JP6733948B2 - Drone, its control method, and control program - Google Patents

Description

The present invention relates to a flying body (drone), in particular, a drone with improved safety, a control method therefor, and a control program.

The application of small helicopters (multicopters) generally called drones is progressing. One of its important fields of application is spraying chemicals such as pesticides and liquid fertilizers on farmland (field) (for example, Patent Document 1). In Japan, where farmland is smaller than in Europe and the United States, it is often the case that drones are more suitable than manned airplanes and helicopters.

With technologies such as the quasi-zenith satellite system and RTK-GPS (Real Time Kinematic-Global Positioning System), it became possible for a drone to accurately know its absolute position in centimeters during flight. Even in a farmland with a narrow and complicated terrain typical of the above, it is possible to autonomously fly with minimal manual operation, and to perform chemical spraying efficiently and accurately.

On the other hand, there were cases in which it was hard to say that safety considerations were sufficient for autonomous flight drones for agricultural drug spraying. A drone loaded with medicines weighs several tens of kilograms, which could have serious consequences in the event of an accident such as falling onto a person. In addition, the drone operator is usually not an expert, so a fool-proof mechanism is necessary, but the consideration for this was insufficient. Until now, there have been drone safety technologies that are premised on human control (for example, Patent Document 2), but in particular, address the safety issues peculiar to autonomous flying drones for drug spraying for agriculture. There was no technology to do this.

Japanese Patent Laid-Open No. 2001-120151 Patent publication gazette JP, 2017-163265, A

Provides a drone (aircraft) that can maintain high safety even during autonomous flight.

In order to achieve the above object, a drone according to one aspect of the present invention, a flight means, a flight control unit that operates the flight means, and detects that strong wind is blowing to generate a strong wind signal, A strong wind detection unit that transmits the strong wind signal to the flight control unit, wherein the flight control unit retracts the drone based on the strong wind signal.

The flight control unit may perform either an emergency return of the drone or a landing operation based on the strong wind signal.

The strong wind detection unit may detect that strong wind is blowing while the drone is hovering and moving.

The strong wind detection unit includes a wind force measurement unit that generates wind force information of wind blowing on the drone, and a determination unit that determines whether strong wind is blowing based on the wind force information. The measurement unit may generate at least one of wind speed, acceleration of the drone, thrust of the drone, moving speed of the drone, and deviation of the position of the drone to generate the wind power information.

The wind force measurement unit, a ground speed calculation unit that calculates the ground speed of the drone, the attitude angle of the drone, at least one of the thrust of the thruster operated by the weight of the drone and the flight control unit, Further comprising an airspeed calculation unit for calculating an airspeed of the drone, and a wind speed measurement unit for calculating a wind speed and a wind direction in a traveling direction based on the ground speed and the air speed. May be

The flight control unit may further include another aircraft information receiving unit that receives a strong wind signal transmitted from another drone, and the flight control unit may retract the drone based on the strong wind signal received by the other aircraft information receiving unit. Good.

The flight control unit may not take off the drone when the other aircraft information receiving unit receives the strong wind signal while the drone is landing.

A strong body wind signal generated by the strong wind detector may be further included in the body information transmitter that transmits the strong wind signal to the outside of the drone.

The wind speed measuring unit may further include a wind speed receiving unit that receives the wind speed measured by the wind speed measuring device, and the strong wind detecting unit may detect that strong wind is blowing based on the wind speed received by the wind speed receiving unit.

When the drone is landing and the strong wind is detected based on the wind speed received by the wind speed receiving unit, the flight control unit may not take off the drone.

It further comprises a drug control unit for controlling whether or not to discharge the drug from the drone to the outside, wherein the drug control unit stops the discharge of the drug based on the strong wind detecting unit detecting strong wind. Good.

In order to achieve the above object, a drone control method according to another aspect of the present invention, a flight means, a flight control unit for operating the flight means, a strong wind signal by detecting that strong wind is blowing. A drone control method comprising: generating a strong wind signal and transmitting the strong wind signal to the flight control unit; and a strong wind detection step of generating a strong wind signal by detecting that strong wind is blowing. The method includes transmitting the strong wind signal to the flight control unit, and retracting the drone based on the strong wind signal.

The step of retracting may be one of performing an emergency return and a landing operation of the drone based on the strong wind signal.

The strong wind detection step may detect that a strong wind is blowing while the drone is hovering and moving.

A wind force measuring step of generating wind force information of wind blowing on the drone, and a determining step of determining whether or not strong wind is blowing based on the wind force information further include the wind force measuring step. The wind force information may be generated by measuring at least one of acceleration of the drone, thrust of the drone, moving speed of the drone, and deviation of the position of the drone.

The wind force measuring step, a ground speed calculating step for calculating the ground speed of the drone, an attitude angle of the drone, at least one of the thrust of the thruster operated by the weight of the drone and the flight control unit, Further comprising an airspeed calculation step of calculating an airspeed of the drone, and a wind speed measurement step of calculating a wind speed and a wind direction in a traveling direction based on the ground speed and the air speed. May be

It may further include another machine information receiving step of receiving a strong wind signal transmitted from another drone, and further including a step of retracting the drone based on the strong wind signal received by the other machine information receiving step.

When the strong wind signal is received in the other aircraft information receiving step while the drone is landing, the flight control step may not take off the drone.

The apparatus may further include a machine body information transmitting step of transmitting the strong wind signal generated by the strong wind detecting step to the outside of the drone.

The wind speed measuring step may further include a wind speed receiving step of receiving a wind speed measured by the wind speed measuring machine, and the strong wind detecting step may detect that strong wind is blowing based on the wind speed received in the wind speed receiving step.

When the drone is landing and strong wind is detected based on the wind speed received in the wind speed receiving step, the flight control step may not take off the drone.

It further comprises a drug control step of controlling whether or not to discharge the drug from the drone to the outside, wherein the drug control step is to stop the discharge of the drug based on the strong wind detection step detecting strong wind. Good.

In order to achieve the above object, a drone control program according to another aspect of the present invention, a flight means, a flight control unit for operating the flight means, a strong wind signal by detecting that strong wind is blowing. A drone control program that includes a strong wind detection unit that generates and transmits the strong wind signal to the flight control unit, and a strong wind detection command that detects that strong wind is blowing and generates a strong wind signal. A computer is caused to execute an instruction to transmit the strong wind signal to the flight control unit and an instruction to retract the drone based on the strong wind signal.

The command to evacuate may cause the drone to perform either an emergency return or a landing operation based on the strong wind signal.

