JP6521045B1 - Unmanned air vehicle crash notification system, ground station, notification method, and program - Google Patents

Abstract

The present invention provides an unmanned air vehicle crash notification system capable of reducing damage caused by crash of a vehicle. An unmanned air vehicle 100 includes an abnormality determination unit 116 that determines an abnormality of an unmanned air vehicle, and a derivation for deriving a range in which the unmanned air vehicle falls when the abnormality determination unit determines an abnormality of the unmanned air vehicle. Unit 118, and a transmission processing unit 120 for transmitting to the ground station a control signal including information indicating the falling range derived by the derivation unit, the ground station including the fall included in the control signal transmitted by the unmanned air vehicle And a processing unit that performs processing to sound an alarm based on the information indicating the range to be processed. [Selected figure] Figure 3

Description

  Embodiments of the present invention relate to an unmanned air vehicle crash notification system, a ground station, a notification method, and a program.

So far, flying objects such as drone have often been used as hobby. However, it is expected that the use of flight vehicles will expand from hobby use to business use, such as the start of testing and verification to delivery services such as home delivery.
On the other hand, personal injuries and disasters have occurred due to the fall and crash of the flying object. The risk of such an accident can not be zeroed with great care.

  There is known a technology in which an unmanned aircraft transmits information on the flight status of the unmanned aircraft to a communication destination regarding the air vehicle. This technology acquires position information including altitude information indicating the altitude of the unmanned aerial vehicle at a predetermined timing, and determines whether changes in two acquired altitude information satisfy a predetermined condition. When it is determined that the predetermined condition is satisfied, the position information when the change of the height information satisfies the predetermined condition is transmitted to a predetermined communication destination.

Unexamined-Japanese-Patent No. 2017-159753

By improving qualifications for operating unmanned air vehicles or enhancing verification systems for unmanned air vehicle operations, it is possible to expect improvement in the ability of operation, so that crashing of unmanned air vehicles can be reduced. It is assumed.
In addition, it is assumed that by prohibiting the entry into the area where the unmanned air vehicle flies, it is possible to prevent a personal injury accident that occurs when the unmanned air vehicle falls.
However, it is not possible to reduce the fall of an unmanned air vehicle that autonomously travels by enhancing the qualification for operating the unmanned air vehicle or by enhancing the verification system for the operation of the unmanned air vehicle. In addition, prohibiting entry into the area where the unmanned air vehicle flies is unrealistic when the unmanned air vehicle operates in a wide area.
The present invention has been made in view of the above-described point, and an object thereof is to provide an unmanned air vehicle crash notification system, a ground station, a notification method, and a program capable of reducing damage caused by crash of the flight vehicle. It is.

One embodiment of the present invention is an unmanned aerial vehicle crash notification system including an unmanned aerial vehicle and a ground station, wherein the unmanned aerial vehicle is an anomaly determining unit that determines an anomaly of the unmanned aerial vehicle, and the anomaly determining unit A control signal including information indicating the falling range derived by the deriving unit, and a derivation unit that derives a range in which the self-unmanned aerial vehicle falls when the abs. A transmission processing unit for transmitting to a station, and the ground station comprises a processing unit for emitting an alarm based on information indicating the falling range included in the control signal transmitted by the unmanned aerial vehicle; , An unmanned air vehicle crash notification system.
In the unmanned projectile crash notification system according to one aspect of the present invention, the derivation unit derives a transmission output of the control signal based on the fall range, and the transmission processing unit derives the derivation output from the derivation unit. The control signal is transmitted according to the transmission output.
In the unmanned air vehicle crash notification system according to one aspect of the present invention, the transmission processing unit transmits a control signal including information indicating the crash area to the ground station, and the ground station is a position of the own ground station. Based on a storage unit for storing information, information indicating the falling range included in the control signal transmitted by the ground station, and the position information of the own ground station stored in the storage unit. And a determination unit that determines whether or not the position of the own ground station is included in the falling range, and the processing unit determines that the position of the own ground station is included in the falling range. If it is determined that, the process of ringing an alarm is performed.
An aspect of the present invention is an unmanned air vehicle crash notification system including a central station and a ground station communicating with the central station, wherein the central station is configured to detect whether or not an abnormality occurs in the unmanned aerial vehicle. An anomaly determining unit that determines the condition, a deriving unit that derives a range in which the unmanned aerial vehicle falls when the anomaly determining unit determines that an abnormality occurs in the unmanned projectile, and the deriving unit derives A determination unit that determines whether or not the ground station is included in the falling area; and a transmission unit that transmits a request to sound an alarm to the ground station that is determined to include the determination unit; The station is an unmanned aerial vehicle crash notification system including a processing unit that performs a process of sounding an alarm according to a request to sound the alarm transmitted by the central station.
In one aspect of the present invention, an abnormality determination unit that determines whether an abnormality occurs in an unmanned aerial vehicle, and the abnormality determination unit determines that an abnormality occurs in the unmanned aerial vehicle. A deriving unit for deriving a range in which the unmanned aerial vehicle falls, a determining unit for determining whether or not the position of the own ground station is included in the falling range derived by the deriving unit, and the determining unit And a processing unit configured to sound an alarm when it is determined that the position of the ground station is included in the falling range.
One aspect of the present invention is a notification method executed by an unmanned air vehicle crash notification system including an unmanned air vehicle and a ground station, wherein the unmanned air vehicle determines an abnormality of the unmanned air vehicle; When the unmanned projectile determines the abnormality in the step of determining the abnormality of the unmanned projectile, the step of deriving the range in which the unmanned projectile falls, and the step of the unmanned projectile deriving Transmitting to the ground station a control signal including the derived information indicating the falling range; and the ground station is based on the information indicating the falling range included in the control signal transmitted by the unmanned projectile. And an alarming step.
One aspect of the present invention is a notification method executed by an unmanned air vehicle crash notification system including a central station and a ground station communicating with the central station, the central station generating an abnormality in the unmanned aerial vehicle Determining whether or not the unmanned projectile falls in the step of determining whether or not the unmanned projectile has occurred in the determining step, and the step of deriving the range in which the unmanned projectile falls Determining whether the ground station is included in the falling range derived in the step; transmitting a request to sound an alarm to the ground station determined to be included in the determining step; And D. the ground station performs a process of sounding an alarm in accordance with a request to sound the alarm transmitted by the central station.
One aspect of the present invention is a notification method executed by the ground station, wherein an abnormality occurs in the unmanned aerial vehicle in the step of determining whether an abnormality occurs in the unmanned aerial vehicle and the determining step. Step of deriving the range in which the unmanned aerial vehicle falls, and step of determining whether the position of the own ground station is included in the range of drop which is derived in the step of deriving And, when it is determined in the determining step that the position of the own ground station is included in the falling range, an alarming step is performed.
In one aspect of the present invention, when the unmanned projectile is determined to have an abnormality in the unmanned projectile computer and the step of determining the abnormality in the unmanned projectile computer, the unmanned projectile is determined. A program is executed to execute a step of deriving a fall range and transmitting a control signal including the information indicating the fall range derived in the derivation step to a ground station.
According to one aspect of the present invention, in the step of determining whether or not an abnormality occurs in the unmanned aerial vehicle in the computer of the centralized station, and in the determining step, it is determined that the unmanned aerial vehicle has an abnormality. And determining the range in which the unmanned aerial vehicle falls, determining whether the falling range derived in the step of deriving includes the ground station, and determining Sending a request to sound an alarm to the ground station determined to be.
In one aspect of the present invention, it is determined in the computer of the ground station that there is an abnormality in the unmanned aerial vehicle in the step of determining whether or not the abnormality is in the unmanned aerial vehicle and the determining step. In the case, the step of deriving the range in which the unmanned aerial vehicle falls, the step of determining whether or not the position of the own ground station is included in the range to be dropped in the step of deriving, and When it is determined in the step that the position of the own ground station is included in the falling range, a step of performing a process of sounding an alarm is executed.

  According to an embodiment of the present invention, it is possible to provide an unmanned air vehicle crash notification system, a ground station, a notification method, and a program capable of reducing damage caused by crash of a flight object.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows an example of the unmanned aerial vehicle fall alert system which concerns on 1st Embodiment. It is a figure which shows an example of the external appearance schematic diagram of the unmanned aerial vehicle concerning 1st Embodiment. It is a block diagram showing an unmanned aerial vehicle concerning a 1st embodiment. It is a block diagram showing the ground station concerning a 1st embodiment. It is a flowchart which shows an example of operation | movement of the unmanned body crash information system which concerns on 1st Embodiment. It is a figure which shows an example of operation | movement of the unmanned body crash information system which concerns on 1st Embodiment. It is a block diagram which shows an example of the ground station which concerns on 2nd Embodiment. It is a flowchart which shows an example of operation | movement of the unmanned aerial vehicle fall alert system which concerns on 2nd Embodiment. It is a block diagram which shows an example of the ground station which concerns on 3rd Embodiment. It is a flowchart which shows an example of operation | movement of the unmanned aerial vehicle fall alert system which concerns on 3rd Embodiment. It is a figure which shows an example of the unmanned aerial vehicle fall alert system which concerns on 4th Embodiment. It is a block diagram showing an example of the concentration station concerning a 4th embodiment. It is a flowchart which shows an example of operation | movement of the unmanned aerial vehicle fall alert system which concerns on 4th Embodiment.

