type of sensor 22 provided in the unmanned airplane 20.

  For example, it is assumed that the sensor 22 is a camera that outputs the above-described image data. In this case, the collision target detection unit 11 detects the target from the image data output from the camera, specifies the size of the detected target image data, and based on the specified size, the detected target and the unmanned airplane The distance to 20 is calculated.

  Here, a specific example of detection processing and calculation processing when the sensor 22 is a camera will be described with reference to FIG. FIGS. 3A and 3B are diagrams showing an example of image data output from the sensor of the unmanned airplane in the embodiment of the present invention. FIGS. 3A and 3B show examples in which the distance between the unmanned airplane and the target is different. In addition, it is assumed that the camera functioning as the sensor 22 is equipped with a fisheye lens in order to emphasize the perspective of an object in the image. Note that image processing for emphasizing perspective may be performed on image data instead of mounting a fisheye lens.

  First, as shown in FIGS. 3A and 3B, the maximum length of the head 30a of the human 30 decreases as the unmanned airplane 20 moves away from the ground. That is, since the altitude of the unmanned airplane 20 is higher in the case of FIG. 3B than in the case of FIG. 3A, the maximum length of the head 30a of the human 30 is smaller.

  In addition, since the camera is equipped with a fisheye lens, as shown in FIGS. 3A and 3B, the maximum length of the head 30a increases as the position of the human 30 approaches the center 32 of the image, The smaller the distance from the center 32 of the image, the smaller. The center 32 of the image corresponds to a position immediately below the camera mounted on the unmanned airplane 20.

Considering these points, the distance d _mh (see FIG. 4) from the unmanned airplane 20 to the human 30 is uniquely determined by the size of the human 30 on the image data and the distance to the center 32 of the human 30 image. To be determined. Therefore, if these correlations are known, the distance d from the unmanned airplane 20 to the human 30 can be determined by specifying the size of the human 30 on the image data and the distance to the center 32 of the human 30 image. _mh can be calculated. For this reason, in the present embodiment, the correlation between these three is specified in advance.

  Then, as shown in FIGS. 3A and 3B, it is assumed that a human 30 exists below the unmanned airplane 20. In this case, the collision target detection unit 11 first detects the person 30 based on the feature amount on the image data, and the size of the detected person 30 on the image data and the person 30 to the center 32 of the image. Specify the distance. At this time, if the unmanned airplane 20 is moving, the collision target detection unit 11 specifies the distance only for the human 30 existing in the set area on the moving direction side of the unmanned airplane 20. The setting area is appropriately set in consideration of the projected area of the unmanned airplane 20 on the ground.

  Specifically, the collision target detection unit 11 calculates, for example, the maximum length (number of pixels) of the head 30a of the human 30 and specifies this as the size. The collision target detection unit 11 calculates the distance (number of pixels) from the center of the head 30a to the center 32 of the image, and specifies this as the distance to the center 32 of the image.

Subsequently, the collision target detection unit 11 applies the maximum length of the specified head 30a and the distance from the center of the head 30a to the center 32 of the image to the correlation specified in advance, and detects the detected human 30. And a distance d _mh (see FIG. 4) between the aircraft 20 and the unmanned airplane 20 is calculated.

Moreover, the collision target detection unit 11 can also detect a target other than the human 30, for example, the automobile 31 as a target. In this case, the collision target detection unit 11 specifies the size (for example, the total length) of the automobile 31 on the image data and the distance from the automobile 31 to the center 32 of the image. Is applied to the correlation set for the automobile, and the distance d _mh between the automobile 31 and the unmanned airplane 20 is calculated.

  FIGS. 3A and 3B show an example in which the camera direction is set directly below the unmanned airplane 20, but the camera direction is not particularly limited in the present embodiment. For example, the direction of the camera may be a traveling direction of the unmanned airplane 20 or a direction inclined downward from the traveling direction. In this case, it is easy to specify the perspective of an object in the image without mounting a fisheye lens.

Further, it is assumed that the sensor 22 is a sensor in which the characteristics of the output signal change according to the distance to the target existing below. In this case, the collision target detection unit 11 detects the target from the change in the characteristics of the signal output from the sensor 22 and calculates the distance d _mh between the target and the unmanned airplane 20.