The strong wind detection command may detect that a strong wind is blowing while the drone is hovering and moving.

A wind force measurement command that generates wind force information of wind blowing on the drone, and a determination command that determines whether strong wind is blowing based on the wind force information, and further causes the computer to execute the wind force measurement command. May generate at least one of wind speed, acceleration of the drone, thrust of the drone, moving speed of the drone, and deviation of the position of the drone to generate the wind power information.

The wind force measurement command, a ground speed calculation command for calculating the ground speed of the drone, the attitude angle of the drone, at least one of the weight of the drone and the thrust of the thruster operated by the flight control unit, The airspeed calculation command for calculating the airspeed of the drone, and the wind speed measurement command for calculating the wind speed and the wind direction in the traveling direction based on the ground speed and the airspeed. It may be allowed to.

As an instruction to further cause the computer to further include a command to receive another machine information to receive a strong wind signal transmitted from another drone, and to retract the drone based on the strong wind signal received by the other machine information reception command. Good.

When the drone is landing and the strong wind signal is received in the other aircraft information reception command, the drone may not be taken off.

The strong wind signal generated by the strong wind detection command may further include a machine body information transmission command that transmits the strong wind signal to the outside of the drone.

The wind speed measuring device may further include a wind speed receiving command for receiving a wind speed measured by the wind speed measuring machine, and the strong wind detecting command may detect that strong wind is blowing based on the wind speed received in the wind speed receiving command.

When the strong wind is detected based on the wind speed received by the wind speed reception command while the drone is landing, the drone may not take off.

The computer further executes a drug control command for controlling whether or not to discharge the drug from the drone to the outside, and the drug control command stops the discharge of the drug based on the strong wind detection command detecting strong wind. It may be done.
The computer program can be provided by being downloaded via a network such as the Internet, or can be provided by being recorded in various computer-readable recording media such as a CD-ROM.

Provides a drone that can maintain high safety even during autonomous flight.

It is a top view of the example of the drone concerning the invention in this application. It is a front view of the Example of the drone concerning this invention. It is a right side view of the example of the drone concerning the invention in this application. It is an example of an overall conceptual diagram of a drug spraying system using an example of a drone according to the present invention. It is a schematic diagram showing the control function of the Example of the drone which concerns on this invention. FIG. 3 is a functional block diagram of a configuration for detecting a strong wind, which is included in the drone and wind speed measuring devices arranged around the drone. In addition, a functional block diagram of another drone having the same function is also shown. It is a flowchart in which the said drone detects a strong wind with the strong wind detection part which the said drone has. It is a flowchart when the said drone receives the strong wind signal by the other machine information receiving part which the said drone has. It is a flowchart when the said drone receives the wind speed by the wind speed reception part which the said drone has.

Hereinafter, modes for carrying out the present invention will be described with reference to the drawings. The figures are all examples.

FIG. 1 is a plan view of an embodiment of a drug spraying drone 100 according to the present invention, FIG. 2 is a front view (viewed from the traveling direction side), and FIG. 3 is a right side view thereof. In the specification of the present application, the drone means any power means (electric power, prime mover, etc.), control method (whether wireless or wired, and whether it is an autonomous flight type or a manual control type). Instead, it refers to all aircraft with multiple rotors.

Rotators 101-1a, 101-1b, 101-2a, 101-2b, 101-3a, 101-3b, 101-4a, 101-4b (also called rotors) are means for flying the drone 100. Considering the balance of flight stability, airframe size, and battery consumption, it is desirable to have 8 aircraft (4 sets of 2-stage rotary blades).

The motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 102-4a, 102-4b are rotor blades 101-1a, 101-1b, 101-2a, 101-. 2b, 101-3a, 101-3b, 101-4a, 101-4b is a means for rotating (typically an electric motor, but may be a motor, etc.), one for each rotor It is desirable that the The upper and lower rotor blades (eg 101-1a and 101-1b) and their corresponding motors (eg 102-1a and 102-1b) in one set are for drone flight stability etc. It is desirable that the axes be collinear and rotate in opposite directions. Although some rotor blades 101-3b and the motor 102-3b are not shown, their positions are self-explanatory, and if there is a left side view, they are at the positions shown. As shown in FIG. 2 and FIG. 3, it is desirable that the radial member for supporting the propeller guard provided so that the rotor does not interfere with foreign matter has a structure in which the propeller guard is not horizontal but is in the shape of a tower. This is for promoting the buckling of the member to the outside of the rotor blade at the time of collision and preventing the member from interfering with the rotor.

The medicine nozzles 103-1, 103-2, 103-3, 103-4 are means for spraying medicine downward, and are preferably provided in four units. In the specification of the present application, the term "medicine" generally refers to pesticides, herbicides, liquid fertilizers, insecticides, seeds, and liquids or powders applied to fields such as water.

The drug tank 104 is a tank for storing the drug to be sprayed, and is preferably provided at a position close to the center of gravity of the drone 100 and a position lower than the center of gravity from the viewpoint of weight balance. The drug hoses 105-1, 105-2, 105-3, 105-4 are means for connecting the drug tank 104 and each drug nozzle 103-1, 103-2, 103-3, 103-4, and are rigid. It may be made of the above-mentioned material and also have a role of supporting the medicine nozzle. The pump 106 is a means for discharging the medicine from the nozzle.

FIG. 4 shows an overall conceptual diagram of a system using an example of a drug spraying application of the drone 100 according to the present invention. This figure is a schematic diagram and the scale is not accurate. The pilot 401 is a means for transmitting a command to the drone 100 by the operation of the user 402 and displaying information received from the drone 100 (for example, position, drug amount, battery level, camera image, etc.). Yes, and may be realized by a portable information device such as a general tablet terminal that runs a computer program. Although it is desirable that the drone 100 according to the present invention be controlled to perform autonomous flight, it is desirable to be able to perform manual operation during basic operations such as takeoff and return, and in an emergency. In addition to the portable information device, you may use an emergency operating device (not shown) that has a function dedicated to emergency stop (a large emergency stop button, etc., that allows the emergency operating device to respond quickly in an emergency). It is desirable that it is a dedicated device equipped with). It is desirable that the pilot 401 and the drone 100 perform wireless communication by Wi-Fi or the like.

The field 403 is a rice field, a field, or the like to which the drug is sprayed by the drone 100. Actually, the topography of the farm field 403 is complicated, and there are cases where the topographic map cannot be obtained in advance or the topographic map and the situation at the site are inconsistent. Normally, the farm field 403 is adjacent to a house, a hospital, a school, another crop farm field, a road, a railroad, and the like. In addition, there may be obstacles such as buildings and electric wires in the field 403.