Next, the unmanned air vehicle crash notification system, the ground station, the notification method, and the program of the present embodiment will be described with reference to the drawings. The embodiments described below are merely examples, and the embodiments to which the present invention is applied are not limited to the following embodiments.
In all the drawings for explaining the embodiments, the same reference numerals are used for components having the same function, and the repeated description is omitted.
In addition, “based on XX” in the present application means “based on at least XX”, and includes cases based on other elements in addition to XX. Also, "based on XX" is not limited to the case where XX is used directly, but also includes cases based on those on which operation or processing has been performed on XX. “XX” is an optional element (eg, optional information).

First Embodiment
(Unmanned air vehicle crash notification system)
FIG. 1 is a diagram showing an example of the unmanned air vehicle crash information system according to the first embodiment.
The unmanned air vehicle crash notification system includes an unmanned air vehicle 100, a ground station 200, an alarm 300, and a flash device 600. The ground station 200, the alarm device 300, and the flash device 600 are attached to a structure installed on the ground, such as a power facility and a utility pole for distribution lines. FIG. 1 shows a distribution utility pole UP as an example of a structure. Hereinafter, the explanation of the distribution utility pole UP will be continued.
An imaging device 400 such as a camera is attached to a structure installed on the ground such as a power line UP for a distribution line. Although one distribution line current UP is shown as an example in FIG. 1, in reality, a plurality of structures installed on the ground such as the distribution line current UP are disposed at predetermined intervals. It is done.
The unmanned air vehicle 100 according to the first embodiment flies in the vicinity of a power facility, a power facility such as a sky above a power facility such as a general ground building, and the like. Here, the power equipment and the like will be described. An example of a power facility or the like is a utility pole UP for distribution lines. The distribution line utility pole UP supports the distribution line WR. The distribution line WR includes an overhead ground line GW, a high voltage line HPL, a low voltage line LPL, and a high voltage underline HLL. Low voltage line LPL may include power line PL and light line LL.
The overhead ground wire GW is a facility that mainly protects an overhead power transmission line for power transmission, power distribution, and the like from lightning. For example, in the case of an overhead power transmission line, an overhead ground wire GW is formed by connecting a metal wire (metal wire) which is a grounded conductor so as to be continuous in the electric wire direction so as to connect the upper portion of the power transmission tower.

The high voltage line HPL is a wire that supplies power at high voltage from a distribution substation. The high voltage power supplied by the high voltage line HPL is, for example, 6600 V.
The high voltage underline HLL is a wire connecting the high voltage line HPL and the transformer TR. The power supplied by the high voltage line HPL is output to the transformer TR via the high voltage underline HLL.
The transformer TR steps down the supplied high voltage power to a low voltage. The power reduced by the transformer TR is, for example, 100 V or 200 V. The voltage stepped down by the transformer TR is supplied to the low voltage line LPL. The low voltage line LPL supplies the power reduced by the transformer TR to the customer.

The transformer TR is attached to the distribution line utility pole UP via a metallic fixture. The power supplied to the distribution line WR is stepped down via the transformer TR. The power stepped down via the transformer TR is supplied to the consumer via the lead-in wire LW.
The following description will be made using an XYZ orthogonal coordinate system as necessary. Here, the Z axis is a direction perpendicular to the ground surface, the X axis is a direction parallel to the distribution direction of the distribution line WR, and the Y axis is a direction orthogonal to the distribution direction of the distribution line WR. Specifically, the X axis is a direction parallel to the high voltage line HPL and the low voltage lamp line LPL supported by the distribution line utility pole UP. In addition, an XY plane formed by the X axis and the Y axis is parallel to the ground surface.
The alarm 300 is connected to the ground station 200 and issues an alarm in accordance with control by the ground station 200. The flash device 600 is connected to the ground station 200 and emits a flash light under the control of the ground station 200.

In the example shown in FIG. 1, the unmanned air vehicle 100 flies above the overhead ground wire GW and in the vicinity of the distribution line WR in the direction DR (X direction). When the unmanned air vehicle 100 is flying, it is determined whether or not an abnormality has occurred in the unmanned air vehicle 100, and if it is determined that an abnormality has occurred, the flight direction and speed of the unmanned air vehicle 100 And a range where the unmanned air vehicle 100 is assumed to crash (hereinafter referred to as a “falling range”) is derived based on the flight altitude. The unmanned air vehicle 100 transmits, based on the derived crash range, a control signal requesting to sound an alarm with a radio wave intensity reaching the crash range.
The ground station 200 receiving the control signal transmitted by the unmanned aerial vehicle 100 performs control to sound an alarm to the alarm 300 and control to emit a flash to the flash device 600 according to the received control signal.
Hereinafter, as an example, the case where the ground station 200 performs control to sound the alarm 300 will be described.

(Unmanned air vehicle)
FIG. 2: is a figure which shows an example of the external appearance schematic diagram of the unmanned aerial vehicle concerning 1st Embodiment. The unmanned air vehicle 100 flies above the overhead ground wire GW and in the vicinity of the distribution line WR.
The unmanned air vehicle 100 includes a motor 102a, a motor 102b, a motor 102c, a motor 102d, a rotor 104a, a rotor 104b, a rotor 104c, and a rotor 104d.
The motor 102a, the motor 102b, the motor 102c, and the motor 102d provide lift and propulsive force to the unmanned air vehicle 100 by respectively rotating the corresponding rotors 104a, 104b, 104c, and 104d.
Also, by controlling the drive current supplied to each of the motor 102a, the motor 102b, the motor 102c, and the motor 102d, it is possible to control the flight altitude, the direction, and the traveling direction of the unmanned projectile 100.

The unmanned air vehicle 100 includes an imaging unit 108 such as a camera. The imaging unit 108 captures an image of the scenery around the unmanned air vehicle 100. In the unmanned air vehicle 100 according to the embodiment, the imaging direction of the imaging unit 108 and the heading HDG of the unmanned air vehicle 100 coincide with each other. In this case, the imaging unit 108 captures an image of the scenery in front of the unmanned air vehicle 100.
Moreover, the fixing tool for fixing a load is attached to the unmanned aerial vehicle 100. As shown in FIG. When carrying the load to the unmanned air vehicle 100, the load is fixed to the fixing tool.
Hereinafter, any motor among the motor 102a, the motor 102b, the motor 102c, and the motor 102d will be referred to as the motor 102.
Further, any rotor among the rotor 104a, the rotor 104b, the rotor 104c, and the rotor 104d is referred to as the rotor 104.

(Unmanned air vehicle)
FIG. 3 is a block diagram showing the unmanned air vehicle according to the first embodiment. The unmanned air vehicle 100 according to the embodiment includes a motor 102, a communication unit 103, a rotor 104, a positioning unit 105, a speedometer 106, an imaging unit 108, a sensor 110, a power supply unit 112, and a control unit 114.
In this example, the motor 102, the communication unit 103, the rotor 104, the positioning unit 105, the speedometer 106, the imaging unit 108, the sensor 110, and the power supply unit 112 are realized by dedicated hardware.
The control unit 114 includes a CPU (Central Processing Unit) and a memory, and a program for realizing the functions of the abnormality determination unit 116, the derivation unit 118, the transmission processing unit 120, the flight control unit 122, and the like. The function is realized by execution by the CPU.

The communication unit 103 communicates with a control device (controller) (not shown) that controls the unmanned air vehicle 100. For example, the communication unit 103 communicates with a base station of a mobile phone network of a communication scheme such as Long Term Evolution (LTE), and communicates with a control apparatus via a backbone network line of the mobile phone network. The communication unit 103 outputs flight control information, which is information for controlling the flight of the unmanned air vehicle 100 transmitted by the control device, to the control unit 114.
The positioning unit 105 is equipped with a Global Navigation Satellite System (s) (GNSS) such as GPS (Global Positioning System), quasi-zenith satellites (QZS), etc., and has a horizontal position (latitude) And longitude). The positioning unit 105 includes an altimeter, and measures the position (altitude) in the vertical direction by the altimeter. The positioning unit 105 performs positioning of the unmanned air vehicle 100, and outputs the positioning result to the control unit 114. The positioning result includes one or both of the horizontal position (latitude and longitude) and the vertical position (altitude). In the present embodiment, the description will be continued in the case where the positioning result includes both the horizontal position (latitude and longitude) and the vertical position (altitude).
The speedometer 106 measures the flight speed of the unmanned air vehicle 100, and outputs information indicating the measured flight speed to the control unit 114.
The sensor 110 measures an environmental condition such as wind direction, wind speed, barometric pressure and the like, and outputs the measurement result of the environmental condition to the control unit 114.
The power supply unit 112 includes a battery that is a power supply of the unmanned air vehicle 100, and a power supply monitoring unit that monitors the remaining charge amount of the battery. The power supply unit 112 outputs information indicating the charge remaining amount of the battery to the control unit 114.

