JP6831274B2 - Flight equipment - Google Patents

Description

The present invention relates to a flight device.

In recent years, so-called drones have become widespread. Such a flight device is generally operated by the operator's visual inspection using wireless or wired remote control, or flies autonomously along a preset flight path. The flight device may interfere with obstacles both visually and when flying autonomously in this way. In the case of visual inspection, if there is an obstacle outside the operator's field of view, the flight device and the obstacle interfere with each other. In addition, when flying autonomously, obstacles that did not exist when the flight path was set may appear during the flight, causing unexpected interference between the flight device and the obstacles.

Therefore, Patent Document 1 proposes to detect the distance to an obstacle. Specifically, Patent Document 1 detects the presence or absence of an obstacle in a light emitting unit and a light receiving unit provided at the upper end of the airframe. Then, in Patent Document 1, when an obstacle is detected, the ascending speed is reduced to prevent a collision with an obstacle above the aircraft.
However, in the case of Patent Document 1, it is only the detection of an obstacle located above the airframe. That is, in the case of Patent Document 1, collision with an obstacle is only avoided in the ascending direction of the aircraft. Even if the light emitting unit and the light receiving unit are provided on the side of the machine body, the presence or absence of an obstacle is only detected, and it is difficult to know the exact direction and distance of the obstacle.

JP-A-2009-297449

Therefore, an object of the present invention is to provide a flight device that detects an obstacle and a distance to the obstacle not only above the yaw axis but also in any horizontal direction perpendicular to the yaw axis.

In the invention according to claim 1, a plurality of sonar modules are provided on the circumference with reference to the center of the substrate. Further, in the invention according to claim 2, a plurality of sonar modules are provided on a hemisphere with the center of the substrate as a reference. The sonar module uses ultrasonic waves to detect the distance to an obstacle. By arranging a plurality of the sonar modules on the circumference or on the hemisphere, the distance from the substrate to the obstacle is detected around the yaw axis. Further, by arranging the sonar module on the circumference or the hemisphere, not only the distance from the substrate to the obstacle but also the direction can be grasped by using the reflection intensity of ultrasonic waves. Therefore, the presence of an obstacle and the distance to the obstacle can be detected not only above the yaw axis but also in any horizontal direction perpendicular to the yaw axis.

Schematic plan view of the flight apparatus according to the first embodiment as viewed from above the yaw axis. FIG. 1 is a sectional view taken along line II-II. Block diagram showing the configuration of the flight device according to the first embodiment Schematic plan view of the main body of the substrate in the flight apparatus according to the first embodiment as viewed from above the yaw axis. A schematic plan view of the main body of the substrate as viewed from above the yaw axis in the modified example of the flight device according to the first embodiment. Schematic sectional view for explaining the arrangement of the sonar module of the flight apparatus according to the first embodiment. Schematic diagram showing the relationship between the irradiation node and the receiving node in the sonar module of the flight device according to the first embodiment. Schematic diagram showing the relationship between the irradiation node and the resin node in the sonar module of the flight device according to the first embodiment. Block diagram showing the configuration of the flight device according to the second embodiment Schematic diagram showing the flow of processing in the flight apparatus according to the second embodiment Schematic diagram showing the flow of processing in the flight apparatus according to the third embodiment Schematic diagram showing the flow of processing in the flight apparatus according to the fourth embodiment Schematic diagram showing the flow of processing in the flight apparatus according to the fourth embodiment Schematic diagram showing the flow of processing in the flight apparatus according to the fourth embodiment Block diagram showing the configuration of the flight device according to the fifth embodiment Schematic diagram showing the flow of processing in the flight apparatus according to the fifth embodiment Schematic plan view of the flight apparatus according to the sixth embodiment as viewed from above the yaw axis. Schematic side view showing a flight device according to another embodiment Schematic side view showing a flight device according to another embodiment

Hereinafter, a plurality of embodiments of the flight device will be described in detail with reference to the drawings. In the plurality of embodiments, substantially the same constituent parts are designated by the same reference numerals, and the description thereof will be omitted.
(First Embodiment)
As shown in FIGS. 1 and 2, the flight device 10 of the first embodiment includes a base 11, a thruster 12, and a sonar module 13. The base 11 has a main body 14 and an arm portion 15. The main body 14 is provided at the position of the center of gravity of the base 11. The arm portion 15 projects outward from the main body 14. In the case of the present embodiment, the substrate 11 has four arm portions 15 at equal intervals in the circumferential direction of the main body 14. The number of arms 15 is not limited to four as long as it is two or more, and can be arbitrarily set.

A thruster 12 is provided on each of the arms 15 of the base 11. The thrusters 12 are all provided at the ends of the arm 15 opposite to the main body 14. Each of these thrusters 12 has a propeller 16 and a motor 17 that rotationally drives the propeller 16. The thruster 12 generates a propulsive force by rotating the propeller 16 by the driving force of the motor 17.

The flight device 10 includes a control unit 20 and a battery 21 as shown in FIG. Both the control unit 20 and the battery 21 are housed in the main body 14. As shown in FIG. 3, the control unit 20 has a calculation unit 22. The calculation unit 22 is composed of, for example, a microcomputer having a CPU, a ROM, and a RAM. The control unit 20 controls each part of the flight device 10 including the thruster 12 and the sonar module 13 by executing the computer program stored in the ROM of the calculation unit 22.