Collision determination unit 12, in this embodiment, obtains the status information transmitted from the unmanned aircraft 20, to identify the high d _h and velocity v of the unmanned aerial 20 from the acquired state information. Moreover, the collision determination unit 12, based on the specified altitude d _h and velocity v, when the unmanned aircraft 20 has crashed, ground area that may collide with the unmanned aerial vehicle 20 (hereinafter the "collision area" index ).

Then, the collision determination unit 12 determines whether the target is located in the collision region using the distance _dmh calculated by the collision target detection unit 11. As a result of the determination, when the target is located in the collision area, the collision determination unit 12 determines that there is a possibility that the unmanned airplane 20 and the target collide.

  Here, a specific example of the collision determination process will be described with reference to FIGS. 4 and 5. FIG. 4A is a diagram for explaining a collision determination process when the unmanned airplane is stopped in the air, and FIG. 4B shows a collision area when the unmanned airplane is stopped in the air. FIG. FIG. 5A is a diagram for explaining a collision determination process when the unmanned airplane is moving in the air, and FIG. 5B is a diagram showing a collision area when the unmanned airplane is moving. is there.

The collision area is an area obtained by projecting the unmanned airplane 20 onto the ground. Therefore, the collision area can be approximated by a circle (radius: d _init ) whose diameter is the longest of the unmanned airplane 20 among the full length, full width, and diagonal length. In the following description, it is assumed that the collision area is a circle having a radius d _init . In FIGS. 4A and 4B and FIGS. 5A and 5B, a hatched region 40 indicates a collision region.

  First, consider a case where the unmanned airplane 20 crashes from a state where it is stopped in the air. In this case, as shown in FIGS. 4A and 4B, the unmanned airplane 20 falls substantially vertically. For this reason, the collision area 40 is located immediately below the unmanned airplane 20.

Therefore, as shown in FIG. 4A, the collision determination unit 12 first sets the collision area 40 at a position directly below the unmanned airplane 20. Next, if the horizontal distance between the human 30 and the center of the unmanned airplane 20 is d, the collision determination unit 12 calculates the distance d _mh calculated by the collision target detection unit 11, the altitude d _{h of the} unmanned airplane, and the human 30 The horizontal distance d is calculated by substituting the height H of N into the following equation 1. The height H is a preset value.

Next, the collision determination unit 12 determines whether or not the horizontal distance d is smaller than the radius d _init . As a result of the determination, when the horizontal distance d is smaller than the radius d _init , the collision determination unit 12 indicates that the human 30 is located in the collision area 40 and the unmanned airplane 20 and the human 30 can collide. Judge that there is sex.

The value of the altitude d _h is, if sufficiently large compared to the value of the height H of the human 30 can be regarded as "d _h -H ≒ d _h". In this case, the above equation 1 can be rewritten as the following equation 2.

  Next, consider a case where the unmanned airplane 20 crashes from a state of moving in the air. In this case, the unmanned airplane 20 crashes while drawing a parabola in the traveling direction. For this reason, as shown in FIGS. 5A and 5B, the collision area 40 is located away from directly below the unmanned airplane 20.

First, in this case as well, the collision determination unit 12 calculates the horizontal distance d between the human 30 and the center of the unmanned airplane 20 in the same manner as in the examples of FIGS. Next, the collision determination unit 12, the number 3 below, by substituting a high d _h and velocity v of the unmanned aircraft 20, the moving distance (hereinafter "horizontal movement in the horizontal direction until unmanned air crash distance ") is calculated _{d c.} In the following equation 3, “g” is the gravitational acceleration.

Next, the collision determination unit 12, to the minute apart position of the horizontal movement distance d _c in the traveling direction from the current position of the unmanned aircraft 20, as a circle of radius d _init, sets the collision area 40. However, when the traveling direction of the unmanned airplane 20 changes, the collision area 40 moves to the position of the area 40a shown in FIG. 5B, for example. Further, the collision area 40 moves to the position of the area 40b when the speed of the unmanned airplane 20 becomes slow, and moves to the position of the area 40c when the speed of the unmanned airplane 20 becomes fast.