  The abnormality determination unit 116 determines whether or not an abnormality has occurred in the unmanned air vehicle 100. Specifically, abnormality determination unit 116 acquires information indicating the remaining charge amount of the battery output from power supply unit 112, and an abnormality occurs when the acquired remaining charge amount of the battery is less than the battery charge remaining threshold. It is determined that Further, the abnormality determination unit 116 determines that an abnormality has occurred when one of the four motors 102 is stopped. Further, the abnormality determination unit 116 determines that an abnormality has occurred when communication with the control device can not be performed. Further, the abnormality determination unit 116 determines that an abnormality has occurred when the speed information output from the speedometer 106 is equal to or higher than the speed at which the unmanned projectile 100 can be determined to be in the free fall state. Further, when the positioning result output from the positioning unit 105 indicates an abnormal value, the abnormality determination unit 116 determines that an abnormality has occurred. Further, the abnormality determination unit 116 determines that an abnormality has occurred when there is a sudden change in the measurement result of the environmental condition output by the sensor 110. Specifically, a sudden change in air pressure or the like is applicable. When the abnormality determination unit 116 determines that an abnormality has occurred in the unmanned aerial vehicle 100, information including information indicating that an abnormality has occurred in the derivation unit 118 and the transmission processing unit 120 (hereinafter referred to as "error determination information" Output).

When the derivation unit 118 acquires the abnormality determination information output from the abnormality determination unit 116, the flight direction of the unmanned projectile 100 controlled by the flight control unit 122, the position in the vertical direction output by the positioning unit 105, and the speed The crash range of the unmanned air vehicle 100 is derived based on the movement speed output by the total 106. Specifically, when the altitude of the unmanned air vehicle 100 is "h [m]" and the gravitational acceleration is "g [m / sec ^ 2]", the time until the unmanned air vehicle 100 reaches the ground surface t is expressed by Equation (1) when the influence of the air resistance on the falling direction is not taken into consideration.
t = √ (2 × h / g) (1)
Assuming that the moving speed in the horizontal direction when an abnormality occurs in the unmanned air vehicle 100 is “v [m / s]”, the point where the unmanned air vehicle 100 drops is started to fall due to the occurrence of an abnormality. The point is approximately v × t / 2 [m] ahead in the flight direction (moving direction) from the horizontal position at the time point. This is a point advanced v × t [m] on the assumption that there is no air resistance, but in fact, when the unmanned air vehicle 100 reaches the ground surface due to the air resistance, the horizontal direction Since the speed is lost, it is assumed that the point moved about half of v × t [m] from the horizontal position at the time of the drop start to the flight direction (moving direction) is the drop point.
Furthermore, when the unmanned air vehicle 100 falls, the rotor (propeller) may continue to move, so a certain width (= range) from the falling point is the falling range. In this range, regardless of the moving speed in the horizontal direction, the range circle is proportional to the rotational speed of the rotor when an abnormality occurs in the unmanned projectile 100. Here, with regard to the rotational speed of the rotor and the radius of the range circle, it is assumed that theoretical values or measurement values are converted into DBs in advance for each airframe of the unmanned air vehicle 100.
The derivation unit 118 derives the transmission output of the radio wave that reaches the fall range based on the derived fall range. The derivation unit 118 outputs the information indicating the derived transmission output to the transmission processing unit 120.
When the transmission processing unit 120 acquires the abnormality determination information output from the abnormality determination unit 116, the transmission processing unit 120 creates a control signal requesting that the alarm be sounded. The transmission processing unit 120 acquires the information indicating the transmission output output from the derivation unit 118, and causes the communication unit 103 to transmit a control signal requesting to sound an alarm according to the acquired information indicating the transmission output.
The flight control unit 122 acquires flight control information output from the communication unit 103, and controls the drive current supplied to the motor 102 in accordance with the acquired flight control information to control the flight of the unmanned air vehicle 100.

(Ground station)
FIG. 4 is a block diagram showing a ground station according to the first embodiment. An example of the ground station 200 is a wireless base station, and includes a communication unit 202, a storage unit 204, a control unit 206, and an output unit 210.
The communication unit 202 communicates with the unmanned air vehicle 100 via a communication network. Specifically, the communication unit 202 receives a control signal requesting to sound an alarm transmitted by the unmanned aerial vehicle 100, and outputs the received control signal to the control unit 206.
The storage unit 204 stores a program 2042.

The control unit 206 is realized by an arithmetic device such as a CPU. The control unit 206 functions as a processing unit 208 by executing the program 2042 stored in the storage unit 204.
The processing unit 208 acquires a control signal requesting to sound the alarm output from the communication unit 202, creates an instruction to request the alarm 300 to sound the alarm according to the acquired control signal, and generates the alarm Are output to the output unit 210.
The output unit 210 is connected to the alarm 300. The output unit 210 acquires a command requesting to sound the alarm output from the processing unit 208, and outputs a command requesting to sound the acquired alarm to the alarm 300.
The alarm 300 sounds an alarm in response to a command requesting sounding the alarm output from the ground station 200.

(Operation of an unmanned air vehicle crash notification system)
FIG. 5 is a flowchart showing an example of the operation of the unmanned air vehicle crash notification system according to the first embodiment.
FIG. 6 is a diagram showing an example of the operation of the unmanned air vehicle crash information system according to the first embodiment. Here, when the unmanned air vehicle 100 determines that an abnormality has occurred in the unmanned air vehicle 100, it derives a crash range, and based on the derived crash range, it is a transmission output of radio waves that reaches the crash range. , Send a control signal requesting to sound an alarm. The ground stations 200-1 to 200-5 are attached to different distribution line utility poles UP. The configuration of each of ground stations 200-1 to 200-5 is similar to that of ground station 200 described above. An alarm 300 and a flash device 600 are attached to the distribution line power pole UP to which each of the ground station 200-1 to the ground station 200-5 is attached. Among the ground station 200-1 to the ground station 200-5, the case where the ground station 200-1 to the ground station 200-3 receive the control signal requesting the ringing of the alarm transmitted by the unmanned air vehicle 100 will be described. . Each of ground stations 200-1 to 200-5 has the same configuration as ground station 200 described above.

(Step S11)
The abnormality determination unit 116 of the unmanned aerial vehicle 100 determines that an abnormality has occurred in the unmanned aerial vehicle 100. Specifically, abnormality determination unit 116 determines whether the remaining charge amount of the battery is less than the remaining charge threshold value of the battery, one of four motors 102 is stopped, and the control device. If communication is not possible between the two, and if the speed information output by the speedometer 106 is higher than the speed at which the unmanned air vehicle 100 can be determined to be in the free fall state, and the positioning result output by the positioning unit 105 is abnormal It is determined that an abnormality has occurred in the case where one of the values is shown or in the case where there is a sudden change in the measurement result of the environmental condition output by the sensor 110.
(Step S12)
The derivation unit 118 of the unmanned air vehicle 100 derives a crash range. Specifically, the derivation unit 118 determines that the flight direction of the unmanned air vehicle 100, the position in the vertical direction, and the moving speed, when the abnormality determination unit 116 determines that an abnormality has occurred in the unmanned air vehicle 100. Deriving the fall range based on
(Step S13)
The derivation unit 118 of the unmanned air vehicle 100 derives the transmission output of the radio wave that reaches the fall range based on the derived fall range. Specifically, the derivation unit 118 stores data in a table format in which the distance and the transmission output are associated. The deriving unit 118 derives the distance between the position of the self-injected flight vehicle 100 and the crash range based on the data, and derives the transmission output corresponding to the derived distance.
The transmission processing unit 120 acquires the abnormality determination information output from the abnormality determination unit 116, and derives a control signal requesting to sound an alarm based on the acquired abnormality determination information. The transmission processing unit 120 transmits the derived control signal from the communication unit 103 at the transmission output derived by the derivation unit 118. The control signal transmitted by the communication unit 103 is transmitted from the ground station 200-1 to the ground station 200-1-ground station 200-3 included in the crash area among the ground stations 200-5. That is, since the control signal does not reach the ground station 200-4 and the ground station 200-5, the ground station 200-4 and the ground station 200-5 do not receive the control signal.

(Step S14)
The communication unit 202 of the ground station 200-1 receives the control signal transmitted by the unmanned air vehicle 100. The communication unit 202 outputs the received control signal to the control unit 206.
(Step S15)
The communication unit 202 of the ground station 200-2 receives the control signal transmitted by the unmanned air vehicle 100. The communication unit 202 outputs the received control signal to the control unit 206.
(Step S16)
The communication unit 202 of the ground station 200-3 receives the control signal transmitted by the unmanned air vehicle 100. The communication unit 202 outputs the received control signal to the control unit 206.

