JP6601810B1 - Aircraft guidance method, guidance device, and guidance system - Google Patents

Abstract

A new technique for guiding a flying object is provided. A flying object guiding method according to the present invention is a flying object guiding method that uses a plurality of struts and a cable that connects the struts. The guidance device: receiving a route request; reading column node information corresponding to a column position; identifying at least a start column node and an end column node based on the route request and column node information, and generating a route Transmitting the generated route to the aircraft. The flying body performs the step of flying according to the route. [Selection] Figure 1

Description

  The present invention relates to a method for guiding a flying object.

  Patent Document 1 discloses a technique for accurately landing a small aircraft at a destination. The small flight system disclosed in this document has a landing guide port device for guiding and landing a small flying object. The landing guide port device transmits a radio wave superimposed with a port ID corresponding to its own identifier as a guide radio wave for landing.

JP 2017-37369 A

  The technique described in Patent Document 1 has a complicated system.

  Accordingly, an object of the present invention is to provide a new technique for guiding a flying object.

According to the present invention,
A method for guiding a flying object using a plurality of struts and a cable connecting the struts,
A guidance device: receiving a route request; reading column node information corresponding to the position of the column; identifying at least a start column node and an end column node based on the route request and the column node information; Generating; transmitting the generated route to the aircraft;
A method of guiding a flying object including the step of flying the flying object according to the route.

  According to the present invention, a new technique for guiding a flying object can be provided.

It is the schematic and image figure of the guidance system by embodiment of this invention. It is a block diagram which shows the hardware constitutions of the unmanned mobile body of FIG. It is a block diagram which shows the hardware constitutions of the management server of FIG. It is an image figure which shows typically the content of the data used for the guidance system of FIG. It is an image figure of the route production | generation by the guidance system of FIG. It is a processing flow of the management server by the guidance system of FIG. It is a figure which shows the flow of a process between the management server by the guidance system of FIG. 1, an unmanned air vehicle, and a user terminal. It is an image figure which shows the example which applied the guidance system of FIG. 1 to the delivery system. It is the figure showing the image of the client server model comprised by the management server and several unmanned aircraft, and the peer-to-peer model comprised only by several unmanned aircraft. It is a figure which shows the mode at the time of the flight of the flying body by the guidance system of FIG. It is a conceptual diagram which shows the principle which measures the distance of a flying body and an electric wire.

The contents of the embodiment of the present invention will be listed and described. An aircraft guidance method, guidance device, and guidance system according to an embodiment of the present invention have the following configurations.
[Item 1]
A method for guiding a flying object using a plurality of struts and a cable connecting the struts,
A guidance device: receiving a route request; reading column node information corresponding to the position of the column; identifying at least a start column node and an end column node based on the route request and the column node information; Generating; transmitting the generated route to the aircraft;
A method of guiding a flying object, comprising: flying the flying object according to the route.
[Item 2]
The method of guiding a flying object according to claim 1,
The flying object flies along the cable;
Aircraft guidance method.
[Item 3]
The method of guiding a flying object according to claim 2,
The aircraft flies while maintaining a predetermined distance from the cable;
Aircraft guidance method.
[Item 4]
The method of guiding a flying object according to claim 3,
The flying object detects that at least an electric field or a magnetic field of the cable is in a predetermined condition, and measures a distance from the cable.
Aircraft guidance method.
[Item 5]
Meet by the vehicle guidance method according to claim 4,
The aircraft receives at least information on the value of the voltage or current flowing in the cable and corrects the measurement result based on the information.
Aircraft guidance method.
[Item 6]
A method of guiding a flying object according to any one of claims 2 to 5,
The strut node information includes an X coordinate, a Y coordinate, and a Z coordinate regarding the position of the strut in real space,
The generated route is generated at a position higher than at least the Z coordinate.
Aircraft guidance method.
[Item 7]
A method of guiding a flying object according to any one of claims 1 to 6,
A plurality of said vehicles can communicate with each other via a network;
Each of the aircrafts generates its route taking into account the position of the aircraft or the generated route.
Aircraft guidance method.
[Item 8]
A flying object guidance device that uses a plurality of struts and a cable that connects the struts,
A means of receiving route requests;
Means for reading column node information corresponding to the position of the column;
Means for generating a route by identifying at least a start strut node and an end strut node based on the route request and the strut node information;
Means for transmitting the generated route to the flying object;
[Item 9]
A method for guiding a flying object using a plurality of struts and a cable connecting the struts,
Guide device:
Receiving a route request; reading pillar node information corresponding to the position of the pillar;
Generating at least a start strut node and an end strut node based on the route request and the strut node information;
Sending the generated route to the aircraft;
The aircraft flies according to the route;
Aircraft guidance system.