The flight device 10 includes an attitude detection unit 23. The attitude detection unit 23 includes a GPS sensor 24, an acceleration sensor 25, an angular velocity sensor 26, a geomagnetic sensor 27, an altitude sensor 28, and the like. The attitude detection unit 23 detects the attitude of the base 11 from the GPS sensor 24, the acceleration sensor 25, the angular velocity sensor 26, the geomagnetic sensor 27, and the altitude sensor 28. The GPS sensor 24 receives a GPS (Global Positioning System) signal and detects the current position. The acceleration sensor 25 detects the acceleration applied to the substrate 11 in each of the three-dimensional directions of the x-axis corresponding to the roll axis, the y-axis corresponding to the pitch axis, and the z-axis corresponding to the yaw axis, and sends the acceleration sensor 25 to the attitude detection unit 23. Output. Similarly, the angular velocity sensor 26 detects the angular velocity in each of the three-dimensional directions applied to the substrate 11 and outputs the angular velocity to the attitude detection unit 23. The geomagnetic sensor 27 detects the geomagnetism and outputs it to the attitude detection unit 23, and the altitude sensor 28 detects the altitude of the substrate 11 and outputs it to the attitude detection unit 23. The attitude detection unit 23 detects various information such as the flight direction, flight altitude, and attitude angle of the substrate 11 based on the various signals received and detected.

The flight device 10 flies based on the input operation from the separate radio 30. The operator inputs the flight direction, flight attitude, and flight speed of the flight device 10 through the radio 30. The input operation is transmitted to the flight device 10 via wireless or wired communication. The flight device 10 includes a receiving unit 31. The receiving unit 31 receives the operation instruction transmitted from the radio 30 and outputs it to the control unit 20. The control unit 20 controls the thruster 12 based on the instruction received by the reception unit 31 and the attitude of the substrate 11 detected by the attitude detection unit 23.

The flight device 10 includes a sonar module 13. As shown in FIGS. 1 and 2, the sonar module 13 is arranged on the main body 14 of the base 11 on a hemisphere with respect to the center of the base 11. The center of the substrate 11 coincides with the yaw axis. In the case of the first embodiment, the flight device 10 includes nine sonar modules 131 to 139 as shown in FIG. Eight of these sonar modules 131 to 139, eight sonar modules 131 to 138 are arranged at equal intervals on the center of the substrate 11, that is, on the circumference with respect to the yaw axis. Along with this, the remaining one sonar module 139 is arranged above the base 11 in the yaw axis direction so as to be on a hemisphere with respect to the center of the base 11. That is, the sonar module 139 is provided above the other sonar modules 131 to 138 arranged on the circumference in the yaw axis direction. As a result, in the sonar modules 131 to 139, the ultrasonic wave irradiation surface is arranged on a semicircular sphere as shown by the alternate long and short dash line in FIG. The sonar module 13 may be arranged only on the circumference with respect to the center of the substrate 11 by omitting the sonar module 139 as shown in FIG. Further, the number of sonar modules 13 is not limited to the illustrated example, and can be set arbitrarily.

As shown in FIGS. 3 and 4, the sonar module 13 has an irradiation unit 41 and a reception unit 42 integrally modularized. The irradiation unit 41 irradiates ultrasonic waves. The receiving unit 42 receives the ultrasonic waves irradiated from the irradiation unit 41. The sonar module 13 detects the distance from the substrate 11 to an obstacle outside the substrate 11 by receiving the ultrasonic waves emitted from the irradiation unit 41 by the receiving unit 42. Each sonar module 13 outputs the detected distance to the obstacle to the control unit 20.

In the case of the first embodiment, the eight sonar modules 131 to 138 arranged on the circumference are formed by a roll axis and a pitch axis perpendicular to the yaw axis of the substrate 11 as shown in FIG. It is provided at an angle with respect to. FIG. 6 illustrates the sonar module 133 and the sonar module 137 among the sonar modules 131 to 138. That is, in the case of the first embodiment, the eight sonar modules 131 to 138 irradiate ultrasonic waves slightly above the yaw axis of the horizontal plane of the substrate 11 as shown by the arrow B in FIG. The irradiation unit 41 of the sonar module 13 irradiates ultrasonic waves in a conical shape within a range of ± 30 ° to 40 ° from the central axis corresponding to the arrow B in FIG. Therefore, by adjusting the angle of the sonar module 13 in this way, the ultrasonic waves emitted from the irradiation unit 41 are prevented from interfering with the propeller 16 of the thruster 12. When the ultrasonic wave emitted from the irradiation unit 41 hits the propeller 16 of the thruster 12, the propeller 16 is erroneously detected as an obstacle, and it becomes difficult to detect the accurate distance to the obstacle. By installing the sonar module 13 arranged on the circumference at an angle with respect to the yaw axis as in the first embodiment, the false detection of the propeller 16 is reduced, and the accurate distance to the obstacle is detected. Ru. On the other hand, in the sonar module 139 arranged at the center of the substrate 11 as shown in FIGS. 4 and 6, the central axis of the irradiated ultrasonic waves coincides with the yaw axis. That is, the irradiation unit 41 of the sonar module 139 irradiates ultrasonic waves toward the upper side of the yaw axis.