(Step S17)
The processing unit 208 of the ground station 200-1 acquires the control signal output from the communication unit 202, and creates an instruction to request an alarm to sound in accordance with the acquired control signal. The processing unit 208 outputs, to the output unit 210, an instruction requesting that the created alarm be sounded. The output unit 210 acquires a command requesting to sound the alarm output from the processing unit 208, and issues a command requesting to sound the acquired alarm, the power pole UP for the distribution line to which the ground station 200-1 is attached. And the like to the alarm 300 attached to the construction.
The alarm 300 sounds an alarm in response to a command requesting sounding the alarm output from the ground station 200-1.
(Step S18)
The processing unit 208 of the ground station 200-2 acquires the control signal output from the communication unit 202, and creates an instruction to request an alarm to sound in accordance with the acquired control signal. The processing unit 208 outputs, to the output unit 210, an instruction requesting that the created alarm be sounded. The output unit 210 acquires a command requesting that the processing unit 208 outputs an alarm and issues a command requesting that the acquired alarm be sounded, the power pole UP for the distribution line to which the ground station 200-2 is attached. And the like to the alarm 300 attached to the construction.
The alarm 300 sounds an alarm in response to a command requesting sounding the alarm output from the ground station 200-2.
(Step S19)
The ground station 200-3 processing unit 208 acquires the control signal output from the communication unit 202, and creates an instruction to request an alarm to sound in accordance with the acquired control signal. The processing unit 208 outputs, to the output unit 210, an instruction requesting that the created alarm be sounded. The output unit 210 acquires a command requesting to sound the alarm output from the processing unit 208, and issues a command requesting to sound the acquired alarm, the power pole UP for the distribution line to which the ground station 200-3 is attached. And the like to the alarm 300 attached to the construction.
The alarm 300 sounds an alarm in response to a command requesting sounding the alarm output from the ground station 200-3.

In the embodiment described above, communication can be performed between the case where the battery charge remaining amount is less than the battery charge remaining amount threshold, the case where one of the four motors 102 is stopped, and the control device. The case where it disappears, the case where the speed information outputted by the speedometer 106 is higher than the speed at which it can be judged that the unmanned air vehicle 100 is in the free fall state, and the case where the positioning result outputted by the positioning unit 105 shows an abnormal value Although it has been described that it is determined that an abnormality has occurred in the unmanned air vehicle 100 in any of cases where the value of the measurement result of the environmental condition output by the sensor 110 suddenly changes in some cases, It is not limited. For example, even if the speed information output by the speedometer 106 is less than the speed at which it can be determined that the unmanned air vehicle 100 is in the free fall state, it is determined that the vehicle is not moving due to the speed being zero. It may be determined that an abnormality has occurred.
Although the unmanned air vehicle 100 performs the flight according to the flight control information for controlling the flight of the unmanned air vehicle 100 transmitted by the control device in the embodiment described above, the present invention is not limited to this example. For example, the unmanned air vehicle 100 can also be applied when autonomously flying.
Although the ground station 200, the alarm device 300, the imaging device 400, and the flash device 600 are attached to the power line UP for the distribution line in the embodiment described above, the present invention is not limited to this example. For example, the ground station 200, the alarm 300, the imaging device 400, and the flash device 600 may be attached to the transmission line tower ST. By configuring in this way, the unmanned air vehicle 100 can cope with the case of flying above the power transmission line, in addition to the sky above the distribution line, by temporarily flying above the ground about 150 meters above the ground. That is, when it is determined that an abnormality has occurred in the unmanned air vehicle 100, the fact that the unmanned air vehicle 100 is about to fall is notified to a person who is in a range assumed to fall the unmanned air vehicle 100. it can.

According to the unmanned air vehicle crash notification system according to the first embodiment, when the unmanned air vehicle 100 determines that an abnormality occurs in the unmanned air vehicle 100, the unmanned air vehicle 100 derives a range in which the unmanned air vehicle falls. And transmits a control signal including information indicating the derived falling range. The ground station performs processing to sound an alarm based on the information indicating the falling range included in the control signal transmitted by the unmanned aerial vehicle. By configuring as described above, when it is determined that an abnormality occurs in the unmanned air vehicle 100, the unmanned air vehicle 100 falls to a person in a range assumed to crash the unmanned air vehicle 100. Can be notified. For this reason, it is possible to notify that the unmanned air vehicle 100 is crashed even if it is inevitable that the unmanned air vehicle 100 is crashed, and to evacuate people who have known that the unmanned air vehicle 100 is crashed. Thus, damage caused by the crash of the unmanned air vehicle 100 can be reduced.
Temporarily, by attaching the alarm 300 or the flashlight 600 to the unmanned air vehicle 100, it is conceivable to notify a person that the unmanned air vehicle 100 is crashed. However, it is difficult for a person to notice an alarm or a flash emitted by the unmanned air vehicle 100 located in the upper sky. By attaching the alarm 300 and the flash device 600 to the ground station installed on the ground, and notifying that the unmanned projectile 100 is crashed by an alarm or flash emitted from the attached alarm 300 or flash device 600 Can be easy to notice people.

Second Embodiment
(Unmanned air vehicle crash notification system)
FIG. 1 can be applied to an example of the unmanned air vehicle crash notification system according to the second embodiment. An example of the unmanned air vehicle alerting system according to the second embodiment is different from the first embodiment in that the ground station 200 a is provided instead of the ground station 200.
The unmanned aerial vehicle 100 according to the first embodiment can be applied to the unmanned aerial vehicle 100 according to the second embodiment. However, although the derivation unit 118 derives the fall range, it does not derive the transmission output. The derivation unit 118 outputs the information indicating the derived fall range to the transmission processing unit 120. The transmission processing unit 120 generates a control signal including information indicating the crash range output by the derivation unit 118, and transmits the generated control signal from the communication unit 103 with a predetermined transmission output.
The ground station 200 according to the second embodiment receives the control signal transmitted by the unmanned aerial vehicle 100, and sounds an alarm to the alarm 300 based on the information indicating the crash range included in the received control signal. It is determined whether or not to output an instruction requiring.

(Ground station)
FIG. 7 is a block diagram showing an example of a ground station according to the second embodiment.
An example of the ground station 200a according to the second embodiment is a wireless base station, and includes a communication unit 202, a storage unit 204a, a control unit 206a, and an output unit 210.
The communication unit 202 communicates with the unmanned air vehicle 100 via a communication network. Specifically, the communication unit 202 receives the control signal transmitted by the unmanned aerial vehicle 100, and outputs the received control signal to the control unit 206a.
The storage unit 204a stores a program 2042a and position information 2044a. Here, the position information 2044a is information indicating the position where the ground station 200a is installed. The position information 2044a may be represented by the horizontal position (latitude and longitude) and the vertical position (altitude) of the ground station 200a, or the horizontal position of the distribution line power pole UP where the ground station 200a is installed. It may be represented by a directional position (latitude and longitude) and a vertical position (altitude) to which the ground station 200a is attached.

The control unit 206a is realized by an arithmetic device such as a CPU. The control unit 206a functions as a determination unit 207a and a processing unit 208a by executing the program 2042a stored in the storage unit 204a.
When the determination unit 207a acquires the control signal output from the communication unit 202, the position information 2044a stored in the storage unit 204a is included in the fallover range based on the information indicating the fallover range included in the acquired control signal. It is determined whether it is included. If the determination unit 207a determines that it is included, it outputs information for requesting an alarm to sound to the processing unit 208a, and if it is determined that it is not included, the process ends.
When the processing unit 208a acquires the information requesting to sound the alarm output from the determining unit 207a, the processing unit 208a generates an instruction to request the alarm 300 to sound the alarm according to the acquired information, and generates the generated alarm. An instruction requesting to sound is output to the output unit 210.

(Operation of an unmanned air vehicle crash notification system)
FIG. 8 is a flowchart showing an example of the operation of the unmanned air vehicle crash information system according to the second embodiment. Here, when the unmanned air vehicle 100 determines that an abnormality has occurred in the unmanned air vehicle 100, the unmanned air vehicle 100 derives a crash range, and transmits a control signal including information indicating the derived crash range. A case where the ground station 200a-5 receives the control signal transmitted by the unmanned air vehicle 100 from the ground station 200a-1 will be described. The configuration of each of ground stations 200a-1 to 200a-5 is the same as that of ground station 200a described above.

Steps S21 to S22 can apply steps S11 to S12 of FIG. 5.
(Step S23)
The transmission processing unit 120 of the unmanned aerial vehicle 100 acquires the abnormality determination information output from the abnormality determination unit 116, and based on the acquired abnormality determination information, the control signal including the information indicating the crash range output by the derivation unit 118 is To derive. The transmission processing unit 120 transmits the derived control signal from the communication unit 103 with a predetermined transmission output. The control signal transmitted by the communication unit 103 reaches the ground station 200a-5 from the ground station 200a-1.
Steps S24 to S26 can apply steps S14 to S16 of FIG. 5.
(Step S27)
The communication unit 202 of the ground station 200a-4 receives the control signal transmitted by the unmanned air vehicle 100. The communication unit 202 outputs the received control signal to the control unit 206a.
(Step S28)
The communication unit 202 of the ground station 200a-5 receives the control signal transmitted by the unmanned air vehicle 100. The communication unit 202 outputs the received control signal to the control unit 206a.