  Since the human 30 whose horizontal distance d is specified when the unmanned airplane 20 is moving exists on the traveling direction side as described above, the collision determination unit 12 determines that the horizontal distance d is the following number. 4 is determined.

  As a result of the determination, when the horizontal distance d satisfies the above equation 4, the collision determination unit 12 indicates that the human 30 is located in the collision area 40 and the unmanned airplane 20 and the human 30 can collide. Judge that there is sex.

  Further, in the present embodiment, when the collision determination unit 12 determines that there is a possibility of a collision, the behavior that avoids the collision with the target on the unmanned airplane 20 and the target damage caused by the collision It is possible to instruct at least one of the actions to be reduced. Specific examples of such actions include moving away from the target, suppressing the speed of movement, outputting a warning to the target by either or both sound and light, reducing altitude, etc. Is mentioned.

  Specifically, for example, if the collision determination unit 12 can identify a position where a target such as the human 30 does not exist from the image data, a command for instructing movement to the identified position (hereinafter, “collision avoidance”). "Instruction".) Can be created. The collision determination unit 12 can also create a command (hereinafter referred to as a “damage reduction command”) that instructs a decrease in the moving speed and a decrease in altitude of the unmanned airplane 20.

  Then, the collision determination unit 12 transmits the created collision avoidance command or damage reduction command to the unmanned airplane 20 via the wireless communication unit 13. In this case, in the unmanned airplane 20, the data processing unit 21 adjusts the thrust of each thrust generating unit 24 according to the contents of the command, moves the unmanned airplane 20 to the instructed position, or decreases the speed or altitude. I will let you.

  Furthermore, in this embodiment, when the collision determination unit 12 determines that there is a possibility of a collision, for example, the manager, the operator, or the like of the unmanned airplane 20 is notified by either or both of sound and light. You can also warn of a collision. Specifically, the collision determination unit 12 transmits a notification that there is a possibility of collision to an information terminal owned by an administrator, a pilot, or the like, and outputs a warning through the screen and speaker of the information terminal. To do.

[Device operation]
Next, the operation of the flight control apparatus 10 according to the embodiment of the present invention will be described with reference to FIG. FIG. 6 is a flowchart showing the operation of the flight control apparatus in the embodiment of the present invention. In the following description, FIGS. In the present embodiment, the flight control method is implemented by operating the flight control device 10. Therefore, the description of the flight control method in the present embodiment is replaced with the following description of the operation of the flight control device 10.

  First, as shown in FIG. 6, in the flight control apparatus 10, the collision target detection unit 11 acquires the sensor output signal transmitted from the unmanned airplane 20 via the wireless communication unit 13 (step A1). Specifically, for example, when the sensor 22 mounted on the unmanned airplane 20 is a camera, the collision target detection unit 11 acquires image data as a sensor output signal.

Next, the collision target detection unit 11 detects an object existing below the unmanned airplane 20, for example, a human 30, an automobile 31, etc., from the sensor output signal acquired in step A1 (step A2). Further, the unmanned airplane A distance d _mh from 20 to the detected object is calculated (step A3).

Specifically, for example, when the sensor output signal is image data, the collision target detection unit 11 collates the feature amount on the image data with the pre-registered feature amount, and the human 30 and the car 31. The target is detected. Then, the collision target detection unit 11 specifies the size of the extracted target, applies this to the relationship between the size and the distance registered in advance, and calculates the distance d _mh between the target and the unmanned airplane 20. .

Next, the collision determination unit 12 acquires the status information transmitted from the unmanned aircraft 20, to identify the high d _h and velocity v of the unmanned aerial 20 from the acquired status information (step A4). Then, the collision determination unit 12, a high d _h and velocity v specified in the step A4, on the basis of the distance d _mh calculated in step A3, when crashed unmanned airplane 20, unmanned aerial 20 and the target Is determined to collide (step A5).

Specifically, in step A5, the collision determination unit 12, based on the altitude d _h and velocity v specified in step A4, when the unmanned aircraft 20 has crashed, it may collide with the unmanned aerial vehicle 20 collides The region 40 is specified (see FIG. 4B and FIG. 5B). Then, the collision determination unit 12 determines whether or not the target is located in the collision area 40 using the distance d _mh calculated in step A3, thereby determining whether or not the unmanned airplane 20 and the target collide. Determine.