In the case of the first embodiment, the flight device 10 includes a warning unit 50 as shown in FIG. 3 in addition to the above configuration. The warning unit 50 is connected to the control unit 20 and issues a warning when the distance to the obstacle detected by the sonar module 13 is equal to or less than the set distance. Specifically, the control unit 20 operates the warning unit 50 when the distance between the substrate 11 detected by the sonar module 13 and the obstacle becomes equal to or less than the set distance. As a result, the warning unit 50 notifies the operator of the radio 30 that the distance between the flight device 10 and the obstacle is equal to or less than the set distance through the five senses. The warning unit 50 issues a warning on the flight device 10 or the radio 30. The warning unit 50 gives a visual warning through, for example, a lamp provided on the flight device 10 or the radio 30, or an audible warning through a buzzer or the like. Further, the warning unit 50 may tactilely warn the operator by vibration of the vibrator provided in the radio 30 or the like. The set distance is arbitrarily set in advance in consideration of the safety of the flight device 10.

Next, the detection of obstacles of the flight device 10 according to the above configuration will be described.
In the case of the first embodiment, the flight device 10 includes nine sonar modules 131 to 139 arranged on a hemisphere as shown in FIG. The control unit 20 instructs the nine sonar modules 131 to 139 arranged on the hemisphere to irradiate ultrasonic waves in order. The control unit 20 irradiates ultrasonic waves one by one in order from, for example, the sonar module 131. The control unit 20 irradiates the nine sonar modules 131 to 139 with ultrasonic waves at regular intervals. The period until the nine sonar modules 131 to 139 are irradiated with ultrasonic waves once is set to one cycle. The control unit 20 irradiates ultrasonic waves from nine sonar modules 131 to 139 in a cycle of, for example, several milliseconds to several seconds. By irradiating the nine sonar modules 131 to 139 with ultrasonic waves at regular intervals in this way, the ultrasonic waves radiated by one of the sonar modules and the ultrasonic waves radiated by the other sonar modules may interfere with each other. Absent.

In the case of the first embodiment, as shown in FIG. 7, the ultrasonic waves emitted from one sonar module 13 are also received by two adjacent sonar modules 13. For example, the ultrasonic waves emitted from the sonar module 131 are received not only by the sonar module 131 but also by the sonar module 132 and the sonar module 138 provided next to the sonar module 131. In this case, the sonar module 131 corresponds to the irradiation sonar module. In this way, the direction of an obstacle can be detected by setting a plurality of receiving nodes for one irradiation node by one sonar module 13. That is, the control unit 20 acquires the ultrasonic reception intensity not only from the sonar module 131 that irradiates the ultrasonic waves but also from the sonar modules 132 and the sonar modules 138 that are arranged adjacent to the sonar module 131. The control unit 20 estimates not only the distance to the obstacle but also the direction using the reception intensity of the ultrasonic waves received by the three sonar modules 131, 132, and 138. By increasing the number of receiving nodes in this way, the accuracy of estimating the direction and distance of obstacles is improved. The ultrasonic waves emitted from one sonar module 13 are not limited to the three sonar modules 13, and may be received by four or more sonar modules 13. For example, when the sonar modules 13 are densely arranged on the circumference or a hemisphere, the ultrasonic waves emitted from one sonar module 13 can be received by four or more sonar modules 13.

Further, the control unit 20 may simultaneously irradiate ultrasonic waves from two of the eight sonar modules 131 to 138 arranged on the circumference. As shown in FIG. 4, for example, the sonar module 131 and the sonar module 135 arranged on opposite sides of the center of the substrate 11 do not interfere with each other by the irradiated ultrasonic waves. Therefore, the control unit 20 includes sonar module 131 and sonar module 135, sonar module 132 and sonar module 136, sonar module 133 and sonar module 137, sonar module 134 and sonar module 138, which are arranged symmetrically as shown in FIG. It may be configured to irradiate ultrasonic waves at the same time. As a result, the information that can be acquired by the control unit 20 in one ultrasonic irradiation cycle increases.

In the first embodiment described above, a plurality of sonar modules 13 are provided on the circumference or on a hemisphere with the center of the substrate 11 as a reference. By providing the plurality of sonar modules 13 on the circumference or the hemisphere in this way, not only the distance to the obstacle but also the direction can be easily grasped around the substrate 11. Therefore, the presence of an obstacle and the distance to the obstacle can be detected not only above the yaw axis but also in any horizontal direction perpendicular to the yaw axis.

Further, in the first embodiment, when the distance to the obstacle detected by the sonar module 13 is equal to or less than the minimum distance, the control unit 20 warns through the warning unit 50. As a result, the operator of the flight device 10 can operate the flight device 10 before the flight device 10 interferes with an obstacle even in an environment where the flight device 10 cannot be visually visually recognized. Therefore, contact with obstacles can be avoided in advance, and safety can be enhanced.

In the first embodiment, the sonar module 13 is provided so as to be inclined with respect to the substrate 11. Specifically, the sonar modules 131 to 138 arranged on the circumference are inclined upward from a plane perpendicular to the yaw axis of the substrate 11. Therefore, the ultrasonic waves emitted from the sonar modules 131 to 138 are less reflected by the propeller 16 of the thruster 12. As a result, erroneous detection of obstacles due to the detection of the propeller 16 is reduced. Therefore, the direction and distance of the obstacle can be detected with high accuracy.

In the first embodiment, for example, the ultrasonic waves emitted from the sonar module 131 are received not only by the sonar module 131 but also by the adjacent sonar modules 132 and sonar modules 138. As a result, the control unit 20 estimates the direction and distance of the obstacle using the reflection intensity of the ultrasonic waves received by the three sonar modules 131, 132, and 138. Therefore, the accuracy of estimating the direction and distance of the obstacle can be improved. Further, at this time, ultrasonic waves may be simultaneously irradiated from a plurality of sonar modules 13 having a positional relationship that does not interfere with each other. By irradiating ultrasonic waves from the plurality of sonar modules 13 at the same time in this way, the amount of information acquired by irradiating one cycle of ultrasonic waves increases. Therefore, the accuracy of estimating the direction and distance of the obstacle can be further improved.