(Step S29)
The determination unit 207a of the ground station 200a-1 acquires the control signal output from the communication unit 202, and stores the control signal in the storage unit 204a in the storage area 204a based on the information indicating the storage area included in the acquired control signal. It is determined whether the present position information 2044a is included. Here, the determination unit 207a determines that it is included, and outputs, to the processing unit 208a, information requesting to sound an alarm.
(Step S30)
The determination unit 207a of the ground station 200a-2 acquires the control signal output from the communication unit 202, and stores the control signal in the storage unit 204a in the fall range based on the information indicating the fall range included in the obtained control signal. It is determined whether the present position information 2044a is included. Here, the determination unit 207a determines that it is included, and outputs, to the processing unit 208a, information requesting to sound an alarm.
(Step S31)
The determination unit 207a of the ground station 200a-3 acquires the control signal output from the communication unit 202, and stores the control signal in the storage unit 204a in the fall range based on the information indicating the fall range included in the acquired control signal. It is determined whether the present position information 2044a is included. Here, the determination unit 207a determines that it is included, and outputs, to the processing unit 208a, information requesting to sound an alarm.

(Step S32)
The determination unit 207a of the ground station 200a-4 acquires the control signal output from the communication unit 202, and stores the control signal in the storage unit 204a in the fall range based on the information indicating the fall range included in the obtained control signal. It is determined whether the present position information 2044a is included. Here, the determination unit 207a determines that it is not included.
(Step S33)
The determination unit 207a of the ground station 200a-5 acquires the control signal output from the communication unit 202, and stores it in the storage unit 204a in the fall range based on the information indicating the fall range included in the obtained control signal. It is determined whether the present position information 2044a is included. Here, the determination unit 207a determines that it is not included.
(Step S34)
The processing unit 208a of the ground station 200a-1 acquires the information requesting to sound the alarm output from the determining unit 207a, and the command to request to sound the alarm according to the information requesting to sound the acquired alarm. Create The processing unit 208a outputs, to the output unit 210, an instruction requesting that the created alarm be sounded. The output unit 210 acquires a command requesting to sound an alarm output from the processing unit 208a, and a command requesting to sound the acquired alarm is attached to the structure to which the ground station 200a-1 is attached. Output to the alarm 300.
The alarm 300 sounds an alarm in response to a command requesting sounding the alarm output from the ground station 200.

(Step S35)
The processing unit 208a of the ground station 200a-2 acquires the information requesting to sound the alarm output from the determining unit 207a, and the command requesting to sound the alarm according to the information requesting to sound the acquired alarm. Create The processing unit 208a outputs, to the output unit 210, an instruction requesting that the created alarm be sounded. The output unit 210 acquires a command requesting to sound an alarm output from the processing unit 208a, and a command requesting to sound the acquired alarm is attached to the structure to which the ground station 200a-2 is attached. Output to the alarm 300.
The alarm 300 sounds an alarm in response to a command requesting sounding the alarm output from the ground station 200.
(Step S36)
The processing unit 208a of the ground station 200a-3 acquires the information requesting to sound the alarm output from the determining unit 207a, and the command to request to sound the alarm according to the information requesting to sound the acquired alarm. Create The processing unit 208a outputs, to the output unit 210, an instruction requesting that the created alarm be sounded. The output unit 210 acquires a command requesting to sound an alarm output from the processing unit 208a, and a command requesting to sound the acquired alarm is attached to the structure to which the ground station 200a-3 is attached. Output to the alarm 300.
The alarm 300 sounds an alarm in response to a command requesting sounding the alarm output from the ground station 200.
(Step S37)
If the determination unit 207a of the ground station 200a-4 determines in step S32 that it is not included, the process ends.
(Step S38)
If the determination unit 207a of the ground station 200a-5 determines in step S32 that it is not included, the process ends.

According to the unmanned air vehicle crash notification system according to the second embodiment, the unmanned air vehicle 100 derives a range in which the unmanned air vehicle 100 falls when it is determined that an abnormality has occurred in the unmanned air vehicle 100. And transmits a control signal including information indicating the derived fall range. The ground station 200a sounds an alarm when it determines that the ground station itself is included in the falling range based on the information indicating the falling range included in the control signal transmitted by the unmanned aerial vehicle 100. . By configuring as described above, when it is determined that an abnormality occurs in the unmanned air vehicle 100, the unmanned air vehicle 100 falls to a person in a range assumed to crash the unmanned air vehicle 100. Can be notified. For this reason, it is possible to notify that the unmanned air vehicle 100 is crashed even if it is inevitable that the unmanned air vehicle 100 is crashed, and to evacuate people who have known that the unmanned air vehicle 100 is crashed. Thus, damage caused by the crash of the unmanned air vehicle 100 can be reduced.
Furthermore, the processing load of the unmanned air vehicle 100 can be reduced by performing the determination as to whether or not it is included in the falling range by the ground station 200 a.
Temporarily, by attaching the alarm 300 or the flashlight 600 to the unmanned air vehicle 100, it is conceivable to notify a person that the unmanned air vehicle 100 is crashed. However, it is difficult for a person to notice an alarm or a flash emitted by the unmanned air vehicle 100 located in the upper sky. Attach the alarm 300 and the flash device 600 to the ground station 200a installed on the ground, and notify that the unmanned flying object 100 falls by an alarm or a flash emitted from the attached alarm 300 or the flash device 600. Makes it easier for people to notice.

Third Embodiment
(Unmanned air vehicle crash notification system)
FIG. 1 can be applied to an example of the unmanned air vehicle crash notification system according to the third embodiment. An example of the unmanned projectile alert system according to the present embodiment includes a ground station 200b instead of the ground station 200, as compared with the first embodiment. Further, the imaging device 400 attached to the distribution line current UP is used. The imaging device 400 captures an image of a landscape in the vicinity and transmits image information obtained by capturing the image to the ground station 200b.
The unmanned aerial vehicle 100 according to the third embodiment can be applied to the unmanned aerial vehicle 100 according to the first embodiment. However, the control unit 114 does not function as the abnormality determination unit 116, the derivation unit 118, and the transmission processing unit 120. That is, the unmanned aerial vehicle 100 according to the third embodiment does not determine whether an abnormality has occurred or transmit a control signal.
The ground station 200b according to the third embodiment determines the flight state of the unmanned air vehicle 100, and determines whether or not an abnormality has occurred in the unmanned air vehicle 100 based on the determination result of the flight state. When the ground station 200b determines that an abnormality occurs in the unmanned air vehicle 100, it derives a crash range based on the determination result of the flight state. The ground station 200b outputs a command to request the alarm 300 to sound an alarm when it determines that the own ground station 200b is included in the crash range based on the derived crash range.

(Ground station)
FIG. 9 is a block diagram showing an example of a ground station according to the third embodiment.
An example of the ground station 200b according to the third embodiment is a wireless base station, and includes a communication unit 202, a storage unit 204b, a control unit 206b, and an output unit 210.
The communication unit 202 receives image information of a landscape in the vicinity transmitted by the imaging device 400, and outputs the received image information to the control unit 206b.
The storage unit 204b stores a program 2042b and position information 2044b. Here, the position information 2044 b is information indicating the position where the ground station 200 b is installed. The position information 2044b may be represented by the horizontal position (latitude and longitude) and the vertical position (altitude) of the ground station 200b, or the horizontal position of the distribution line power pole UP where the ground station 200b is installed. It may be represented by a directional position (latitude and longitude) and a vertical position (altitude) at which the ground station 200b is attached.

The control unit 206b is realized by an arithmetic device such as a CPU. The control unit 206b functions as the determination unit 207b, the processing unit 208b, the abnormality determination unit 209b, and the derivation unit 211b by executing the program 2042b stored in the storage unit 204b.
The abnormality determination unit 209 b processes the image information output from the communication unit 202 to determine whether an abnormality occurs in the unmanned air vehicle 100 included in the nearby scenery. When the abnormality determination unit 209b determines that an abnormality occurs in the unmanned air vehicle 100, the abnormality determination unit 209b outputs information indicating that an abnormality occurs in the unmanned air vehicle 100 to the derivation unit 212b. If the abnormality determination unit 209b determines that no abnormality occurs in the unmanned air vehicle 100, the process ends.
When the derivation unit 211b acquires the information indicating that the abnormality output from the abnormality determination unit 209b has occurred, the derivation unit 211b acquires image information from the abnormality determination unit 209b, and based on the acquired image information, the flight of the unmanned air vehicle 100 is performed. The direction, the horizontal position (latitude and longitude) of the unmanned air vehicle 100, the vertical position (altitude) of the unmanned air vehicle 100, and the moving speed of the unmanned air vehicle 100 are derived. The deriving unit 211b is based on the derived flight direction of the unmanned air vehicle 100, the horizontal position (latitude and longitude), the vertical position (altitude), and the traveling speed of the unmanned air vehicle 100. Derive The derivation unit 211 b outputs information indicating the derived fall range to the determination unit 207 b.
Whether the determination unit 207b acquires the information indicating the crash range output by the derivation unit 211b and, based on the acquired information indicating the crash range, whether the crash information includes the position information 2044b stored in the storage unit 204b It is determined whether or not. When it is determined that the information is included, the determination unit 207b outputs information for requesting an alarm to sound to the processing unit 208b, and when it is determined that the information is not included, the processing ends.
The processing unit 208b acquires the information requesting to sound the alarm output from the determining unit 207b, creates an instruction to request the alarm 300 to sound the alarm according to the acquired information, and generates the alarm generated. To the output unit 210.