  As a result of the determination in step A5, when it is determined that the unmanned airplane 20 and the target do not collide, the collision determination unit 12 executes step A7 described later. On the other hand, as a result of the determination in step A5, when it is determined that the unmanned airplane 20 and the target collide, the collision determination unit 12 creates a collision avoidance command or a damage reduction command, and sends the created command to the wireless communication unit 13. To the unmanned airplane 20 (step A6).

  When it is determined that the unmanned airplane 20 and the target collide as a result of the determination in step A5, the collision determination unit 12 further informs the administrator, the operator, or the like of the unmanned airplane 20 of either sound or light or Both can also warn of a collision.

  Next, when it is determined NO in Step A5, or when Step A6 is executed, the collision determination unit 12 determines whether the unmanned airplane 20 has landed (Step A7). If the result of determination in step A7 is that the unmanned airplane 20 has not landed, step A1 is executed again. On the other hand, if the result of the determination in step A7 is that the unmanned airplane 20 has landed, the processing in the flight control device 10 ends.

[Effects of the embodiment]
As described above, in the present embodiment, detection of an object that may collide with the unmanned airplane 20 is always performed, and the possibility of collision between the ground object and the unmanned airplane 20 is determined. Therefore, according to this embodiment, the occurrence of a collision accident due to the crash of an unmanned airplane is suppressed.

  In the present embodiment, when there is a possibility of collision, a collision avoidance command or damage reduction command is transmitted to the unmanned airplane 20 and a warning is given to the manager, the operator, etc. Occurrence is suppressed.

[program]
The program in the present embodiment may be a program that causes a computer to execute steps A1 to A7 shown in FIG. By installing and executing this program on a computer, the flight control device 10 and the flight control method in the present embodiment can be realized. In this case, a CPU (Central Processing Unit) of the computer functions as the collision target detection unit 11 and the collision determination unit 12 to perform processing.

  The program in the present embodiment may be executed by a computer system constructed by a plurality of computers. In this case, for example, each computer may function as either the collision target detection unit 11 or the collision determination unit 12.

[Physical configuration]
Here, a computer that realizes the flight control apparatus 10 by executing the program according to the present embodiment will be described with reference to FIG. FIG. 7 is a block diagram illustrating an example of a computer that implements the flight control apparatus according to the embodiment of the present invention.

  As shown in FIG. 7, the computer 110 includes a CPU 111, a main memory 112, a storage device 113, an input interface 114, a display controller 115, a data reader / writer 116, and a communication interface 117. These units are connected to each other via a bus 121 so that data communication is possible.

  The CPU 111 performs various calculations by developing the program (code) in the present embodiment stored in the storage device 113 in the main memory 112 and executing them in a predetermined order. The main memory 112 is typically a volatile storage device such as a DRAM (Dynamic Random Access Memory). Further, the program in the present embodiment is provided in a state of being stored in a computer-readable recording medium 120. Note that the program in the present embodiment may be distributed on the Internet connected via the communication interface 117.

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

  The data reader / writer 116 mediates data transmission between the CPU 111 and the recording medium 120, and reads a program from the recording medium 120 and writes a processing result in the computer 110 to the recording medium 120. The communication interface 117 mediates data transmission between the CPU 111 and another computer.

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

  In addition, the flight control apparatus 10 in this Embodiment is realizable not only by the computer in which the program was installed but by using the hardware corresponding to each part. Further, part of the flight control device 10 may be realized by a program, and the remaining part may be realized by hardware.

[Modification]
Subsequently, a modification of the present embodiment will be described with reference to FIG. FIG. 8 is a block diagram specifically showing the configuration of the flight control device according to the modification of the embodiment of the present invention.

  In the example shown in FIGS. 1 and 2, the flight control device 10 is installed outside the unmanned airplane 20. On the other hand, as shown in FIG. 8, in this modification, the flight control device 10 is constructed in the data processing unit 21 of the unmanned airplane 20.