(Second Embodiment)
The flight device according to the second embodiment is shown in FIG.
In the case of the second embodiment, the structural configuration of the flight device 10 is common to that of the first embodiment. In the second embodiment, the control unit 20 realizes the traveling direction detection unit 61 and the irradiation control unit 62 by software by executing a computer program. The traveling direction detection unit 61 and the irradiation control unit 62 are not limited to software, but may be realized by hardware or by collaboration between hardware and software.

The traveling direction detection unit 61 detects the traveling direction of the substrate 11. Specifically, the traveling direction detection unit 61 detects, for example, the traveling direction detected by the GPS sensor 24 of the attitude detection unit 23, the acceleration detected by the acceleration sensor 25, the angular velocity detected by the angular velocity sensor 26, and the geomagnetic sensor 27. The traveling direction of the substrate 11 is detected from the geomagnetism or the like. At this time, the traveling direction detection unit 61 detects not only the traveling direction of the substrate 11 but also the flight speed in the traveling direction.

The irradiation control unit 62 controls the irradiation of ultrasonic waves from the sonar module 13. Specifically, the irradiation control unit 62 switches the sonar module 13 to either an "omnidirectional sensing mode" or a "fixed directional sensing mode".
(Omnidirectional sensing mode)
The irradiation control unit 62 controls the irradiation of ultrasonic waves in the "omnidirectional sensing mode" when the substrate 11 is considered to be stopped or stationary. That is, when the traveling direction detection unit 61 detects that the substrate 11 is stopped or stationary, the irradiation control unit 62 performs ultrasonic waves as an “omnidirectional sensing mode” based on a preset order set in the plurality of sonar modules 13. Irradiate. In the "omnidirectional sensing mode", the irradiation control unit 62 irradiates ultrasonic waves in the order of the sonar module 131 to the sonar module 138, for example, as described in the first embodiment described above. As described above, in the "omnidirectional sensing mode", all the sonar modules 13 are sequentially irradiated with ultrasonic waves, and obstacles are detected in all directions above the substrate 11 centered on the yaw axis. The setting order is an example and can be changed arbitrarily.

(Fixed orientation sensing mode)
The irradiation control unit 62 controls the irradiation of ultrasonic waves in the "fixed direction sensing mode" when the substrate 11 is considered to be moving. That is, when the traveling direction detecting unit 61 detects the traveling direction accompanying the movement of the substrate 11, the irradiation control unit 62 sets the “fixed direction sensing mode” in front of the traveling direction of the substrate 11 among the plurality of sonar modules 13. Ultrasonic waves are emitted from the located sonar module 13. That is, when the movement of the substrate 11 is detected, the irradiation control unit 62 shifts to the “fixed direction sensing mode” and irradiates ultrasonic waves from the sonar module 13 located in front of the plurality of sonar modules 13 in the traveling direction. For example, when flying in the flight direction F indicated by the arrow in FIG. 1, the irradiation control unit 62 irradiates ultrasonic waves from the sonar module 131 located on the front side of the flight direction F. Further, for example, when it is detected that the flight device 10 is simply rising, that is, moving upward in the yaw axis direction, ultrasonic waves are emitted from the sonar module 139. Here, the movement of the substrate 11 means the movement with respect to the ground. That is, the velocity of the substrate 11 means the ground speed.
Even in the case of the second embodiment, the intensity of the ultrasonic waves reflected by the obstacle is received not only by the sonar module 13 irradiated with the ultrasonic waves but also by a plurality of sonar modules 13 adjacent thereto.

(Sensing mode switching control)
Next, an example of control for switching the sensing mode will be described with reference to FIG.
The traveling direction detection unit 61 detects the speed of the substrate 11, that is, the moving speed, while the power of the flight device 10 is on (S101). The traveling direction detecting unit 61 detects the speed of the substrate 11 based on the output values of various sensors of the attitude detecting unit 23. The traveling direction detection unit 61 determines whether or not the detected speed of the substrate 11 is “0” (S102).

When the traveling direction detection unit 61 determines that the detected speed of the substrate 11 is "0" (S102: Yes), it determines whether or not the input value to the radio 30 is equal to or less than the preset input upper limit value. (S103). The flight device 10 is remotely controlled by the radio 30. That is, in order to remotely control the flight device 10, an input larger than the input upper limit value is performed on the radio 30. Therefore, the traveling direction detection unit 61 confirms whether or not the input value to the radio 30 is equal to or less than the preset input upper limit value, that is, whether or not an intentional input is performed. The input upper limit value is set according to the characteristics of the flight device 10 and the radio 30.

When the irradiation control unit 62 determines in S103 that the input value to the radio 30 is equal to or less than the input upper limit value (S103: Yes), the irradiation control unit 62 sets the “omnidirectional sensing mode” (S104). That is, when the input value to the radio 30 is equal to or less than the input upper limit value, the substrate 11 is considered to be stopped or stationary. Therefore, the irradiation control unit 62 sets the sensing mode to the "omnidirectional sensing mode" in order to detect obstacles in all directions of the substrate 11.