(Operation of an unmanned air vehicle crash notification system)
FIG. 10 is a flowchart showing an example of the operation of the unmanned air vehicle crash notification system according to the third embodiment. An example of the operation of the ground station 200b of the unmanned air vehicle crash detection system is shown in FIG.
(Step S41)
The abnormality determination unit 209b of the ground station 200b acquires the image information transmitted by the imaging device 400.
(Step S42)
The abnormality determination unit 209b of the ground station 200b determines whether or not an abnormality has occurred in the unmanned air vehicle 100 included in the nearby scenery by processing the acquired image information. When the abnormality determination unit 209b determines that an abnormality occurs in the unmanned air vehicle 100, the abnormality determination unit 209b outputs information indicating that an abnormality occurs in the unmanned air vehicle 100 to the derivation unit 211b. Here, the description will be continued regarding the case where it is determined that an abnormality has occurred. If the abnormality determination unit 209b determines that no abnormality occurs in the unmanned air vehicle 100, the process ends.
(Step S43)
When the derivation unit 211b of the ground station 200b acquires the information indicating that the abnormality output from the abnormality determination unit 209b has occurred, the derivation unit 211b acquires image information from the abnormality determination unit 209b, and based on the acquired image information, the unmanned flight is performed. The flight direction of the body 100, the horizontal position (latitude and longitude) of the unmanned air vehicle 100, the vertical position (altitude) of the unmanned air vehicle 100, and the moving speed of the unmanned air vehicle 100 are derived. The deriving unit 211b is based on the derived flight direction of the unmanned air vehicle 100, the horizontal position (latitude and longitude), the vertical position (altitude), and the traveling speed of the unmanned air vehicle 100. Derive The derivation unit 211 b outputs information indicating the derived fall range to the determination unit 207 b.

(Step S44)
The determination unit 207b of the ground station 200b acquires the information indicating the crash range output by the derivation unit 211b, and based on the acquired information indicating the crash range, the position information 2044b stored in the crash unit in the storage unit 204b. Is determined. Here, the description will be continued regarding the case where it is determined that the determination unit 207b is included. In this case, the determination unit 207b outputs, to the processing unit 208b, information requesting to sound an alarm. If the determining unit 207 b determines that the information is not included, the process ends.
(Step S45)
The processing unit 208b of the ground station 200b acquires the information requesting to sound the alarm output from the determining unit 207b, and creates an instruction to request the alarming according to the information requesting to sound the acquired alarming. Do. The processing unit 208 b outputs, to the output unit 210, an instruction requesting that the created alarm be sounded. The output unit 210 acquires a command requesting sounding of the alarm output from the processing unit 208b, and outputs a command requesting sounding of the acquired warning to the alarm 300.
The alarm 300 sounds an alarm in response to a command requesting sounding the alarm output from the ground station 200.

According to the unmanned aerial vehicle crash notification system according to the third embodiment, the ground station 200b acquires the image information of the landscape in the vicinity transmitted by the imaging device 400, and processes the acquired image information to obtain unmanned flight. When it is determined that an abnormality has occurred in the body 100, a range in which the unmanned flying object falls is derived. When the ground station 200b determines that the derived crash zone includes the position information of the own ground station 200b, the ground station 200b sounds an alarm.
By configuring as described above, when it is determined that an abnormality occurs in the unmanned air vehicle 100, the unmanned air vehicle 100 falls to a person in a range assumed to crash the unmanned air vehicle 100. Can be notified. For this reason, it is possible to notify that the unmanned air vehicle 100 is crashed even if it is inevitable that the unmanned air vehicle 100 is crashed, and to evacuate people who have known that the unmanned air vehicle 100 is crashed. Thus, damage caused by the crash of the unmanned air vehicle 100 can be reduced.
Further, it is determined whether or not an abnormality occurs in the unmanned air vehicle 100, and when it is determined that the vehicle falls, the ground station performs the determination of whether or not the vehicle is included in the crashed area. The processing load of the projectile 100 can be further reduced as compared with the first embodiment and the second embodiment.
Temporarily, by attaching the alarm 300 or the flashlight 600 to the unmanned air vehicle 100, it is conceivable to notify a person that the unmanned air vehicle 100 is crashed. However, it is difficult for a person to notice an alarm or a flash emitted by the unmanned air vehicle 100 located in the upper sky. Attach the alarm 300 and the flash device 600 to the ground station 200b installed on the ground, and notify that the unmanned flying object 100 falls by an alarm or flash emitted from the attached alarm 300 or the flash device 600. Makes it easier for people to notice.

Fourth Embodiment
(Unmanned air vehicle crash notification system)
FIG. 11 is a block diagram showing an example of the unmanned air vehicle crash notification system according to the fourth embodiment. The unmanned air vehicle 100, the ground station 200c-1-ground station 200c-5, and the concentration station 500 are shown in FIG. In practice, each of the ground stations 200c-1 to 200c-5 is attached to a structure installed on the ground, such as a power facility, a utility pole for distribution lines, and the like. And, in the construction installed on the ground such as the power equipment to which each of the ground station 200c-1-the ground station 200c-5 is attached, the power pole for distribution line, the alarm 300, the imaging device 400, and the flashlight device 600 and is attached.
The unmanned air vehicle crash notification system according to the fourth embodiment includes the central station 500 in the unmanned air vehicle crash detection system according to the third embodiment. Each of the ground stations 200c-1-ground stations 200c-5 acquires image information transmitted by the imaging device 400 attached to a structure to which each of the ground stations 200c-1-ground stations 200c-5 is attached, The acquired image information is transmitted to the central station 500. Among the ground stations 200c-1 to 200c-5, any ground station is described as a ground station 200c.
The central station 500 acquires the image information transmitted by each of the ground stations 200c-1-ground stations 200c-5, and based on the determination result of the flight state of the unmanned air vehicle 100 obtained by processing the acquired image information. It is determined whether or not an abnormality has occurred in the unmanned air vehicle 100. When the concentration station 500 determines that an abnormality has occurred in the unmanned air vehicle 100, it derives a crash range based on the determination result of the flight state.
The central station 500 selects the ground station 200c included in the crash area among the ground stations 200c-1-ground station 200c-5 based on the derived crash area, and sounds an alarm to the selected ground station 200c. Send a control signal to request that.
The ground station 200c that receives the control signal requesting the ringing of the alarm transmitted by the central station 500 controls the alarm 300 to sound the alarm according to the received control signal.

(Central station)
FIG. 12 is a block diagram showing an example of a central station 500 according to the fourth embodiment.
An example of the central station 500 according to the fourth embodiment is a server, and includes a communication unit 502, a storage unit 504, a control unit 506, and an output unit 510.
Communication unit 502 receives the image information of the landscape in the vicinity transmitted by each of ground stations 200c-1 to 200c-5, and outputs the received image information to control unit 506. The communication unit 502 transmits the control signal output from the control unit 506.
The storage unit 504 stores a program 5042 and position information 5044. Here, position information 5044 includes identification information of each of ground station 200c-1-ground station 200c-5, and information indicating the position where each of ground station 200c-1-ground station 200c-5 is installed. It is the associated information. The information indicating the position may be represented by the horizontal position (latitude and longitude) and the vertical position (altitude) of each of the ground stations 200c-1 to 200c-5.

The control unit 506 is realized by an arithmetic device such as a CPU. The control unit 506 functions as the determination unit 507, the abnormality determination unit 509, and the derivation unit 511 by executing the program 5042 stored in the storage unit 504.
The abnormality determination unit 509 processes the image information output by the communication unit 502 to determine whether or not there is an abnormality in the unmanned air vehicle 100 included in the nearby scenery. If the abnormality determination unit 509 determines that there is a thing that an abnormality has occurred in the unmanned air vehicle 100, the abnormality determination unit 509 outputs, to the derivation unit 511, information indicating that an abnormality has occurred in the unmanned air vehicle 100. If the abnormality determination unit 509 determines that there is no abnormality in the unmanned air vehicle 100, the process ends.
When the derivation unit 511 acquires the information indicating that the abnormality output from the abnormality determination unit 509 has occurred, the image determination unit 509 determines the image information determined to have an abnormality in the unmanned air vehicle 100. Based on the acquired image information, the flight direction of the unmanned air vehicle 100, the horizontal position (latitude and longitude) of the unmanned air vehicle 100, and the vertical position (altitude) of the unmanned air vehicle 100; The movement speed of the unmanned air vehicle 100 is derived. The derivation unit 511 is based on the derived flight direction of the unmanned air vehicle 100, the horizontal position (latitude and longitude), the vertical position (altitude), and the traveling speed of the unmanned air vehicle 100. Derive For the derivation of the crash range of the unmanned air vehicle 100, the method described above can be applied. The derivation unit 511 outputs the information indicating the derived fall range to the determination unit 507.
The determination unit 507 acquires the information indicating the crash range output by the derivation unit 511, and the ground station 200c-1-ground stored in the position information 5044 of the storage unit 504 based on the acquired information indicating the crash range. It is determined whether the position information included in the crash range is present among the position information of each of the stations 200c-5. If the determination unit 507 determines that there is the included position information, the ground station corresponding to the included position information is designated as a destination, and a control signal requesting to sound an alarm is generated, and the generated control signal is transmitted to the communication unit. Output to 502.