The base station 404 is a device that provides a master device function of Wi-Fi communication and the like, and it is desirable that the base station 404 also functions as an RTK-GPS base station and can provide an accurate position of the drone 100 (Wi-Fi Communication master unit function and RTK-GPS base station may be independent devices). The farm cloud 405 is typically a group of computers operated on a cloud service and related software, and is preferably wirelessly connected to the controller 401 by a mobile phone line or the like. The farming cloud 405 may analyze the image of the field 403 captured by the drone 100, grasp the growing condition of the crop, and perform a process for determining a flight route. Further, the drone 100 may be provided with the stored topographical information of the field 403 and the like. In addition, the history of the drone 100 flight and captured images may be accumulated and various analysis processes may be performed.

Usually, the drone 100 takes off from a landing point 406 outside the field 403 and returns to the landing point 406 after spraying a drug on the field 403 or when it becomes necessary to replenish the drug or charge the battery. The flight route (intrusion route) from the landing point 406 to the target field 403 may be stored in advance in the farm cloud 405 or the like, or may be input by the user 402 before the start of takeoff.

FIG. 5 is a schematic diagram showing the control function of the embodiment of the drug spraying drone according to the present invention. The flight controller 501 is a component that controls the entire drone, and specifically may be an embedded computer including a CPU, memory, related software, and the like. The flight controller 501, based on the input information received from the controller 401 and the input information obtained from various sensors described later, via the control means such as ESC (Electronic Speed Control), the motor 102-1a, 102-1b , 102-2a, 102-2b, 102-3a, 102-3b, 104-a, 104-b are controlled to control the flight of the drone 100. The actual rotation speed of the motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 104-a, 104-b is fed back to the flight controller 501 to perform normal rotation. It is desirable to have a configuration that can monitor whether or not it is. Alternatively, the rotary blade 101 may be provided with an optical sensor or the like so that the rotation of the rotary blade 101 is fed back to the flight controller 501.

The software used by the flight controller 501 is preferably rewritable through a storage medium or the like for function expansion/change, problem correction, or the like, or through communication means such as Wi-Fi communication or USB. In this case, it is desirable to protect by encryption, checksum, electronic signature, virus check software, etc. so that rewriting by unauthorized software is not performed. In addition, a part of the calculation process used by the flight controller 501 for control may be executed by another computer existing on the controller 401, the farm cloud 405, or another place. Since the flight controller 501 is highly important, some or all of its constituent elements may be duplicated.

The battery 502 is a means of supplying power to the flight controller 501 and other components of the drone and is preferably rechargeable. The battery 502 is preferably connected to the flight controller 501 via a power supply unit including a fuse or a circuit breaker. The battery 502 is preferably a smart battery that has a function of transmitting its internal state (amount of stored electricity, accumulated usage time, etc.) to the flight controller 501 in addition to a power supply function.

The flight controller 501 communicates with the controller 401 via the Wi-Fi slave unit function 503 and further via the base station 404, receives a necessary command from the controller 401, and transmits necessary information to the controller. It is desirable to be able to send to 401. In this case, it is desirable to encrypt the communication so as to prevent illegal acts such as interception, spoofing, and hijacking of equipment. The base station 404 preferably has an RTK-GPS base station function in addition to a Wi-Fi communication function. By combining the signal from the RTK base station and the signal from the GPS positioning satellite, the GPS module 504 can measure the absolute position of the drone 100 with an accuracy of about several centimeters. Since the GPS module 504 is highly important, it is desirable to duplicate and multiplex it. Also, in order to cope with the failure of a specific GPS satellite, each redundant GPS module 504 should use another satellite. It is desirable to control.

The 6-axis gyro sensor 505 is a means for measuring the acceleration of the drone body (further, a means for calculating the velocity by integrating the acceleration), and is preferably a 6-axis sensor. The geomagnetic sensor 506 is a means for measuring the direction of the drone body by measuring the geomagnetism. The atmospheric pressure sensor 507 is a means for measuring atmospheric pressure, and can indirectly measure the altitude of the drone. The laser sensor 508 is a means for measuring the distance between the drone body and the ground surface by utilizing the reflection of laser light, and it is preferable to use an IR (infrared) laser. The sonar 509 is a means for measuring the distance between the drone body and the ground surface by utilizing the reflection of sound waves such as ultrasonic waves. These sensors may be selected depending on the drone's cost goals and performance requirements. Further, a gyro sensor (angular velocity sensor) for measuring the tilt of the machine body, a wind force sensor for measuring wind force, and the like may be added. Moreover, it is desirable that these sensors be duplicated or multiplexed. If there are multiple sensors for the same purpose, the flight controller 501 may use only one of them, and if it fails, switch to an alternative sensor. Alternatively, a plurality of sensors may be used simultaneously, and if the measurement results do not match, it may be considered that a failure has occurred.

The flow rate sensor 510 is a means for measuring the flow rate of the medicine, and is preferably provided at a plurality of places on the path from the medicine tank 104 to the medicine nozzle 103. The liquid shortage sensor 511 is a sensor that detects that the amount of the medicine has become equal to or less than a predetermined amount. The multi-spectral camera 512 is a means for photographing the field 403 and acquiring data for image analysis. The obstacle detection camera 513 is a camera for detecting a drone obstacle. Since the image characteristics and the orientation of the lens are different from those of the multispectral camera 512, it is desirable that the obstacle detection camera 513 be a device different from the multispectral camera 512. The switch 514 is a means for the user 402 of the drone 100 to make various settings. The obstacle contact sensor 515 is a sensor for detecting that the drone 100, in particular, its rotor or propeller guard portion has come into contact with an obstacle such as an electric wire, a building, a human body, a tree, a bird, or another drone. .. The cover sensor 516 is a sensor that detects that the operation panel of the drone 100 and the cover for internal maintenance are open. The drug injection port sensor 517 is a sensor that detects that the injection port of the drug tank 104 is open. These sensors may be selected according to the cost target and performance requirements of the drone, and may be duplicated or multiplexed. In addition, a sensor may be provided at the base station 404 outside the drone 100, the controller 401, or another place, and the read information may be transmitted to the drone. For example, a wind sensor may be provided in the base station 404, and information regarding wind force/wind direction may be transmitted to the drone 100 via Wi-Fi communication.

The flight controller 501 sends a control signal to the pump 106 to adjust the medicine ejection amount and stop the medicine ejection. It is desirable that the current status of the pump 106 (for example, the number of revolutions) is fed back to the flight controller 501.