<Details of the embodiment>
Hereinafter, a flying object guidance method, guidance device, and guidance system according to embodiments of the present invention will be described with reference to the drawings.

<Overview>
A flying object guidance system according to an embodiment of the present invention, for example, allows an unmanned flying object (to be described later) to fly according to a predetermined flight route, and is used for home delivery, security / patrol use, agricultural use, surveying use, and research use. Any application that can set a flight route in advance, such as a disaster support application, can be applied. In the following, a guidance system mainly applied to home delivery will be described.

  As shown in FIG. 1A, the guidance system according to the present embodiment is such that the unmanned air vehicle 1 flies as a flight route over the utility pole 20 and the electric wire 30 provided between the utility poles. As shown in FIG. 2 (b), the flight route can be expressed as a virtual network having the utility poles a to j as nodes, and when generating the route, it becomes a utility pole (start node) as a start point and an end point. The utility pole (end node), the utility pole (via node) passing through the start point node and the end point node, and the electric wire provided between them are considered (details will be described later).

<Configuration>
As shown in FIG. 9A, the flying object guidance system according to the present embodiment includes a plurality of unmanned flying objects 1, and a management server 2 connected to the unmanned flying objects 1 via a network. This is a so-called client server model.

<Hardware configuration>

  The unmanned aerial vehicle 1 in the present embodiment includes a drone, a multicopter, an unmanned aerial vehicle (UAV), a RPAS (remote piloted air systems), or a UAS (t nm ant s Sometimes called.

In the following description, it is called an unmanned air vehicle. The unmanned air vehicle includes a battery, a plurality of motors, a position detection unit, a control unit, a driver, a storage device, a wireless communication device, a voltage sensor, a current sensor, and the like. These components are mounted on a frame having a predetermined shape. The hardware configuration of the information processing apparatus mounted on the unmanned air vehicle will be described later. As for the basic structure for these flights, a known technique can be appropriately adopted.
The hardware configuration of the unmanned air vehicle 1 and the management server 20 will be described with reference to FIGS.

<Unmanned flying vehicle 1>
As shown in FIG. 2, the unmanned air vehicle 1 constitutes a part of the information transmission system by executing information processing through communication with the server 1.

  The unmanned air vehicle 1 includes at least a processor 10, a memory 11, a storage 12, a transmission / reception unit 13, an output unit 14, a positioning unit 16, a detection unit 17, and the like as information processing devices. Connected to. The information processing apparatus may be configured by, for example, a microcomputer, an ASIC (Application Specific Integrated Circuit), or may be logically realized by cloud computing.

  The processor 10 is an arithmetic unit that controls the operation of the information processing apparatus, performs control of data transmission / reception between elements, processing necessary for execution of an application, and the like. For example, the processor 10 is a CPU and / or GPU (Graphical Processing Unit) or the like, and executes each necessary information process by executing a program stored in the storage 12 and expanded in the memory 11.

  The memory 11 includes a main memory composed of a volatile storage device such as a RAM and an auxiliary memory composed of a nonvolatile storage device such as a flash memory or an HDD. The memory 11 is used as a work area of the processor 10, and stores a BIOS executed when the information processing apparatus is activated, various setting information, and the like. The storage 12 stores application programs and the like.