  Specifically, this modified example is realized by installing a program for realizing the flight control device 10 in a computer mounted on the unmanned airplane 20 and executing the program. According to this modification, even when the unmanned airplane 20 cannot perform wireless communication with the outside, the occurrence of a collision accident between the ground object and the unmanned airplane 20 is suppressed.

  Part or all of the above-described embodiments can be expressed by (Appendix 1) to (Appendix 18) described below, but is not limited to the following description.

(Appendix 1)
A device for controlling an unmanned aerial vehicle,
A collision target that detects a target existing below the unmanned airplane and calculates a distance between the detected target and the unmanned airplane based on a signal output from a sensor that can detect a situation below the unmanned airplane. A detection unit;
The altitude and speed of the unmanned airplane are identified, and whether the unmanned airplane and the target collide when the unmanned airplane crashes based on the identified altitude and speed and the calculated distance. A collision determination unit for determining;
A flight control device comprising:

(Appendix 2)
The unmanned airplane includes an image sensor that outputs a pixel signal according to received light as the sensor,
The collision target detection unit detects the target based on the image data generated from the pixel signal, specifies the size of the detected image data of the target, and based on the specified size, Calculating a distance between the detected object and the unmanned airplane;
The flight control device according to attachment 1.

(Appendix 3)
The unmanned airplane includes a sensor that changes the characteristics of an output signal according to the distance to the target existing below the unmanned airplane,
The collision target detection unit detects the target from the change in the characteristics of the output signal and calculates the distance between the target and the unmanned airplane.
The flight control device according to attachment 1.

(Appendix 4)
The collision determination unit identifies the altitude and speed of the unmanned airplane, and based on the identified altitude and speed, an area on the ground that may collide with the unmanned airplane when the unmanned airplane crashes And using the distance calculated by the collision object detection unit to determine whether the object is located in the area, and when the object is located in the area Determining that the unmanned airplane and the subject may collide,
The flight control device according to attachment 1.

(Appendix 5)
When the collision determination unit determines that there is a possibility of a collision, an action of avoiding a collision with the target and an action of reducing damage to the target caused by the collision with respect to the unmanned airplane Instruct at least one of them,
The flight control device according to attachment 1.

(Appendix 6)
When the collision determination unit determines that there is a possibility of a collision, warns the collision,
The flight control device according to attachment 1.

(Appendix 7)
A method for controlling an unmanned aerial vehicle,
(A) Based on a signal output from a sensor capable of detecting a situation below the unmanned airplane, a target existing below the unmanned airplane is detected, and a distance between the detected target and the unmanned airplane is calculated. , Steps and
(B) The altitude and speed of the unmanned airplane are specified, and when the unmanned airplane crashes based on the specified altitude and speed and the calculated distance, the unmanned airplane and the target collide. Determining whether or not, and
A flight control method comprising:

(Appendix 8)
The unmanned airplane includes an image sensor that outputs a pixel signal according to received light as the sensor,
In the step (a), the object is detected based on the image data generated from the pixel signal, the size of the detected object in the image data is specified, and based on the specified size Calculating a distance between the detected object and the unmanned airplane;
The flight control method according to appendix 7.

(Appendix 9)
The unmanned airplane includes a sensor that changes the characteristics of an output signal according to the distance to the target existing below the unmanned airplane,
In the step (a), from the change in the characteristics of the output signal, the target is detected, and the distance between the target and the unmanned airplane is calculated.
The flight control method according to appendix 7.

(Appendix 10)
In the step (b), the altitude and speed of the unmanned airplane are specified, and the ground that may collide with the unmanned airplane when the unmanned airplane crashes based on the specified altitude and speed. And determining whether or not the object is located in the area using the distance calculated by the collision object detection unit, and the object is located in the area Determining that the unmanned airplane and the subject may collide,
The flight control method according to appendix 7.

(Appendix 11)
(C) When it is determined that there is a possibility of a collision in the step (b), an action to avoid a collision with the target and a damage to the target caused by the collision are performed on the unmanned airplane. Further comprising directing at least one of the actions to be mitigated;
The flight control method according to appendix 7.

(Appendix 12)
(D) When it is determined that there is a possibility of a collision in the step (b), the method further includes a step of warning the collision.
The flight control method according to appendix 7.