The LED 107 is a display means for informing the drone operator of the status of the drone. Display means such as a liquid crystal display may be used instead of or in addition to the LEDs. The buzzer 518 is an output means for notifying a drone state (especially an error state) by a voice signal. The Wi-Fi slave device function 519 is an optional component for communicating with an external computer or the like, for example, for software transfer, in addition to the controller 401. In addition to or in addition to the Wi-Fi cordless handset function, other wireless communication means such as infrared communication, Bluetooth (registered trademark), ZigBee (registered trademark), NFC, or wired communication means such as USB connection May be used. The speaker 520 is an output means for notifying the drone state (particularly, the error state) by the recorded human voice, synthesized voice, or the like. Depending on the weather conditions, it may be difficult to see the visual display of the drone 100 in flight, and in such a case, it is effective to communicate the situation by voice. The warning light 521 is a display means such as a strobe light for notifying the state of the drone (in particular, an error state). These input/output means may be selected according to the cost target and performance requirements of the drone, and may be duplicated/multiplexed.

In the case of a drone flying over the sky, the aircraft may be hit by strong winds and may not be able to fly in the intended path. Therefore, it is desirable to have a function of detecting the strong wind and evacuating the drone when strong wind with a wind speed higher than a predetermined level is generated in the space where the drone is to fly.

Therefore, as shown in FIG. 6, the drone 100 according to the present invention has rotor blades 101-1a, 101-1b, 101-2a, 101-2b, 101-3a, 101-3b, 101-4a, 101-. 4b, motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 102-4a, 102-4b, flight control unit 23, strong wind detection unit 24, and others It is desirable to include a machine information receiving unit 25, a machine body information transmitting unit 26, a wind speed receiving unit 27, and a medicine control unit 30 that controls the amount of medicine discharged from the drone 100.

Also, another drone 100b having the same function as the drone 100 is a rotor blade 101-1ab, 101-1bb, 101-2ab, 101-2bb, 101-3ab, 101-3bb, 101-4ab, 101-4bb. , A motor, a flight controller 23b, a strong wind detector 24b, another machine information receiver 25b, a machine body information transmitter 26b, a wind speed receiver 27b, and a drug control for controlling the amount of drug discharged from the drone 100b. And a portion 30b. The drone 100 and the drone 100b can communicate by an appropriate method. This structure will be described later.

The flight control unit 23 controls the motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 102-4a, 102-4b to rotate the rotor blades 101-1a, 101. -1b, 101-2a, 101-2b, 101-3a, 101-3b, 101-4a, 101-4b control the speed and direction of rotation to fly drone 100 within the compartment intended by user 402 It is a functioning part. Further, the flight control unit 23 controls the takeoff and landing of the drone 100. Specifically, the flight control unit 23 is a CPU implemented by a microcomputer or the like, and is a flight controller.

The flight control unit 23 may operate to control the flight of the drone 100 in the normal operation of the drone 100, or may be configured separately from the flight control means in the normal operation. In the latter case, the flight control unit 23 operates only when taking an evacuation action when a strong wind is detected.

The evacuation behavior refers to an "emergency return" in which the vehicle immediately moves to a predetermined return point by the shortest route, or a normal landing operation. The predetermined return point is a point stored in advance in the flight control unit 23, and is, for example, the departure point 406 that has taken off. The predetermined return point is, for example, a land point where the user 402 can approach the drone 100, and the user 402 can inspect the drone 100 reaching the return point or manually carry it to another place. can do.

Further, the evacuation action may be an “emergency stop” in which the rotation of all the rotor blades is stopped and the rotor falls.

The flight control unit 23 may be configured to perform different evacuation actions depending on the degree of strong wind detected by the strong wind detection unit 24. For example, when it is difficult to return to an emergency due to the generation of a very strong wind, a normal landing operation is performed on the spot. Further, when it is determined that the rotor blades are hit by a strong wind and it is difficult to perform a normal landing operation, it is preferable to select “emergency stop”.

The drug control unit 30 is a control unit that controls the amount or timing of spraying the drug solution from the drug tank 104. For example, somewhere in the path from the drug tank 104 to each drug nozzle 103-1, 103-2, 103-3, 103-4, an opening/closing means for opening and closing the drug solution path is provided, and the drug control unit 30 is Alternatively, various emergency operations may be performed after the release of the drug solution is blocked by the opening/closing means. Further, the medicine control unit 30 may stop the pump 106 before executing the evacuation action. This is because if the drug is sprayed on a flight route different from the normal time, the spray amount becomes excessive, or the drug is sprayed to a place where it should not be sprayed.

The strong wind detection unit 24 is a functional unit that detects that strong wind is blowing on the flying drone 100, generates a strong wind signal, and transmits the strong wind signal to the flight control unit 23. The strong wind detection unit 24 has a wind force measurement unit 240 and a determination unit 241.

The wind force measurement unit 240 is a functional unit that measures the wind blowing on the drone 100 and generates “wind force information” for the determination unit 241 to determine whether or not the wind is strong. The wind force measuring unit 240 has at least one of a wind speed measuring unit 242, an acceleration measuring unit 243, a thrust measuring unit 244, a moving speed measuring unit 245, and a position deviation measuring unit 246. The wind force measurement unit 240 may have a plurality of measurement units of the same type. The wind force measuring unit 240 measures at least one of wind speed, drone acceleration, drone thrust, drone movement speed, and drone position deviation while the drone 100 is hovering or moving to obtain wind force information. To generate. The wind force measurement unit 240 transmits the generated wind force information to the determination unit 241.

The wind speed measurement unit 242 is a measurement unit that calculates the wind speed by measuring the stress generated by the wind with a contact detector, for example. Further, the wind speed measuring unit 242 may have an anemometer of a wind cup type, a windmill type, or the like. The wind speed measuring unit 242 may have a separate sensor that directly detects the wind speed. The wind speed measuring unit 242 may calculate the wind speed based on the difference between the current posture angle and the posture angle in the no-wind state.

The wind speed measuring unit 242 is configured to be able to measure the wind speed of the wind blown onto the drone 100 from all directions. In addition, the wind speed measurement unit 242 may be configured to be able to measure the wind speed in the front-rear direction and the left-right direction in the normal flight state of the drone 100.