On the other hand, when it is determined in S102 that the speed of the substrate 11 is not "0" (S102: No), or in S103 it is determined that the input value to the radio 30 is larger than the input upper limit value (S103: No). , The irradiation control unit 62 is set to the "fixed direction sensing mode". That is, when it is determined in S102 that the speed of the substrate 11 is not "0", it is considered that the substrate 11 is moving or rising in a specific direction. Further, when it is determined in S103 that the input value is larger than the input upper limit value, it is considered that the substrate 11 is flying according to the instruction from the radio. Therefore, the irradiation control unit 62 is set to the "fixed direction sensing mode" in order to preferentially detect an obstacle in front of the traveling direction in which the substrate 11 moves (S105). When the irradiation control unit 62 is set to the “fixed direction sensing mode” in S105, the sonar module 13 among the plurality of sonar modules 13 is prioritized based on the speed, flight direction, and attitude angle of the substrate 11 detected in S101. Is set to irradiate ultrasonic waves (S106).

In the second embodiment, the "omnidirectional sensing mode" and the "fixed directional sensing mode" are switched according to the conditions. When the substrate 11 is stationary or stationary, it is difficult to estimate the direction in which the obstacle is present. Therefore, the irradiation control unit 62 executes an "omnidirectional sensing mode" in which ultrasonic waves are applied to all directions of the base 11 when the base 11 is stopped or stationary. On the other hand, when flying in a specific direction of the substrate 11, the flight device 10 may interfere with an obstacle in that direction. Therefore, the irradiation control unit 62 executes a "fixed direction sensing mode" in which ultrasonic waves are preferentially irradiated forward in the flight direction when the substrate 11 is moving. In this way, by preferentially using some of the sonar modules 13 that are in front of the flight direction among all the sonar modules 13, obstacle detection by the specific sonar module 13 is repeated, and obstacles are detected. The cycle is shortened. As a result, the accuracy of detecting obstacles is improved. Therefore, obstacles can be detected earlier and more reliably according to the flight direction of the flight device 10.

(Third Embodiment)
The third embodiment is an application example of the second embodiment. In the third embodiment, the influence of the wind on the flight device 10 during flight is considered.
When flying inside equipment such as a building, the flight device 10 is hardly affected by disturbances such as wind and airflow. On the other hand, when the flight device 10 flies outdoors, it is easily affected by disturbances such as wind and airflow. For example, when the flight device 10 is affected by the wind, the substrate 11 is easily swept from the windward side to the leeward side. Therefore, the irradiation control unit 62 gives priority to the irradiation of ultrasonic waves from the sonar module 13 on the leeward side. Specifically, the irradiation control unit 62 acquires the traveling direction of the substrate 11 in the traveling direction detecting unit 61, and acquires the posture angle of the substrate 11 in the posture detecting unit 23. Then, the irradiation control unit 62 determines whether or not the traveling direction of the acquired substrate 11 and the posture angle of the substrate 11 are deviated from each other. When the traveling direction of the substrate 11 and the posture angle deviate from each other, the irradiation control unit 62 determines that the substrate 11 is being blown by the wind in the traveling direction of the substrate 11 detected by the traveling direction detecting unit 61. Using this determination, the irradiation control unit 62 detects the downstream side in the wind direction direction, that is, the leeward side when the posture angle of the substrate 11 is “0”. The irradiation control unit 62 irradiates ultrasonic waves from the sonar module 13 provided on the leeward side of the plurality of sonar modules 13. As a result, when the substrate 11 is swept downwind, an obstacle located on the leeward side in front of the traveling direction is preferentially detected.

Hereinafter, an example of the process of estimating the direction of the wind will be described with reference to FIG.
(Estimation of wind direction)
The traveling direction detection unit 61 detects the speed of the substrate 11, that is, the moving speed (S201). The traveling direction detection unit 61 determines whether or not the speed of the base 11 is "0" from the speed of the base 11 detected in S201 (S202). The traveling direction detection unit 61 acquires an operation vector input to the radio 30 when the speed of the substrate 11 is “0” (S202: Yes) (S203). The operation vector corresponds to the operation direction and the operation amount input to the radio 30. The traveling direction detection unit 61 determines whether or not the operation vector of the radio 30 acquired in S203 and the velocity vector of the base 11 are different (S204). The velocity vector of the base 11 corresponds to the flight direction and the flight speed of the base 11.

When the operation vector of the radio 30 and the velocity vector of the base 11 are different (S204: Yes), the traveling direction detection unit 61 has the same traveling direction and wind direction of the substrate 11, that is, in the traveling direction of the substrate 11. It is determined that there is a wind in the direction along the line (S205). That is, even though the velocity of the substrate 11 is determined to be "0" in S202, when the operation vector and the velocity vector are different, the substrate 11 flies against the wind, and as a result, the ground speed becomes "0". It means that it is "0". Therefore, in this case, the traveling direction detecting unit 61 determines that there is wind toward the traveling direction of the substrate 11.

When the speed of the substrate 11 is not "0" (S202: No), the traveling direction detection unit 61 determines whether or not there is an input operation to the radio 30 (S206). When the traveling direction detection unit 61 determines in S205 that there is no input operation to the radio 30 (S205: Yes), it determines that it is a breeze (S206). That is, if it is determined in S202 that the speed of the substrate 11 is not "0", but in S206 it is determined that there is no input operation to the radio 30, it is considered that the substrate 11 is slowly moving. As a result, it is determined that the surroundings of the substrate 11 are breeze.