(Appendix 13)
By a computer, a program for controlling the unmanned aircraft,
In the computer,
(A) Based on a signal output from a sensor capable of detecting a situation below the unmanned airplane, a target existing below the unmanned airplane is detected, and a distance between the detected target and the unmanned airplane is calculated. , Steps and
(B) The altitude and speed of the unmanned airplane are specified, and when the unmanned airplane crashes based on the specified altitude and speed and the calculated distance, the unmanned airplane and the target collide. Determining whether or not, and
Help Rogura-time to the execution.

(Appendix 14)
The unmanned airplane includes an image sensor that outputs a pixel signal according to received light as the sensor,
In the step (a), the object is detected based on the image data generated from the pixel signal, the size of the detected object in the image data is specified, and based on the specified size Calculating a distance between the detected object and the unmanned airplane;
The program according to attachment 13.

(Appendix 15)
The unmanned airplane includes a sensor that changes the characteristics of an output signal according to the distance to the target existing below the unmanned airplane,
In the step (a), from the change in the characteristics of the output signal, the target is detected, and the distance between the target and the unmanned airplane is calculated.
The program according to attachment 13.

(Appendix 16)
In the step (b), the altitude and speed of the unmanned airplane are specified, and the ground that may collide with the unmanned airplane when the unmanned airplane crashes based on the specified altitude and speed. And determining whether or not the object is located in the area using the distance calculated by the collision object detection unit, and the object is located in the area Determining that the unmanned airplane and the subject may collide,
The program according to attachment 13.

(Appendix 17)
In the computer,
(C) When it is determined that there is a possibility of a collision in the step (b), an action to avoid a collision with the target and a damage to the target caused by the collision are performed on the unmanned airplane. Directing at least one of the actions to be mitigated, causing a further step to be performed,
The program according to attachment 13.

(Appendix 18)
In the computer,
(D) If it is determined that there is a possibility of a collision in the step (b), a step of warning the collision is further executed.
The program according to attachment 13.

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

  This application claims the priority on the basis of Japanese application Japanese Patent Application No. 2015-174430 for which it applied on September 4, 2015, and takes in those the indications of all here.

  As described above, according to the present invention, it is possible to suppress the occurrence of a collision accident due to a crash of an unmanned airplane. The present invention can be used without limitation as long as it is a field where unmanned aerial vehicles are used.

DESCRIPTION OF SYMBOLS 10 Flight control apparatus 11 Collision target detection part 12 Collision determination part 13 Wireless communication part 20 Unmanned airplane 21 Data processing part 22 Sensor 23 GPS signal receiving part 24 Thrust generator 25 Wireless communication part 30 Human 30a Head 31 Car 40 Collision area 110 Computer 111 CPU
112 Main Memory 113 Storage Device 114 Input Interface 115 Display Controller 116 Data Reader / Writer 117 Communication Interface 118 Input Device 119 Display Device 120 Recording Medium 121 Bus

Claims (15)