(Ground station)
The ground station 200c can apply the ground station 200 of the first embodiment described above. However, the communication unit 202 communicates with the central station 500 via a communication network. Specifically, the communication unit 202 transmits the image information to the central station 500, receives a control signal requesting to sound an alarm transmitted by the central station 500, and outputs the received control signal to the control unit 206. Do.

(Operation of an unmanned air vehicle crash notification system)
FIG. 13 is a flowchart showing an example of the operation of the unmanned air vehicle crash information system according to the fourth embodiment. Here, the central station 500 acquires the image information transmitted by each of the ground stations 200c-1-ground stations 200c-5, and determines that an abnormality has occurred in the unmanned air vehicle 100 based on the acquired image information. In the case, we derive the fall range. The concentrated station 500 determines a ground station included in the derived fall range among the ground stations 200-1 to 200-5, and based on the determination result, warns the ground station included in the fall range. Send a control signal requesting to sound.

(Step S50)
The processing unit 208 of each of the ground stations 200c-1-ground stations 200c-5 is transmitted by the imaging device 400 attached to the distribution line utility pole UP to which each of the ground stations 200c-1-ground stations 200c-5 is attached. The acquired image information is transmitted from the communication unit 202 to the central station 500. The communication unit 502 of the central station 500 receives the image information transmitted by each of the ground stations 200c-1 to 200c-5.
(Step S51)
The abnormality determination unit 509 of the central station 500 acquires the image information transmitted by each of the ground stations 200c-1 to 200c-5.
(Step S52)
The abnormality determination unit 509 of the centralized station 500 determines whether or not an abnormality occurs in the unmanned air vehicle 100 by processing the acquired image information. When the abnormality determination unit 509 determines that an abnormality occurs in the unmanned air vehicle 100, the abnormality determination unit 509 outputs information indicating that an abnormality occurs in the unmanned air vehicle 100 to the derivation unit 511. Here, the description will be continued regarding the case where it is determined that an abnormality has occurred. If the abnormality determination unit 509 determines that no abnormality occurs in the unmanned air vehicle 100, the process ends.
(Step S53)
When the derivation unit 511 of the central station 500 acquires the information indicating that the abnormality output from the abnormality determination unit 509 has occurred, the derivation unit 511 acquires image information from the abnormality determination unit 509, and based on the acquired image information The flight direction of the body 100, the horizontal position (latitude and longitude) of the unmanned air vehicle 100, the vertical position (altitude) of the unmanned air vehicle 100, and the moving speed of the unmanned air vehicle 100 are derived. The derivation unit 511 is based on the derived flight direction of the unmanned air vehicle 100, the horizontal position (latitude and longitude), the vertical position (altitude), and the traveling speed of the unmanned air vehicle 100. Derive The derivation unit 511 outputs the information indicating the derived fall range to the determination unit 507.

(Step S54)
The determination unit 507 of the central station 500 acquires information indicating the crash range output by the derivation unit 511, and is stored in the crash range in the position information 5044 of the storage unit 504 based on the acquired information indicating the crash range. It is determined whether the location information of each of the existing ground stations 200c-1 to 200c-5 is included. Here, the description will be continued regarding the case where the determination unit 507 determines that the location information of each of the ground stations 200c-1 to 200c-3 is included.
(Step S55)
The determination unit 507 of the central station 500 creates a control signal including information requesting that the alarm be sounded, with the ground station 200c-1 whose position information is included in the crash range as a destination, and creates the control signal created by the communication unit Output to 502. The communication unit 502 transmits the control signal output from the determination unit 507 to the ground station 200c-1.
(Step S56)
The determination unit 507 of the central station 500 creates a control signal including information requesting that the alarm be sounded, with the ground station 200c-2 whose position information is included in the crash range as a destination, and creates the control signal created by the communication unit Output to 502. The communication unit 502 transmits the control signal output from the determination unit 507 to the ground station 200c-2.
(Step S57)
The determination unit 507 of the central station 500 creates a control signal including information requesting that the alarm be sounded, with the ground station 200c-3 whose position information is included in the crash range as a destination, and creates the control signal created by the communication unit Output to 502. The communication unit 502 transmits the control signal output from the determination unit 507 to the ground station 200c-3.

(Step S58)
The communication unit 202 of the ground station 200 c-1 receives the control signal transmitted by the central station 500, and outputs the received control information to the control unit 206.
(Step S59)
The communication unit 202 of the ground station 200 c-2 receives the control signal transmitted by the central station 500, and outputs the received control information to the control unit 206.
(Step S60)
The communication unit 202 of the ground station 200 c-3 receives the control signal transmitted by the central station 500, and outputs the received control information to the control unit 206.

(Step S61)
The processing unit 208 of the ground station 200c-1 acquires the control signal output from the communication unit 202, and creates an instruction to request an alarm to sound according to the acquired control signal. The processing unit 208 outputs, to the output unit 210, an instruction requesting that the created alarm be sounded. The output unit 210 acquires a command requesting to sound the alarm output by the processing unit 208, and a command requesting to sound the acquired alarm is attached to the structure to which the ground station 200c-1 is attached. Output to the alarm 300.
(Step S62)
The processing unit 208 of the ground station 200c-2 acquires the control signal output from the communication unit 202, and creates an instruction for requesting an alarm to sound in accordance with the acquired control signal. The processing unit 208 outputs, to the output unit 210, an instruction requesting that the created alarm be sounded. The output unit 210 acquires a command requesting to sound the alarm output by the processing unit 208, and a command requesting to sound the acquired alarm is attached to the structure to which the ground station 200c-2 is attached. Output to the alarm 300.
(Step S63)
The processing unit 208 of the ground station 200c-3 acquires the control signal output from the communication unit 202, and creates an instruction to request an alarm to sound in accordance with the acquired control signal. The processing unit 208 outputs, to the output unit 210, an instruction requesting that the created alarm be sounded. The output unit 210 acquires a command requesting to sound the alarm output by the processing unit 208, and a command requesting to sound the acquired alarm is attached to the structure to which the ground station 200c-3 is attached. Output to the alarm 300.

Although in the above-described embodiment the unmanned air vehicle crash notification system includes five ground stations of the ground station 200c-1-ground station 200c-5, the present invention is not limited to this example. For example, the unmanned air vehicle crash notification system may have one to four ground stations, or may have six or more ground stations.
In the embodiment described above, the processing of the central station 500 may be performed at a substation. Because there are various equipment at the substation, it is easy to introduce.
According to the unmanned aerial vehicle crash notification system according to the fourth embodiment, the central station 500 acquires image information of a landscape in the vicinity of the ground station 200c captured by the imaging device 400 and processes the acquired image information. When it is determined that an abnormality has occurred in the unmanned air vehicle 100, the range where the unmanned air vehicle 100 falls is derived, and the position information is included in the falling range based on the derived falling range. The ground station 200c is determined. The central station 500 is directed to the ground station 200c included in the crash area, generates a control signal including information requesting to sound an alarm, and transmits the generated control signal. The ground station 200c performs processing to sound an alarm based on the control signal transmitted by the central station 500.
By configuring as described above, when it is determined that an abnormality occurs in the unmanned air vehicle 100, the unmanned air vehicle 100 falls to a person in a range assumed to crash the unmanned air vehicle 100. Can be notified. For this reason, it is possible to notify that the unmanned air vehicle 100 is crashed even if it is inevitable that the unmanned air vehicle 100 is crashed, and to evacuate people who have known that the unmanned air vehicle 100 is crashed. Thus, damage caused by the crash of the unmanned air vehicle 100 can be reduced.
Furthermore, it is determined whether or not an abnormality occurs in the unmanned air vehicle 100, and when it is determined that the vehicle is crashed, a control signal including information for requesting the ground station 200c included in the crashed area to sound an alarm The processing load of the unmanned air vehicle 100 and the ground station 200 c is compared with the first embodiment to the third embodiment by performing processing of transmitting and creating the control signal in the central station 500. Can be further reduced.
Temporarily, by attaching the alarm 300 or the flashlight 600 to the unmanned air vehicle 100, it is conceivable to notify a person that the unmanned air vehicle 100 is crashed. However, it is difficult for a person to notice an alarm or a flash emitted by the unmanned air vehicle 100 located in the upper sky. Attach the alarm 300 and the flash device 600 to the ground station 200c installed on the ground, and notify that the unmanned flying object 100 falls by an alarm or a flash emitted from the attached alarm 300 or the flash device 600. Makes it easier for people to notice.
In the first to fourth embodiments described above, the case where the ground station 200c is attached to a construction such as the distribution line current UP has been described, but the present invention is not limited to this example. For example, the ground station 200c may be attached to be hooked to the overhead ground wire GW or the power distribution line WR. By this configuration, the ground station can be easily attached by the unmanned air vehicle 100.
In the first to fourth embodiments described above, the size of the alarm and the color of the flash may be different depending on the distance from the falling position.