  The transmission / reception unit 13 connects the information processing apparatus to the network 4 and communicates with the management server 1 via the LPEA network. The transmission / reception unit 13 may include a Bluetooth (registered trademark) and a BLE (Bluetooth Low Energy) short-range communication interface.

  The input / output unit 14 is an information input device such as switches and an output device such as a display. The unmanned air vehicle 1 performs autonomous flight, but may be operated manually or automatically remotely from the outside. The unmanned aerial vehicle 1 according to the present embodiment includes a camera as an input function, and can take aerial photographs of still images and moving images. In addition, various cameras such as an infrared thermo camera, an X-ray camera, a high sensitivity camera, and a night vision camera may be provided according to information to be collected.

  The bus 15 is commonly connected to the above-described elements, and transmits, for example, an address signal, a data signal, and various control signals.

  The positioning unit 16 detects at least the position and altitude of the unmanned air vehicle 1. The positioning unit 26 according to the present embodiment is, for example, a GPS (Global Positioning System) detector, and detects the latitude, longitude, and altitude of the current position of the unmanned air vehicle 1.

  The detection unit 17 is for sensing the external environment of the unmanned air vehicle 1 with various sensors such as voice, image, infrared, and the like, and manages an auxiliary function of independent flight.

  The unmanned aerial vehicle 1 according to the present embodiment relays, in addition to the information processing device, a power source, a motor connected to the rotor, and the information processing device and the motor for moving and flying the unmanned air vehicle 1. At least a driver.

  The information processing apparatus controls a plurality of motors and uses a monitoring drone flight control (control of ascending, descending, horizontal movement, etc.) and a gyro (not shown) mounted on the unmanned air vehicle 1. Attitude control is also performed by controlling the motor.

  The driver drives the motor in accordance with a control signal from the information processing apparatus. For example, the motor is a DC motor, and the driver is a variable voltage power supply circuit that applies a voltage specified by a control signal to the motor. The unmanned aerial vehicle 100 may have other elements not shown.

<Management server 2>
As shown in FIG. 2, the management server 2 is an information processing apparatus for providing a service through an information transmission system, and may be a general-purpose computer such as a workstation or a personal computer, or cloud computing. It may be logically realized by.

  As shown in FIG. 2, the server 2 includes a processor 20, a memory 21, a storage 22, a transmission / reception unit 23, an input / output unit 24, and the like, which are electrically connected to each other through a bus 25.

  The processor 20 is an arithmetic device that controls the overall operation of the server 2 and performs control of data transmission / reception between elements, information processing necessary for executing an application, and the like. For example, the processor 20 is a CPU (Central Processing Unit), and executes each information process by executing a program stored in the storage 22 and expanded in the memory 21.

  The memory 21 includes a main memory composed of a volatile storage device such as a DRAM (Dynamic Random Access Memory) and an auxiliary memory composed of a nonvolatile storage device such as a flash memory or an HDD (Hard Disc Drive). . The memory 21 is used as a work area of the processor 20 and stores a BIOS (Basic Input / Output System) executed when the server 2 is started up, various setting information, and the like.

  The storage 22 stores various programs such as an application program and an authentication program for each unmanned air vehicle 1. A database (location data, route data, etc., which will be described later) storing data used for each process may be constructed in the storage 22.

<Data>
The management server 2 according to the present embodiment has a column node information DB regarding the position of each utility pole. As shown in FIG. 4, the strut node information DB includes at least a node identifier and position coordinates that are uniquely given to each power pole. The position coordinates according to the present embodiment include at least three elements such as latitude, longitude, and height of the utility pole.

<Process flow>
With reference to FIG. 5, a route generation method according to the present embodiment will be described. The guidance system according to the present embodiment is in charge of a transaction (hereinafter referred to as “delivery transaction”) related to delivery of a product purchased by a user using EC or the like. The delivery transaction itself is generated based on, for example, user address information registered in advance.