The wind speed measuring unit 242 may obtain the wind speed in the traveling direction to be sprayed on the drone 100 by subtracting the ground speed from the air speed. Ground speed is the speed of the drone 100 that is actually achieved with respect to the ground. The airspeed is a speed at which the propulsion device of the drone 100 converts the operating force exerted in consideration of the influence of wind into a speed in a windless state in order to achieve a predetermined ground speed. Since the airspeed of the drone 100 in the direction orthogonal to the traveling direction is 0, the wind speed of the wind orthogonal to the traveling direction can be obtained by obtaining the ground speed. The wind speed measuring unit 242 can obtain the direction of the wind blown to the drone 100 by calculating the ground speed and the air speed as a vector in consideration of the directions.

The wind speed measuring unit 242 includes a weight estimating unit 242-1, a ground speed calculating unit 242-2 that calculates a ground speed, and an air speed calculating unit 242-3 that calculates an air speed.

The weight estimation unit 242-1 is a functional unit that estimates the total weight m of the drone 100. The weight estimating unit 242-1 may estimate the total weight m of the drone 100 including the loaded weight of the loaded object, or may estimate the variable loaded weight of the loaded object, and then the weight does not change, for example, The total weight m of the drone 100 including the load may be estimated by adding the weights of the flight controller 501, the rotor blade 101, the motor 102, and other auxiliary equipment of the drone 100. The load whose weight can change is a drug in the present embodiment.

Even if the weight estimating unit 242-1 estimates the total weight m of the drone 100 including the loaded weight of the loaded object based on the thrust T in the height direction exerted by the propulsion device when the altitude of the drone 100 does not change. Good. This is because the thrust T in the height direction exerted by the propulsion device of the drone 100 is in balance with the gravitational acceleration g received by the drone 100 in a state where the altitude of the drone 100 does not change.

The weight estimation unit 242-1 calculates the drug discharge amount by integrating the discharge flow rates from the drug tank 104 measured by the flow rate sensor 510, and subtracts the drug discharge amount from the initially loaded drug amount to obtain the drug tank. The weight of 104 may be estimated. According to this configuration, the weight of the drug tank 104 can be estimated regardless of the flight state of the drone 100. Further, the weight estimation unit 242-1 may have a function of estimating the liquid level height in the medicine tank 104, for example. The weight estimating unit 242-1 may estimate the weight using a liquid level gauge, a water pressure sensor, or the like arranged in the medicine tank 104.

The ground speed calculator 242-2 can calculate the ground speed by obtaining the absolute speed of the space from the GPS module 504. Further, the ground speed measuring unit 242-1 can be calculated by the GPS modules RTK504-1, 504-2 included in the drone 100. Further, the ground speed measuring unit 242-2 can also be obtained by integrating the acceleration of the drone 100 acquired by the 6-axis gyro sensor 505. That is, according to this configuration, the wind speed of the wind blown on the drone 100 can be obtained with a simple structure without mounting a separate wind speed measuring unit on the drone 100.

（４）
ｇは、重力加速度である。このように、ドローン100の姿勢角θおよび重量ｍに基づいて、ドローン100の対気速度v_aを求めることができる。The airspeed calculation unit 242-3 can obtain the airspeed based on the attitude angle θ and the weight of the drone 100. The displacement amount D between the drug drop point when the drone 100 is flying at an altitude L from the ground and the attitude angle of 0 degrees and the drug drop point when it is flying at the attitude angle θ are as follows: Desired.
D=L×tan θ (1)
While the drone 100 is moving at a constant speed or hovering, the drag Fd due to the air resistance and the airspeed v _a are as follows.
Fd=(1/2) × ρv _a ² S × Cd (2)
The air density ρ and the air resistance coefficient Cd. The representative area S such as the front projected area is a value obtained in advance based on the size and shape of the drone 100.
Further, the following equation holds true between the posture angle θ and the drag force Fd.
Fd=mg tan θ (3)
Note that m is the weight of the drone 100. While the drone 100 is moving at a constant speed or hovering, the airspeed v _a can be obtained by the following equation by solving the equations (1) and (2).

(4)
g is the acceleration of gravity. In this way, the airspeed v _a of the drone 100 can be obtained based on the attitude angle θ of the drone 100 and the weight m.

The acceleration measuring unit 243 is a functional unit that measures the acceleration of the position change of the drone 100. The acceleration measuring unit 243 is realized by, for example, a 6-axis gyro sensor 505 shown in FIG.

The thrust measuring unit 244 is a functional unit that measures the thrust that causes the flying drone 100 to fly. The thrust is obtained by the rotary blade in this embodiment. The thrust measuring unit 244 indicates, for example, a rotation measuring function arranged inside the motor itself that controls the rotation of the rotor blades. That is, the thrust measuring unit 244 acquires the rotation speed of the rotor controlled by the motor by measuring the rotation speed of the motor.

The thrust measuring unit 244 may measure the rotation speed of the rotary blade itself. For example, the thrust measuring unit 244 may be a non-contact type tachometer. In this case, the thrust measuring unit 244 counts the number of rotations of the rotary blade by irradiating at least one part of the rotary blade with the laser and measuring the reflected light from the rotary blade of the laser. The laser is, for example, an infrared laser.

Furthermore, the thrust measuring unit 244 may measure the current supplied to the motor.

The thrust measuring unit 244 may be a functional unit that measures the operating state of the propulsion unit when the drone's thrust is realized by a configuration other than the rotor blades. For example, when the drone is propelled by jet injection, the thrust measurement unit 244 may be a functional unit that measures the pressure of jet injection.

The moving speed measuring unit 245 is a measuring unit that measures the moving speed when the drone 100 moves due to strong wind. The moving speed measurement unit 245 may measure the body speed using a plurality of sensors of different types. Specifically, the moving speed can be estimated by integrating the measured values of the acceleration sensor. In addition, GPS Doppler can measure the moving speed of the drone 100 by processing the phase difference of radio waves from a plurality of GPS base stations with software.

The position deviation measurement unit 246 is a measurement unit that measures the amount of movement when the drone 100 moves due to strong wind. The position deviation measuring unit 246 acquires the absolute position information of the drone 100 by using, for example, a quasi-zenith satellite system or RTK-GPS, and acquires the deviation of the absolute position. The position deviation measuring unit 246 is composed of, for example, an RTK antenna and a GPS module RTK.

The determination unit 241 is a functional unit that determines whether or not a strong wind is blowing on the drone 100 based on the wind force information measured by the wind force measurement unit 240. Specifically, when the wind speed measured by the wind speed measurement unit 242 is equal to or higher than a predetermined value, the determination unit 241 outputs a signal indicating that strong wind is blowing on the drone 100 (hereinafter, also referred to as “strong wind signal”). It is generated and transmitted to the flight control unit 23.