Similarly, when the traveling direction detection unit 61 determines in S204 that the operation vector and the velocity vector are not different (S204: No), it determines that there is no wind (S207). That is, when the operation vector and the velocity vector are the same, the base 11 is flying as intended by the operator according to the operation amount input to the radio 30. Therefore, it is determined that there is no wind that affects the flight of the base 11.

When the traveling direction detection unit 61 determines in S206 that there is an input operation to the radio 30 (S206: No), it determines that there is a wind in the direction opposite to the input operation to the radio 30 (S207). That is, when it is determined in S202 that the speed of the substrate 11 is not "0" and in S207 that there is an input operation to the radio 30, it is considered that the substrate 11 is being flown by the wind. As a result, it is determined that there is a wind in the direction opposite to the operation of the radio 30.
The direction of the wind is estimated by the above procedure. The irradiation control unit 62 irradiates ultrasonic waves from the sonar module 13 located on the leeward side of the plurality of sonar modules 13 using the wind direction estimated by the above procedure.

In the third embodiment, the influence of wind is taken into consideration when detecting an obstacle. The traveling direction detection unit 61 estimates the wind direction from the relationship between the speed of the base 11 and the attitude angle of the base 11 such as the amount of operation of the radio 30. The irradiation control unit 62 irradiates ultrasonic waves from the sonar module 13 on the leeward side of the plurality of sonar modules 13 based on the wind direction estimated by the traveling direction detection unit 61. As a result, even when the substrate 11 is swept by the wind, obstacles on the leeward side are preferentially detected. Therefore, it is possible to reliably detect obstacles earlier.

(Fourth Embodiment)
The fourth embodiment is an application of the second embodiment. In the fourth embodiment, the sensing mode is switched according to the flight speed of the substrate 11 and the presence or absence of obstacles.
(basic action)
The basic operation of the flight device 10 according to the fourth embodiment will be described with reference to FIG. In the fourth embodiment, the irradiation control unit 62 sets the initial sensing mode based on the speed of the substrate 11. Specifically, the traveling direction detection unit 61 detects the speed of the substrate 11 (S301). Then, the traveling direction detection unit 61 determines whether or not the speed of the base 11 is "0" based on the speed of the base 11 detected in S301 (S302). The irradiation control unit 62 sets the “omnidirectional sensing mode” when the speed of the substrate 11 is “0” (S302: Yes) (S303). On the other hand, when the speed of the substrate 11 is not "0" (S302: No), the irradiation control unit 62 sets the "fixed direction sensing mode" (S304). In this way, the irradiation control unit 62 sets the initial sensing mode based on the speed of the substrate 11. After that, the irradiation control unit 62 switches the sensing mode under a specific condition in each sensing mode.

(Processing flow in omnidirectional sensing mode)
The processing flow in the "omnidirectional sensing mode" will be described with reference to FIG.
When the irradiation control unit 62 is set to the “omnidirectional sensing mode” in S303, the irradiation control unit 62 executes a process of irradiating ultrasonic waves in all directions using the sonar module 13 (S401). That is, the irradiation control unit 62 sequentially irradiates ultrasonic waves from all the sonar modules 13 to detect obstacles in all directions of the substrate 11. The irradiation control unit 62 determines whether or not there is an obstacle within the preset setting range (S402). That is, the irradiation control unit 62 determines whether or not there is an obstacle within the set range in all directions from the sonar module 13 to the substrate 11. The setting range is a range for issuing a warning by the warning unit 50, and is set according to the performance of the base 11 such as several meters from the base 11. The set range may be a fixed value or a variable value that changes according to the flight speed of the substrate 11.

When the control unit 20 detects an obstacle within the set range in S402 (S402: Yes), the control unit 20 issues a warning from the warning unit 50 (S403). That is, the control unit 20 operates the warning unit 50 to notify the operator of the existence of an obstacle. Then, the irradiation control unit 62 changes the sensing mode from the “omnidirectional sensing mode” to the “fixed directional sensing mode” (S404). That is, the irradiation control unit 62 changes to the "fixed direction sensing mode" in order to give priority to the direction in which the obstacle is detected. As a result, the ultrasonic waves of the sonar module 13 are preferentially irradiated in the direction in which the obstacle is detected. Therefore, the detection accuracy of obstacles is improved. After changing to the "fixed sensing mode" in S404, the control unit 20 returns to S301 shown in FIG. 12 and repeats the processing after S301. Further, when the obstacle is not detected within the set range in S402 (S402: No), the control unit 20 returns to S301 and repeats the processing after S301.

(Processing flow in fixed orientation sensing mode)
The processing flow in the "fixed direction sensing mode" will be described with reference to FIG.
When the irradiation control unit 62 is set to the “fixed direction sensing mode” in S304, the irradiation control unit 62 executes a process of preferentially irradiating ultrasonic waves in the direction in which the presence of an obstacle is estimated by using the sonar module 13 (S501). ). That is, the irradiation control unit 62 irradiates ultrasonic waves from the sonar module 13 provided on the side of all the sonar modules 13 where the presence of an obstacle is presumed, and detects the obstacle in a specific direction. The irradiation control unit 62 determines whether or not there is an obstacle within the preset setting range (S502). That is, the irradiation control unit 62 determines whether or not there is an obstacle within the set range in a specific direction.