  When the management server 2 starts the delivery transaction, the utility pole closest to the package shipping source (starting node) and the utility pole closest to the delivery destination (user address, etc.) are specified. In the illustrated example, the start point node is a utility pole a and the end point node is a utility pole j. The management server 2 calculates the shortest path connecting the utility pole a and the utility pole j. At this time, a route capable of avoiding a collision is generated in consideration of the position and route of another unmanned air vehicle 1.

  The collision avoidance may be performed between the unmanned air vehicles 1. For example, a collision may be avoided by changing the height of one unmanned air vehicle and the height of the other unmanned air vehicle.

  Returning to FIG. 5, the route according to the present embodiment proceeds in the order of the utility pole a → the utility pole b → the utility pole d → the utility pole f → the utility pole h → the utility pole j. Note that a part of the route may be detoured in order to avoid the above-described collision avoidance. Fly in a region away from the electric wire by a predetermined distance in the vertical direction (height direction).

  A processing flow of the management server 2 will be described with reference to FIG. In the present embodiment, when a delivery transaction (route request) occurs (step S601), column node information is read (step S603). The management server 2 identifies the start point node, the transit node, and the end point node based on the delivery transaction and the column node information, and generates a route (step S605). The generated route information is transmitted to the unmanned aerial vehicle 1, and delivery by the flight of the unmanned aerial vehicle 1 is started (step S607).

  With reference to FIG. 7, the flow of delivery processing using the guidance system according to the present embodiment will be described. As shown in the drawing, the delivery process is executed by the management server 2, the unmanned air vehicle 1, and the user terminal.

  When the delivery transaction occurs (SQ701), the management server 2 reads the column node information from the node DB (SQ703) and generates a route (SQ705). The management server 2 transmits the generated route information to the unmanned air vehicle (SQ707). The unmanned air vehicle starts flying based on the received route information (SQ709).

  When the unmanned air vehicle arrives at the destination, the destination arrival notification is notified to the management server 2 (SQ711). The management server 2 notifies the arrival notification to the user terminal (SQ713). After confirming the destination of the arrived package, the user transmits a notification of each position to the management server 2 (SQ715). When the management server 2 receives the confirmation notice from the user regarding the package, the management server 2 unlocks the package loaded on the unmanned air vehicle 1 (SQ717). The unlocked package can be received by the user. If necessary, the management server 2 updates the status of the delivery transaction when the delivery is completed (SQ719).

  According to the above processing, as shown in FIG. 8, the unmanned aerial vehicle 1 moves over the utility pole 20 and the electric wire 30 according to the route generated by loading the luggage P from the luggage storage location 100 (for example, a warehouse). , The package P can be delivered to the user's home 200 and delivered to the user.

  In the embodiment described above, as shown in FIG. 9A, a so-called client server model including the unmanned air vehicle 1 and a management server 2 connected via a network is used. However, as shown in FIG. 9B, a peer-to-peer system composed of a plurality of unmanned air vehicles 1 may be used.

  Although the embodiment described above is for delivery purposes, it may be applied to patrol purposes such as security. In this case, the management server 2 may generate a tour route based on the tour route and post node information specified by the user. Further, when the patrol is completed, the patrol transaction may be terminated after the patrol is completed and transmitted to the user and approved by the user.

<Measurement of distance to the wire>
In the present embodiment, the flying object 1 flies along the electric wire 30. At this time, as shown in FIG. 10, the aircraft flies within a predetermined range L from the electric wire 30. Thereby, the flying object 1 flies along the electric wire 30 while maintaining a predetermined distance from the electric wire 30.

  As shown in FIG. 2A, when there are two electric wires 30 and 30 ′ having the same height, both of the two electric wires 30 enter one of the predetermined ranges L and L ′. It only has to be.