Further, the determination unit 241 transmits a strong wind signal to the flight control unit 23 when the acceleration measured by the acceleration measurement unit 243 is equal to or higher than a predetermined value. Further, the determination unit 241 assumes the acceleration of the drone 100 that is expected to be exerted from the value of the thrust measured by the thrust measurement unit 244, and compares the assumed acceleration with the actual measurement value of the acceleration measured by the acceleration measurement unit 243. .. When the difference between the assumed acceleration and the actual measurement value of the acceleration is equal to or larger than the predetermined value, the determination unit 241 determines that a strong wind is blowing on the drone 100. This is because it is assumed that the intended flight is not possible due to wind resistance.

The determining unit 241 may also transmit a strong wind signal to the flight control unit 23 when the moving speed measured by the moving speed measuring unit 245 is equal to or higher than a predetermined value. In this case, further, the determination unit 241 assumes the moving speed of the drone 100 that is expected to be exerted from the value of the thrust measured by the thrust measuring unit 244, and compares the assumed moving speed with the measured value of the moving speed. You may. When the difference between the estimated moving speed and the actually measured value of the moving speed is equal to or larger than the predetermined value, the determination unit 241 determines that the drone 100 is blowing with strong wind. This is because it is assumed that the intended flight is not possible due to wind resistance.

Furthermore, the determination unit 241 compares the absolute position information of the drone 100 acquired by the position deviation measurement unit 246 with information on a planned flight route, and when there is a deviation of a predetermined distance or more, a strong wind. The signal may be transmitted to the flight control unit 23.

The determination unit 241 may determine which evacuation action the flight control unit 23 should perform based on the wind power information, and may transmit the determined type of the evacuation action to the flight control unit 23.

In addition, when determining unit 241 determines that strong wind is blowing on drone 100 based on the wind force information measured by wind force measuring unit 240, it transmits a strong wind signal to drug control unit 30. When the strong wind signal is transmitted, the drug control unit 30 stops the drug spraying.

The threshold value of the wind power information for determining that the determination unit 241 determines that a strong wind is blowing on the drone 100 may be a fixed threshold value stored in advance in the drone 100, or may be changed depending on the situation. It may be a varying threshold. In the case of a drone that holds a drug tank and flies while spraying the drug, as the amount of drug held decreases, the weight of the aircraft becomes lighter, so the risk of strong winds also fluctuates. In the case of the changing threshold value, it may be automatically changed by an appropriate configuration connected to the drone 100 wirelessly or by wire, or may be manually changed by the user 402.

The determination unit 241 may have a threshold value of wind power information for determining that a strong wind is blowing on the drone 100, and may be an independent value for each of wind speed, acceleration, and thrust, or may be integrated by a function interlocking with each other. You may make a decision.

The determination unit 241 may determine whether it is a strong wind based on the wind force information at a certain time point to be measured, or may determine whether it is a strong wind based on the measurement results of a plurality of past times. In this case, for example, the latest measurement results may be averaged and used for the determination.

Further, the threshold value at which the determination unit 241 transmits the strong wind signal to the flight control unit 23 and the threshold value at which the strong wind signal is transmitted to the medicine control unit 30 may be the same or different from each other. The threshold value at which the drug control unit 30 stops the drug application may be set lower than the threshold value at which the flight control unit 23 starts the retreat action.

It is preferable that the strong wind detection unit 24 displays the fact that a strong wind has been detected on the controller 401 monitored by the user 402 by an appropriate communication means included in the drone 100. In addition, the strong wind detection unit 24 may be configured to display that the drone 100 has detected a strong wind, using a display unit of the drone 100, such as an LED. Also, an appropriate sound may be output from the drone 100 speaker.

In addition, when the user 402 acquires the information of the drone 100 using the eyewear-type wearable terminal, it may be displayed or projected on the screen of the eyewear. In addition, when the user 402 acquires the information of the drone 100 by the earphone type wearable terminal, the user 402 may notify by sound.

The other-device information receiving unit 25 is a functional unit that receives information transmitted by another drone 100b existing in the vicinity. The machine body information transmission unit 26 is a functional unit that transmits information to the outside of the drone 100. Another drone 100b is a drone that flies in a space near the drone 100. The different drone 100b may be a drone managed by the same user 402 or may be a drone managed by another user 402. Further, in the present embodiment, another drone 100b is assumed to be a drug spraying drone having the same configuration as the drone according to the present invention, but it may be a drone flying around for another purpose, For example, it may be a surveillance drone that does not have a drug tank.

The machine body information transmission unit 26 transmits the strong wind signal generated by the determination unit 241 to the outside of the drone 100. The other-machine information receiving unit 25 receives the strong wind signal from the machine-body information transmitting unit 26b of another drone 100b and transmits it to the flight control unit 23 and the drug control unit 30. The flight control unit 23 starts the evacuation action based on the strong wind signal received by the other-machine information receiving unit 25. When the drone 100 is landing, the flight control unit 23 prohibits the drone 100 from taking off. Further, the medicine control unit 30 stops the spraying of the medicine based on the strong wind signal transmitted to the machine body information transmission unit 26b and received by the other machine information reception unit 25.

Note that the machine body information transmission unit 26 may transmit the wind force information measured by the self machine to the other machine information reception unit (25b) instead of the strong wind signal. In this case, the other-device information receiving unit 25 transmits wind force information from another drone 100b to the determining unit 241. The determination unit 241 determines whether or not a strong wind is blowing on the drone 100 based on the wind force information from another drone 100b.

According to the drone 100 including the other-machine information receiving unit 25 and the machine-body information transmitting unit 26, it is possible for drones existing in the vicinity to exchange information with each other. The other-machine information receiving unit 25 and the machine-body information transmitting unit 26 may transmit and receive wind power information via the base station or the cloud by using, for example, Wi-fi, or the other-machine information receiving unit 25 and the machine-body information. The transmission unit 26 may communicate directly. Various configurations such as Bluetooth (registered trademark) and Zigbee (registered trademark) can be applied as the direct communication method.

The other-machine information receiving unit 25 can receive a strong wind signal or wind information measured by another machine when the drone 100 is landing, in addition to during normal flight and hovering. That is, when the strong wind is detected while the drone 100 is landing, the flight controller 23 can prevent the drone 100 from taking off. Further, a part of the functions of the pilot 401 may be restricted so that the takeoff command cannot be transmitted. According to the configuration of the other-machine information receiving unit 25, it is possible to determine whether or not the drone 100 may be taken off before the drone 100 is landing.