  While the embodiments have been described above, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in other various forms, and various omissions, substitutions, changes, and combinations can be made without departing from the scope of the invention. These embodiments are included in the scope and the gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

The above-described unmanned air vehicle 100, the ground station 200, the ground station 200a, the ground station 200b, the ground station 200c, and the central station 500 may be realized by a computer. In that case, a program for realizing the function of each functional block is recorded on a computer readable recording medium. The program recorded on the recording medium may be read by a computer system and executed by the CPU. The “computer system” referred to here includes hardware such as an operating system (OS) and peripheral devices.
The "computer-readable recording medium" refers to a portable medium such as a flexible disk, a magneto-optical disk, a ROM, and a CD-ROM. The “computer-readable recording medium” also includes a storage device such as a hard disk built in the computer system.

Furthermore, the "computer readable recording medium" may include one that holds a program dynamically for a short time. Those which hold the program dynamically for a short time are, for example, communication lines in the case of transmitting the program via a network such as the Internet or a communication line such as a telephone line.
The "computer-readable recording medium" may also include one that holds a program for a predetermined time, such as volatile memory in a computer system serving as a server or a client. Further, the program may be for realizing a part of the functions described above. Further, the above program may be one that can realize the above-described functions in combination with a program already recorded in a computer system. Also, the program may be realized using a programmable logic device. The programmable logic device is, for example, an FPGA (Field Programmable Gate Array).

The above-mentioned unmanned air vehicle 100, the ground station 200, the ground station 200a, the ground station 200b, the ground station 200c, and the central station 500 have a computer inside. The process of each process of the unmanned air vehicle 100, the ground station 200, the ground station 200a, the ground station 200b, the ground station 200c, and the central station 500 described above is a computer readable record in the form of a program. The above processing is performed by being stored in a medium and read out and executed by the computer.
Here, the computer readable recording medium refers to a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, and the like. Alternatively, the computer program may be distributed to a computer through a communication line, and the computer that has received the distribution may execute the program.
Further, the program may be for realizing a part of the functions described above.
Furthermore, it may be a so-called difference file (difference program) that can realize the above-described functions in combination with a program already recorded in the computer system.

DESCRIPTION OF SYMBOLS 1 ... Flight control system, 50 ... Network, 100 ... Unmanned flying object, 102, 102a, 102b, 102c, 102d ... Motor, 104, 104a, 104b, 104c, 104d ... Rotor, 103 ... Communications part, 105 ... Positioning part, 106 speedometer 108 imaging unit 110 sensor 112 power supply unit 114 control unit 116 abnormality determination unit 118 derivation unit 120 transmission processing unit 122 flight control unit 200, 200 -1, 200-2, 200-3, 200-4, 200-5, 200a, 200a-1, 200a-2, 200a-3, 200a-4, 200a-5, 200b, 200c, 200c-1, 200c. -2, 200c-3, 200c-4, 200c-5 ... ground station, 202 ... communication unit, 204, 204a, 204b ... storage unit 206 206a, 206b ... control unit, 207a, 207b ... determination unit, 208, 208a, 208b ... processing unit, 209b ... abnormality determination unit, 210 ... output unit, 211b ... derivation unit, 300 ... alarm, 400 ... imaging device, 500 A central station 502 a communication unit 504 a storage unit 506 a control unit 507 a determination unit 509 an abnormality determination unit 511 a derivation unit 510 an output unit 600 a flash unit 2042, 2042a, 2042b , 5042 ... program, 2044 a, 2044 b, 5044 ... position information

Claims (11)

An unmanned air vehicle crash notification system comprising an unmanned air vehicle and a ground station,
The unmanned air vehicle is
An abnormality determination unit that determines an abnormality of the self-unmanned flight vehicle;
A derivation unit that derives a range in which the unmanned aerial vehicle falls when the abnormality determination unit determines an anomaly of the autonomous unmanned aerial vehicle;
And a transmission processing unit that transmits to the ground station a control signal including information indicating the falling range derived by the derivation unit.
The ground station
An unmanned airborne vehicle crash notification system, comprising: a processing unit configured to sound an alarm based on information indicating the falling range included in the control signal transmitted by the unmanned aerial vehicle. The derivation unit derives a transmission output of the control signal based on the falling range.
The unmanned aerial vehicle crash notification system according to claim 1, wherein the transmission processing unit transmits the control signal according to the transmission output derived by the derivation unit. The transmission processing unit transmits, to the ground station, a control signal including information indicating the falling range.
The ground station
A storage unit for storing position information of the own ground station;
The position of the own ground station is determined based on the information indicating the falling range included in the control signal transmitted by the ground station and the position information of the own ground station stored in the storage unit. And a determination unit that determines whether or not it is included in the falling range;
The unmanned aerial vehicle crash notification system according to claim 1, wherein the processing unit performs processing to sound an alarm when the determination unit determines that the position of the own ground station is included in the crash range. An unmanned air vehicle crash notification system comprising: a central station; and a ground station communicating with the central station,
The central station
An abnormality determination unit that determines whether an abnormality occurs in the unmanned air vehicle;
A derivation unit that derives a range in which the unmanned aerial vehicle falls when the abnormality determination unit determines that an abnormality has occurred in the unmanned aerial vehicle;
A determination unit that determines whether or not the ground station is included in the falling range derived by the derivation unit;
A transmitting unit for transmitting a request to sound an alarm to the ground station determined to include the determining unit;
The ground station
An unmanned aerial vehicle crash notification system, comprising: a processing unit configured to sound an alarm according to a request to sound the alarm transmitted by the central station. An abnormality determination unit that determines whether an abnormality occurs in the unmanned air vehicle;
A derivation unit that derives a range in which the unmanned aerial vehicle falls when the abnormality determination unit determines that an abnormality has occurred in the unmanned aerial vehicle;
A determination unit that determines whether the position of the own ground station is included in the falling range derived by the derivation unit;
And a processing unit configured to sound an alarm when the determination unit determines that the position of the own ground station is included in the falling range. A notification method executed by an unmanned air vehicle crash notification system comprising an unmanned air vehicle and a ground station, comprising:
A step of the unmanned air vehicle determining an abnormality of the unmanned air vehicle;
Deriving the range in which the unmanned air vehicle falls when the unmanned air vehicle determines an abnormality in the unmanned air vehicle in the step of determining the abnormality;
Transmitting to the ground station a control signal including the information indicating the falling range derived in the deriving step, the unmanned aerial vehicle;
And D. a process of sounding an alarm based on information indicating the falling range included in the control signal transmitted by the unmanned aerial vehicle. A notification method executed by an unmanned air vehicle crash notification system comprising a central station and a ground station communicating with the central station, the system comprising:
The centralized station determining whether or not an error occurs in the unmanned air vehicle;
Deriving a range in which the unmanned aerial vehicle falls when it is determined in the determining step that an abnormality has occurred in the unmanned aerial vehicle;
Determining whether the ground station is included in the falling range derived in the deriving step;
Sending a request to sound an alarm to the ground station determined to be included in the determining step;
And D. the ground station performs processing to sound an alarm in accordance with a request to sound the alarm transmitted by the central station. It is a notification method executed by the ground station, and
Determining whether an error has occurred in the unmanned air vehicle;
Deriving a range in which the unmanned air vehicle falls when it is determined in the determining step that an abnormality has occurred in the unmanned air vehicle;
Determining whether or not the position of the own ground station is included in the falling range derived in the deriving step;
And D. performing a process of sounding an alarm if it is determined in the determining step that the position of the own ground station is included in the falling range. In the computer of the unmanned air vehicle,
Determining an abnormality of the self-unmanned flight vehicle;
Deriving an area in which the unmanned aerial vehicle falls when the abnormality of the unmanned aerial vehicle is determined in the step of determining the abnormality;
Transmitting a control signal including information indicating the falling range derived in the deriving step to a ground station. On the central station computer,
Determining whether an error has occurred in the unmanned air vehicle;
Deriving a range in which the unmanned aerial vehicle falls when it is determined in the determining step that an abnormality has occurred in the unmanned aerial vehicle;
Determining whether the ground station is included in the falling range derived in the deriving step;
Transmitting a request to sound an alarm to the ground station determined to be included in the determining step. On the ground station computer,
Determining whether an error has occurred in the unmanned air vehicle;
Deriving a range in which the unmanned air vehicle falls when it is determined in the determining step that an abnormality has occurred in the unmanned air vehicle;
Determining whether or not the position of the own ground station is included in the falling range derived in the deriving step;
A program for executing a process of sounding an alarm if it is determined in the determining step that the position of the own ground station is included in the falling range.

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