  Further, as shown in FIGS. 10A and 10B, the flying object 1 has a region above the electric wire 30 (FIG. 10A) or a side to prevent it from colliding with the utility pole 20. It is preferable to fly in any of the regions (FIG. 10B). The positional relationship with the electric wire 30 may be detected by combining an ultrasonic sensor, position information including height information, a vision sensor, and the like.

  As described above, as a method of maintaining the distance between the electric wire 30 and the flying object 1, for example, as shown in FIG. 11, the flying object 1 detects information on the electric field and magnetic field generated in the electric wire 30. Also good.

  In the case of electric wires as public infrastructure, since the voltage during power transmission is constant, the distance can be calculated based on the strength of the electric field regardless of the magnitude of the current. (FIG. 11 (a)). On the other hand, since the magnitude of the current during power transmission may vary depending on the amount of power supply and demand, when the amount of power transmission current is known in advance, the distance can be calculated based on the strength of the magnetic field (FIG. 11 ( b)).

  In addition, it is good also as measuring the more exact distance by acquiring the information of the electric current amount and voltage amount of the power transmission line contained in a flight route previously, and correct | amending the result of distance measurement suitably.

  The above-described embodiments are merely examples for facilitating understanding of the present invention, and are not intended to limit the present invention. The present invention can be changed and improved without departing from the gist thereof, and it is needless to say that the present invention includes equivalents thereof.

1 Unmanned Aircraft 2 Management Server 20 Utility Pole 30 Electric Wire

Claims (5)

A method for guiding a flying object using a plurality of struts and a cable connecting the struts,
A guidance device: receiving a route request; reading column node information corresponding to the position of the column; identifying at least a start column node and an end column node based on the route request and the column node information; Generating; transmitting the generated route to the aircraft;
The aircraft flying according to the route;
In the step of flying,
The aircraft is
Measure that the strength of at least the electric field or magnetic field of the cable is a predetermined condition, calculate the distance to the cable based on the measurement result ,
While receiving at least information on the value of the voltage or current flowing in the cable, and correcting the calculation result based on the information,
Based on the corrected calculation result, the aircraft flies while maintaining a predetermined distance from the cable.
Aircraft guidance method. The method of guiding a flying object according to claim 1,
The strut node information includes an X coordinate, a Y coordinate, and a Z coordinate regarding the position of the strut in real space,
The generated route is generated at a position higher than at least the Z coordinate.
Aircraft guidance method. A method of guiding a flying object according to claim 1 or 2,
A plurality of said vehicles can communicate with each other via a network;
Each of the aircraft changes its route so that it does not collide with the position of the other aircraft or the generated route.
Aircraft guidance method. A flying object guidance device that uses a plurality of struts and a cable that connects the struts,
A means of receiving route requests;
Means for reading column node information corresponding to the position of the column;
Means for generating a route by identifying at least a start strut node and an end strut node based on the route request and the strut node information;
Means for transmitting the generated route to the aircraft;
Means for calculating a distance between the cable and the flying object based on at least an electric field or magnetic field strength measurement result of the cable;
And give Ru means information about values of the voltage or current flowing through at least said cable,
Means for correcting the result of the calculation based on the information;
Means for transmitting the corrected calculation result to the aircraft;
including,
Aircraft guidance device. A vehicle guidance system that uses a plurality of support posts and cables that run over the support posts,
Guide device:
Receiving a route request; reading column node information corresponding to the position of the column;
Generating at least a start strut node and an end strut node based on the route request and the strut node information;
Sending the generated route to the aircraft;
The flying object measures that the strength of at least an electric field or a magnetic field of the cable is a predetermined condition, and calculates a distance from the cable based on the measurement result ;
Receiving at least information on the value of the voltage or current flowing in the cable and correcting the result of the calculation based on the information;
Based on the corrected calculation result, the aircraft follows the route while maintaining a predetermined distance from the cable.
Aircraft guidance system.

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