The wind speed receiver 27 is a receiver that can receive the wind speed measured by the fixed wind speed measuring device 40. The wind speed measuring device 40 is arranged near the flight space of the drone 100. The wind speed measuring device 40 is installed in, for example, a Wi-fi base station or an RTK-GPS base station. The wind speed measuring device 40 transmits the wind speed to the wind speed receiving unit 27. The wind speed receiving unit 27 transmits the received wind speed to the determining unit 241.

The wind speed measuring device 40 may have a determination unit that determines whether or not strong wind is blowing based on the measured wind speed. When determining that strong wind is blowing, the wind speed measuring device 40 transmits a strong wind signal to the wind speed receiving unit 27 of the drone 100. The wind speed receiving unit 27 receives the strong wind signal transmitted from the wind speed measuring device 40, and transmits it to the flight control unit 23 and the medicine control unit 30.

The wind speed receiving unit 27 can receive a strong wind signal or the wind speed measured by the wind speed measuring device 40 not only during the normal flight and hovering of the drone 100 but also during the landing. When strong wind is detected while the drone 100 is landing, the flight control unit 23 does not take the drone 100 off. According to the configuration of the wind speed reception unit 27, it is possible to determine whether or not the drone 100 may be taken off before the drone 100 is landing.

As shown in FIG. 7, first, the drone 100 starts normal flight or hovering as planned (step S1). The wind speed measuring unit 242 of the drone 100 measures the wind speed (step S2). Further, the acceleration measuring unit 243 measures the acceleration (step S3). Further, the thrust measuring unit 244 measures the thrust (step S4). Furthermore, the moving speed measuring unit 245 measures the moving speed of the drone 100 (step S5). Furthermore, the position deviation measuring unit 246 measures the deviation of the position of the drone 100 within a predetermined time (step S6). Steps S2 to S6 are in no particular order. Also, steps S2 to S6 may be executed simultaneously. In the present embodiment, all the steps S2 to S6 have been described, but in the drone 100 according to the present invention, at least one of the steps S2 to S6 may be performed.

The determination unit 241 causes the drone 100 to have a strong wind based on the wind force information measured by any one or more of the wind speed measurement unit 242, the acceleration measurement unit 243, the thrust measurement unit 244, the moving speed measurement unit 245, and the position deviation measurement unit 246. It is determined whether or not is blowing (step S7).

When the determination unit 241 does not determine that “a strong wind is blowing”, the operation returns to step S1. When the determination unit 241 determines that “a strong wind is blowing”, the drug control unit 30 stops the drug spraying when the drug is sprayed (step S8). Note that the steps S1 to S5 may be executed when the drug is not sprayed, for example, during hovering immediately after the start of flight. When the drug is not sprayed, step S6 is omitted. In addition, the flight control unit 23 starts the evacuation action (step S9). Furthermore, the machine body information transmission unit 26 transmits a strong wind signal to another drone 100b (step S10).

According to this configuration, it is possible to safely evacuate the drone 100 by detecting an environment in which the drone 100 cannot normally fly due to strong wind.

As shown in FIG. 8, first, the other-machine information receiving unit 25 of the drone 100 receives a strong wind signal from another drone (step S11). It should be noted that the other-machine information receiving unit 25 may receive the strong wind signal in any of the normal flight which is the flight as planned, the hovering, and the landing state. It is determined whether the drone 100 is flying or landing (step S12). When the drone 100 is flying, the medicine control unit 30 stops the medicine spraying when the drug spraying is being performed (step S13). In addition, the flight control unit 23 starts the evacuation action (step S14).

When the drone 100 is in the landing state, the flight control unit prohibits the takeoff of the drone 100 and prevents the takeoff (step S15). The controller 401 displays that the drone 100 cannot take off due to strong wind. In addition, a part of the operation of the pilot 401 may be restricted so that a command accompanying takeoff cannot be input.

As shown in FIG. 9, first, the wind speed receiver 27 of the drone 100 receives the wind speed measured by the wind speed measuring device 40 (step S21). It should be noted that the other-machine information receiving unit 25 may receive the strong wind signal in any of the normal flight which is the flight as planned, the hovering, and the landing state. The determination unit 241 determines whether or not the wind speed is strong based on the wind speed received by the wind speed reception unit 27 (step S22), and when the determination unit 241 does not determine the strong wind, the operation returns to the operation of step S21.

When the determination unit 241 determines that “the wind is strong”, it determines whether the drone 100 is flying or landing (step S23). When the drone 100 is flying, the medicine control unit 30 stops the medicine spraying when the medicine is sprayed (step S23). In addition, the flight control unit 23 starts the evacuation action (step S24).

When the drone 100 is in a landing state, the flight control unit 23 prohibits the takeoff of the drone 100 and prevents the drone 100 from flying (step S26). In addition, the controller 401 may display that the drone 100 cannot take off due to strong wind. Further, a part of the operation of the pilot 401 may be restricted so that a command with takeoff cannot be input.

In the present description, the agricultural chemical spray drone has been described as an example, but the technical idea of the present invention is not limited to this and is applicable to drones in general. It is especially useful for drones that fly autonomously.

(Technically remarkable effect of the present invention)
With the drone according to the present invention, it is possible to provide a drone that can maintain high safety even during autonomous flight.

Claims (23)