A device for controlling an unmanned aerial vehicle,
A collision target that detects a target existing below the unmanned airplane and calculates a distance between the detected target and the unmanned airplane based on a signal output from a sensor that can detect a situation below the unmanned airplane. A detection unit;
The altitude and speed of the unmanned airplane are identified, and whether the unmanned airplane and the target collide when the unmanned airplane crashes based on the identified altitude and speed and the calculated distance. A collision determination unit for determining;
Equipped with a,
The collision determination unit identifies the altitude and speed of the unmanned airplane, and based on the identified altitude and speed, an area on the ground that may collide with the unmanned airplane when the unmanned airplane crashes And using the distance calculated by the collision object detection unit to determine whether the object is located in the area, and when the object is located in the area Determining that the unmanned airplane and the subject may collide,
A flight control apparatus characterized by that. The unmanned airplane includes an image sensor that outputs a pixel signal according to received light as the sensor,
The collision target detection unit detects the target based on the image data generated from the pixel signal, specifies the size of the detected image data of the target, and based on the specified size, Calculating a distance between the detected object and the unmanned airplane;
The flight control apparatus according to claim 1. The unmanned airplane includes a sensor that changes the characteristics of an output signal according to the distance to the target existing below the unmanned airplane,
The collision target detection unit detects the target from the change in the characteristics of the output signal and calculates the distance between the target and the unmanned airplane.
The flight control device according to claim 1 or 2. When the collision determination unit determines that there is a possibility of a collision, an action of avoiding a collision with the target and an action of reducing damage to the target caused by the collision with respect to the unmanned airplane Instruct at least one of them,
The flight control device according to any one of claims 1 to 3 . When the collision determination unit determines that there is a possibility of a collision, warns the collision,
The flight control device according to any one of claims 1 to 4 . A method for controlling an unmanned aerial vehicle,
(A) Based on a signal output from a sensor capable of detecting a situation below the unmanned airplane, a target existing below the unmanned airplane is detected, and a distance between the detected target and the unmanned airplane is calculated. , Steps and
(B) The altitude and speed of the unmanned airplane are specified, and when the unmanned airplane crashes based on the specified altitude and speed and the calculated distance, the unmanned airplane and the target collide. Determining whether or not, and
Equipped with a,
In the step (b), the altitude and speed of the unmanned airplane are specified, and the ground that may collide with the unmanned airplane when the unmanned airplane crashes based on the specified altitude and speed. And determining whether or not the object is located in the area using the distance calculated by the collision object detection unit, and the object is located in the area Determining that the unmanned airplane and the subject may collide,
The flight control method characterized by the above-mentioned. The unmanned airplane includes an image sensor that outputs a pixel signal according to received light as the sensor,
In the step (a), the object is detected based on the image data generated from the pixel signal, the size of the detected object in the image data is specified, and based on the specified size Calculating a distance between the detected object and the unmanned airplane;
The flight control method according to claim 6 . The unmanned airplane includes a sensor that changes the characteristics of an output signal according to the distance to the target existing below the unmanned airplane,
In the step (a), from the change in the characteristics of the output signal, the target is detected, and the distance between the target and the unmanned airplane is calculated.
The flight control method according to claim 6 or 7 . (C) When it is determined that there is a possibility of a collision in the step (b), an action to avoid a collision with the target and a damage to the target caused by the collision are performed on the unmanned airplane. Further comprising directing at least one of the actions to be mitigated;
The flight control method according to any one of claims 6 to 8 . (D) When it is determined that there is a possibility of a collision in the step (b), the method further includes a step of warning the collision.
The flight control method according to any one of claims 6 to 9 . A program for controlling an unmanned aerial vehicle with a computer,
In the computer,
(A) Based on a signal output from a sensor capable of detecting a situation below the unmanned airplane, a target existing below the unmanned airplane is detected, and a distance between the detected target and the unmanned airplane is calculated. , Steps and
(B) The altitude and speed of the unmanned airplane are specified, and when the unmanned airplane crashes based on the specified altitude and speed and the calculated distance, the unmanned airplane and the target collide. Determining whether or not, and
Was executed,
In the step (b), the altitude and speed of the unmanned airplane are specified, and the ground that may collide with the unmanned airplane when the unmanned airplane crashes based on the specified altitude and speed. And determining whether or not the object is located in the area using the distance calculated by the collision object detection unit, and the object is located in the area A program for determining that there is a possibility of collision between the unmanned airplane and the object . The unmanned airplane includes an image sensor that outputs a pixel signal according to received light as the sensor,
In the step (a), the object is detected based on the image data generated from the pixel signal, the size of the detected object in the image data is specified, and based on the specified size Calculating a distance between the detected object and the unmanned airplane;
The program according to claim 11 . The unmanned airplane includes a sensor that changes the characteristics of an output signal according to the distance to the target existing below the unmanned airplane,
In the step (a), from the change in the characteristics of the output signal, the target is detected, and the distance between the target and the unmanned airplane is calculated.
The program according to claim 11 or 12 . In the computer,
(C) When it is determined that there is a possibility of a collision in the step (b), an action to avoid a collision with the target and a damage to the target caused by the collision are performed on the unmanned airplane. Directing at least one of the actions to be mitigated, causing a further step to be performed,
The program according to any one of claims 11 to 13 . In the computer,
(D) If it is determined that there is a possibility of a collision in the step (b), a step of warning the collision is further executed.
The program according to any one of claims 11 to 14 .

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