When an obstacle is detected within the set range in S502 (S502: Yes), the control unit 20 issues a warning from the warning unit 50 (S503). When the control unit 20 issues a warning from the warning unit 50 in S503, the control unit 20 returns to S301 and repeats the processing after S301. On the other hand, the traveling direction detecting unit 61 detects the speed of the substrate 11 (S504) when no obstacle is detected within the set range in S502 (S502: No). As the speed of the base 11, the speed of the base 11 detected in S301 may be used, or the speed of the base 11 may be detected again in S504. Then, the traveling direction detection unit 61 determines whether or not the speed of the substrate 11 is “0” (S505). When the irradiation control unit 62 determines that the speed of the substrate 11 is "0" (S505: Yes), the irradiation control unit 62 changes the sensing mode from the "fixed direction sensing mode" to the "omnidirectional sensing mode" (S506). That is, since the speed of the substrate 11 is "0", the irradiation control unit 62 shifts to the detection of obstacles in all directions. When the control unit 20 changes the sensing mode to the "omnidirectional sensing mode" in S506, the control unit 20 returns to S301 and repeats the processing after S301. Further, when the control unit 20 determines that the speed of the substrate 11 is not "0" (S505: No), the control unit 20 returns to S301 and repeats the processes after S301.
In the fourth embodiment, the sensing mode is changed according to the speed of the substrate 11 and the presence or absence of obstacles. As a result, the sensing mode is set according to the flight conditions of the substrate 11. Therefore, obstacle detection can be performed faster and more reliably.

(Fifth Embodiment)
The flight apparatus according to the fifth embodiment is shown in FIG.
The fifth embodiment is an application of the fourth embodiment. In the fifth embodiment, the flight device 10 includes a storage unit 63. The storage unit 63 stores the map data. In the map data, the position of the obstacle is stored together with the flight path planned by the flight device 10.
The irradiation control unit 62 sets the initial sensing mode based on the position and speed of the substrate 11 and the position of the obstacle in the map stored in the storage unit 63. Specifically, as shown in FIG. 16, the traveling direction detection unit 61 detects the speed of the substrate 11 (S601). Then, the traveling direction detection unit 61 determines whether or not the speed of the base 11 is "0" based on the speed of the base 11 detected in S601 (S602). When the speed of the substrate 11 is “0” (S602: Yes), the irradiation control unit 62 confirms that there are no obstacles based on the map data (S603). That is, the irradiation control unit 62 collates the map data with the latest flight position based on the map data stored in the storage unit 63. Then, the irradiation control unit 62 determines whether or not there is an obstacle in the vicinity of the latest flight position. When the irradiation control unit 62 determines that there is no obstacle in the vicinity of the latest flight position (S603: Yes), the irradiation control unit 62 sets the “omnidirectional sensing mode” (S604). On the other hand, when the irradiation control unit 62 determines that the speed of the substrate 11 is not "0" (S402: No) and that there is an obstacle in the vicinity of the latest flight position (S403: No), the "fixed direction sensing mode""(S605). In this way, the irradiation control unit 62 sets the initial sensing mode based on the speed of the substrate 11 and obstacles in the flight path. After that, the irradiation control unit 62 switches the sensing mode in each sensing mode under specific conditions as in the fourth embodiment.
Since the processing flow of the "omnidirectional sensing mode" and the processing flow of the "fixed direction sensing mode" are the same as those of the fourth embodiment, the description thereof will be omitted.

In the fifth embodiment, the initial sensing mode is changed according to the speed of the substrate 11 and the presence or absence of obstacles predicted in the flight path. As a result, the sensing mode is set according to the flight conditions of the base 11 and the latest flight position. Therefore, obstacle detection can be performed faster and more reliably.

(Sixth Embodiment)
The flight apparatus according to the sixth embodiment is shown in FIG.
The flight device 10 according to the sixth embodiment includes a frame member 70 outside the thruster 12. The frame member 70 is supported by the substrate 11. In the case of the sixth embodiment, the frame member 70 is supported by the support portion 71 extending from the arm portion 15 of the base 11. The sonar module 13 is partially or wholly provided on the frame member 70. In the case of the sixth embodiment, eight of the nine sonar modules 13 are provided on the frame member 70, and the remaining one is provided on the main body 14 of the base 11. The eight sonar modules 131 to 138 are arranged on the circumference with respect to the center of the substrate 11. These sonar modules 131 to 138 irradiate ultrasonic waves outward from the frame member 70. Further, the remaining one sonar module 139 is provided on the main body 14 of the substrate 11. The sonar module 139 irradiates ultrasonic waves above the substrate 11, that is, along the yaw axis.

The flight device 10 may include a frame member 70 in order to increase safety or increase strength. In the case of the flight device 10 including the frame member 70 in this way, at least a part of the sonar module 13 can be provided on the frame member 70. By providing the sonar module 13 on the frame member 70 located outside the substrate 11, interference between the sonar module 13 and the thruster 12 is reduced. Further, by providing the sonar module 13 on the frame member 70 located on the outer peripheral side, the detection of obstacles can be accelerated. Therefore, it is possible to reliably and early detect obstacles.

(Other embodiments)
The present invention described above is not limited to the above-described embodiment, and can be applied to various embodiments without departing from the gist thereof.
The irradiation cycle of the sonar module 13 described in the first embodiment may be controlled by the irradiation control unit 62 of the second embodiment. Further, in the plurality of embodiments, an example in which the flight device 10 is operated by remote control by the radio 30 has been described. However, the flight device 10 may be configured to fly autonomously on a preset flight path without requiring an operation from the outside. In this case, the control unit 20 controls the thruster 12 based on the obstacle detected by the sonar module 13, and autonomously controls the flight of the base 11.