Means of flight,
A flight control unit for operating the flight means,
A strong wind detection unit that generates a strong wind signal by detecting that strong wind is blowing, and transmits the strong wind signal to the flight control unit,
A drone that has a
The strong wind signal or wind force detection signal generated by the strong wind detection unit, a body information transmission unit that transmits to another drone,
Other device information receiving unit for receiving a strong wind signal or a wind detection signal transmitted from another drone,
If the previous SL strong wind detection unit has transmitted the strong wind signal by detecting that the blown strong wind on the flight control section, the flight control section, retracts the self drones based on the strong wind signal, And when the other machine information receiving unit receives the strong wind signal from the different drone, the self drone is evacuated,
Drone. Means of flight,
A flight control unit for operating the flight means,
A wind force measuring unit that measures wind force,
Based on the wind power information measured by the wind power measurement unit, a strong wind detection unit that determines whether strong wind is blowing and generates a strong wind signal,
A drone comprising
The wind force information measured by the wind force measurement unit, a body information transmission unit that transmits to another drone,
Other aircraft information receiving unit for receiving wind power information transmitted from another drone,
The flight control unit evacuates the drone when the strong wind detection unit determines that a strong wind is blowing, and based on the wind power information transmitted from the other drone received by the other aircraft information receiving unit When the strong wind detection unit determines that a strong wind is blowing, retract the drone,
Drone. The drone according to claim 1 or 2, wherein the strong wind detection unit changes a threshold value for generating the strong wind signal according to a body weight of the drone. The drone according to any one of claims 1 to 3, wherein the strong wind detection unit notifies a controller for controlling the drone that the strong wind has been detected via a communication unit. The strong wind detection unit,
A wind force measurement unit that generates wind force information of the wind blowing on the drone,
A determination unit that determines whether strong wind is blowing based on the wind force information,
Further comprising,
The drone according to any one of claims 1 to 4 . The wind force measuring unit generates at least one of wind velocity, acceleration of the drone, thrust of the drone, moving speed of the drone, and deviation of the position of the drone to generate the wind force information.
The drone according to claim 5 . The wind force measurement unit,
A ground speed calculator for calculating the ground speed of the drone,
Based on the attitude angle of the drone, at least one of the weight of the drone and the thrust of the thruster operated by the flight controller, and an airspeed calculator that calculates the airspeed of the drone,
Based on the ground speed and the airspeed, a wind speed measuring unit that calculates the wind speed and the wind direction in the traveling direction,
Further comprising,
The drone according to claim 5 or 6 . The drone according to any one of claims 1 to 7 , wherein the flight control unit performs one of an emergency return and a landing operation of the drone based on the strong wind signal. The strong wind detector detects that the drones are blown strong winds and during movement in hovering, drone according to any one of claims 1 to 8. In a state in which the drone is landed, when the other machine information receiving unit receives the strong wind signal, the flight control unit does not perform the takeoff of the drone, drone according to any one of claims 1 to 9 .. Further comprising a wind receiving unit that receives the wind the wind speed measuring instrument to measure the strong wind detection unit detects that the wind speed receiving section based on the wind speed to be received, are blown strong wind, according to claim 1 to 10 Drone described in any of. The drone according to claim 11 , wherein the flight control unit does not take off the drone when the strong wind is detected based on the wind speed received by the wind speed receiving unit while the drone is landing. A drug control unit for controlling whether or not to discharge the drug from the drone to the outside, wherein the drug control unit stops the discharge of the drug based on the strong wind detecting unit detecting strong wind. The drone according to any one of Items 1 to 12 . Means of flight,
A flight control unit for operating the flight means,
A strong wind detection unit that generates a strong wind signal by detecting that strong wind is blowing, and transmits the strong wind signal to the flight control unit,
A method of controlling a drone comprising:
A strong wind detecting step of generating a strong wind signal by detecting that strong wind is blowing;
The aircraft information transmission step of transmitting the strong wind signal or the wind force detection signal generated by the strong wind detection unit to another drone,
Other aircraft information receiving step of receiving a strong wind signal or a wind detection signal transmitted from another drone,
If the previous SL strong wind detection unit has transmitted the strong wind signal by detecting that the blowing strong wind on the flight control unit, the steps of the flight control unit is Ru retracts the self drones based on the strong wind signal ,
A step of retracting the own drone when the strong wind signal is received from the other drone in the other machine information receiving step,
Controlling drone, including. Means of flight,
A flight control unit for operating the flight means,
A wind force measuring unit that measures wind force,
Based on the wind power information measured by the wind power measurement unit, a strong wind detection unit that determines whether strong wind is blowing and generates a strong wind signal,
A method of controlling a drone comprising:
A strong wind detection step of detecting that strong wind is blowing and generating a strong wind signal,
Aircraft information transmission step of transmitting the wind power information measured by the wind power measurement unit to another drone,
Other aircraft information receiving step of receiving wind information transmitted from another drone,
The flight control unit evacuates the drone when the strong wind detection unit determines that strong wind is blowing, and based on the wind power information transmitted from the different drone received by the other aircraft information receiving step And the step of retracting the drone when the strong wind detection unit determines that strong wind is blowing,
Controlling drone, including. The drone control method according to claim 14 or 15, wherein the strong wind detecting unit changes a threshold value for generating the strong wind signal according to a body weight of the drone. The drone control method according to any one of claims 14 to 16, wherein the strong wind detection unit notifies a controller, which controls the drone, of the fact that strong wind has been detected, via a communication unit. Means of flight,
A flight control unit for operating the flight means,
A strong wind detection unit that generates a strong wind signal by detecting that strong wind is blowing, and transmits the strong wind signal to the flight control unit,
A drone control program comprising:
A strong wind detection command that detects that strong wind is blowing and generates the strong wind signal,
The strong wind signal or wind force detection signal generated by the strong wind detection unit, an aircraft information transmission command for transmitting to another drone,
Other aircraft information reception command to receive a strong wind signal or wind detection signal transmitted from another drone ,
If the previous SL strong wind detection unit has transmitted the strong wind signal by detecting that the blowing strong wind on the flight control section, the flight control unit retracts the self drones based on the strong wind signal, and wherein An instruction to evacuate the own drone when the other aircraft information reception instruction receives the strong wind signal from the another drone ,
Drone control program that causes a computer to execute. Means of flight,
A flight control unit for operating the flight means,
A wind force measuring unit that measures wind force,
Based on the wind power information measured by the wind power measurement unit, a strong wind detection unit that determines whether strong wind is blowing and generates a strong wind signal,
A drone control program comprising:
A strong wind detection command that detects that strong wind is blowing and generates a strong wind signal,
The wind force information measured by the wind force measurement unit, a machine body information transmission command for transmitting to another drone,
Execute the other machine information reception command to receive the wind information transmitted from another drone,
The flight control unit evacuates the drone when the strong wind detection unit determines that strong wind is blowing, and based on wind power information transmitted from the other drone received by the other aircraft information reception command. And a command to retract the drone when the strong wind detection unit determines that a strong wind is blowing,
To execute on your computer, drone control program. 20. The drone control program according to claim 18, which causes a computer to execute an instruction to change a threshold value for generating the strong wind signal according to a body weight of the drone. 21. The drone control program according to any one of claims 18 to 20, which causes a computer to execute a command for notifying a controller, which controls the drone via a communication means, that strong wind has been detected. Means of flight,
A flight control unit for operating the flight means,
A strong wind detection unit that generates a strong wind signal by detecting that strong wind is blowing, and transmits the strong wind signal to the flight control unit,
A drone comprising
The strong wind detection unit changes the threshold value for generating the strong wind signal according to the body weight of the drone,
The flight control unit retracts the drone based on the strong wind signal,
Drone. 23. The drone according to claim 22, wherein the strong wind detection unit notifies a controller for controlling the drone that strong wind has been detected, via a communication unit.

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