Further, in the above-described first to fifth embodiments, an example in which the sonar module 13 is arranged on the main body 14 of the substrate 11 has been described. However, the flight device 10 may include a gimbal 72 on the body 14 of the substrate 11 as shown in FIGS. 18 and 19. The gimbal 72 is composed of, for example, a camera as a photographing device as shown in FIG. 18, or a loading platform as a transport device as shown in FIG. As described above, in the case of the flight device 10 including the gimbal 72, at least one sonar module 13 may be provided in the gimbal 72. By providing the sonar module 13 on the gimbal 72, the interference between the ultrasonic waves emitted from the sonar module 13 and the propeller 16 of the thruster 12 is further reduced. Therefore, the distance and direction to the obstacle can be detected with high accuracy.

Although the present disclosure has been described in accordance with the examples, it is understood that the present disclosure is not limited to the examples and structures. The present disclosure also includes various modifications and modifications within an equal range. In addition, various combinations and forms, as well as other combinations and forms that include only one element, more, or less, are also within the scope of the present disclosure.

In the drawing, 10 is a flight device, 11 is a substrate, 12 is a thruster, 13 is a sonar module, 20 is a control unit, 23 is an attitude detection unit, 41 is an irradiation unit, 42 is a reception unit, 50 is a warning unit, and 61 is a progress unit. The direction detection unit, 62 indicates an irradiation control unit, 63 indicates a storage unit, and 72 indicates a gimbal.

Claims (11)

The substrate (11) and
A plurality of thrusters (12) provided on the substrate (11) and generating propulsive force,
A posture detection unit (23) that detects the posture of the substrate (11), and
A control unit (20) that controls the thruster (12) based on the attitude of the substrate (11) detected by the attitude detection unit (23).
It has an irradiation unit (41) for irradiating ultrasonic waves and a receiving unit (42) for receiving ultrasonic waves, which are arranged at equal intervals in the circumferential direction on the circumference with reference to the center of the substrate (11) in a plan view. A plurality of sonar modules (13, 131 to 139) for detecting the distance from the substrate (11) to an obstacle outside the substrate (11), and
With
The sonar module (13, 131 to 139) irradiates ultrasonic waves in a direction inclined upward with respect to a plane perpendicular to the yaw axis of the substrate (11) .
At least one of the sonar modules is arranged on a hemisphere with respect to the center of the substrate (11) by projecting upward in the yaw axis direction of the substrate (11) at the center of the substrate (11).
The sonar module projecting upward is a flight device that irradiates ultrasonic waves upward on the yaw axis . The flight device according to claim 1, further comprising a warning unit (50) that issues a warning when the distance to the obstacle detected by the sonar module (13, 131 to 139) is equal to or less than a set minimum distance. The flight device according to claim 1 or 2, wherein the control unit (20) controls the thruster (12) according to the distance to the obstacle detected by the sonar module (13, 131 to 139). A gimbal (72) provided on the substrate (11) and capable of mounting a transported object separate from the substrate (11) is further provided.
The flight device according to any one of claims 1 to 3, wherein at least one of the plurality of sonar modules (13, 131 to 139) is provided on the gimbal (72). 1. Irradiation of any one of the plurality of sonar modules (13, 131 to 139) The ultrasonic waves emitted from the sonar module are received by two or more of the sonar modules (13, 131 to 139). The flight device according to any one of items 4 to 4. The flight device according to claim 5, wherein the ultrasonic waves emitted from the irradiation sonar module are received by two sonar modules adjacent to the irradiation sonar module in addition to the irradiation sonar module. The flight device according to claim 5 or 6, wherein the plurality of sonar modules (13, 131 to 139) are simultaneously irradiated at a position where the irradiated ultrasonic waves do not interfere with each other at one ultrasonic irradiation timing. A traveling direction detecting unit (61) for detecting the traveling direction of the substrate (11),
When it is detected by the traveling direction detection unit (61) that the substrate (11) is stopped, the sonar modules (13, 131 to 139) are sequentially superposed based on a preset setting order. When the traveling direction of the substrate (11) is detected by the traveling direction detecting unit (61) while irradiating ultrasonic waves, the substrate (11) detected among the plurality of sonar modules (13, 131 to 139). ), And an irradiation control unit (62) that irradiates ultrasonic waves from the sonar module (13, 131-139) located in front of the traveling direction.
The flight device according to any one of claims 1 to 7, further comprising. In the irradiation control unit (62), the traveling direction of the substrate (11) detected by the traveling direction detecting unit (61) and the attitude angle of the substrate (11) detected by the posture detecting unit (23) are different. When it is deviated, it is determined that the substrate (11) is being blown by the wind in the traveling direction of the substrate (11) detected by the traveling direction detection unit (61), and the attitude angle of the substrate (11) is determined. The flight device according to claim 8, wherein ultrasonic waves are radiated from the sonar module (13, 131 to 139) on the downstream side in the wind direction when 0 is set. The flight device according to any one of claims 1 to 9, wherein the plurality of sonar modules (13, 131 to 139) are preferentially used in the direction in which the obstacle is detected. A storage unit (63) for storing map data for which a flight path including the obstacle is set is further provided.
From claim 1, the plurality of sonar modules (13, 131 to 139) are preferentially used in the direction in which the obstacle is assumed based on the map data stored in the storage unit (63). The flight device according to any one of 10.

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