JP6845026B2 - Unmanned aerial vehicle, control method, and control program - Google Patents

Description

The present disclosure relates to an unmanned aerial vehicle capable of autonomous flight, a control method and a control program for the unmanned aerial vehicle, and in particular, when an emergency warning broadcast or the like is received, the unmanned aerial vehicle autonomously performs an appropriate evacuation action. It is about the technology to select and execute.

As a conventional technique for controlling a device in an emergency such as a disaster, a method of using an emergency warning broadcast is disclosed (see Patent Document 1). The emergency control device in Patent Document 1 receives and analyzes an emergency warning broadcast transmitted from a broadcasting station, and controls home devices via a home network based on the analysis result.

Japanese Unexamined Patent Publication No. 2003-18673

The above-mentioned conventional technology assumes that home equipment to be controlled equipment is fixedly installed in a house, and further improvement is required for an unmanned aerial vehicle that moves within a certain range. It was.

The present disclosure aims to solve the above-mentioned conventional problems, and to provide an unmanned aerial vehicle, a control method, and a control program capable of autonomously performing an appropriate evacuation action in an emergency.

In order to solve the conventional problems, the unmanned air vehicle according to one aspect of the present disclosure is an unmanned air vehicle capable of autonomous flight, and includes at least two air vehicle current position information indicating the current position of the unmanned air vehicle. The position information storage unit that stores one or more position information, the emergency alarm information acquisition unit that acquires emergency alarm information including the target area information indicating the target area to be the target area of the emergency alarm, and the emergency alarm information acquisition unit are described above. When the emergency warning information is acquired, the target area indicated by the target area information included in the emergency warning information and each position indicated by the two or more position information stored in the position information storage unit. A selection unit that selects one evacuation action from a plurality of evacuation actions by autonomous flight of the unmanned vehicle based on the determination result of determining whether or not each position is included in the target area. And a flight control unit that controls the flight state of the unmanned vehicle according to the evacuation action selected by the selection unit.

According to the present disclosure, it is possible to realize an unmanned aerial vehicle capable of autonomously performing an appropriate evacuation action in an emergency.

It is a block diagram which shows an example of the structure of the unmanned aerial vehicle according to Embodiment 1 of this disclosure. It is a figure which shows an example of the appearance of the unmanned aerial vehicle shown in FIG. It is a flowchart which shows an example of the flight control program selection process of the unmanned aerial vehicle shown in FIG. It is a flowchart which shows an example of the flight control program processing for the 1st evacuation action of the unmanned aerial vehicle shown in FIG. It is a conceptual diagram which shows the operation example of the unmanned aerial vehicle realized by the flight control program processing for the first evacuation action shown in FIG. It is a flowchart which shows an example of the flight control program processing for the 2nd evacuation action of the unmanned aerial vehicle shown in FIG. It is a flowchart which shows an example of the flight control program processing for the 3rd evacuation action of the unmanned aerial vehicle shown in FIG. It is a block diagram which shows an example of the structure of the unmanned aerial vehicle in Embodiment 2 of this disclosure. It is a flowchart which shows an example of the flight control program processing for the 4th evacuation action of the unmanned aerial vehicle shown in FIG. It is a conceptual diagram which shows the operation example of the unmanned aerial vehicle realized by the flight control program processing for the 4th evacuation action shown in FIG. It is a flowchart which shows an example of the flight control program processing for the 5th evacuation action of the unmanned aerial vehicle shown in FIG. It is a flowchart which shows an example of the flight control program processing for the sixth evacuation action of the unmanned aerial vehicle shown in FIG.

(Knowledge on which this disclosure was based)
In recent years, as unmanned aerial vehicles have become cheaper and more sophisticated, unmanned aerial vehicles have come to be used for various purposes such as aerial photography, surveys, and agricultural support.

However, the use of unmanned aerial vehicles in emergencies such as disasters may lead to various unexpected situations. In particular, even if the unmanned aerial vehicle does not fly in the disaster area in an emergency, the unmanned aerial vehicle can move freely within a certain range, which may lead to the following unexpected situations.

For example, in the event of a disaster, the operator may not be able to control the unmanned aerial vehicle if he / she is in the disaster area and suffers a disaster, and the unmanned aerial vehicle may become uncontrollable and fall. In this way, when the operator becomes unable to control the unmanned aerial vehicle, it is necessary to take evacuation actions such as safely landing the unmanned aerial vehicle.

In addition, even if the operator and unmanned air vehicle are outside the disaster area at the time of a disaster, if the operator intentionally or unintentionally flies the unmanned air vehicle to the disaster area, a fire helicopter ( It can interfere with the activities of firefighting and disaster prevention helicopters) and rescue aircraft, and it is also possible that firefighting helicopters and rescue aircraft collide with unmanned aircraft. In such cases, it is necessary to restrict flight so that unmanned aerial vehicles do not invade the disaster area.

In addition, if a disaster occurs while the unmanned aircraft is automatically navigating according to a preset flight route and the flight route includes the affected area, the unmanned aircraft will take into account the disaster situation in the affected area. , It is necessary to take evacuation actions such as bypassing the disaster area and heading for the destination, or giving up reaching the destination and returning to the departure point.

In this way, in an emergency, the unmanned aerial vehicle is damaged not only by the current position of the unmanned aerial vehicle itself, but also by multiple positions such as the current position of the pilot, the starting point, the waypoint, and the destination in the flight route. It is required to take appropriate evacuation action according to the situation.

However, in the above-mentioned conventional technology, it is assumed that the controlled device to be controlled in an emergency is installed in a single and fixed place, and the evacuation behavior of the unmanned aerial vehicle in consideration of the damage situation at multiple positions is performed. Not disclosed.

In order to solve such a problem, the unmanned air vehicle according to one aspect of the present disclosure is an unmanned air vehicle capable of autonomous flight, and includes at least the air vehicle current position information indicating the current position of the unmanned air vehicle. A position information storage unit that stores two or more position information, an emergency warning information acquisition unit that acquires emergency warning information including target area information indicating a target area subject to an emergency warning, and the emergency warning information acquisition unit. When the emergency warning information is acquired, the target area indicated by the target area information included in the emergency warning information and each position indicated by the two or more position information stored in the position information storage unit. Select one evacuation action from a plurality of evacuation actions by autonomous flight of the unmanned vehicle based on the determination result of determining whether or not each position is included in the target area. A unit and a flight control unit that controls the flight state of the unmanned vehicle according to the evacuation action selected by the selection unit are provided.

With such a configuration, at least two or more position information including the current position information of the unmanned aircraft indicating the current position of the unmanned aircraft is stored, and the emergency warning information including the target area information indicating the target area subject to the emergency warning is stored. Is obtained, the target area indicated by the target area information included in the emergency warning information is compared with each position indicated by two or more stored position information, and whether each position is included in the target area. Based on the judgment result of determining whether or not, one evacuation action is selected from a plurality of evacuation actions by autonomous flight of the unmanned aviation body, and the flight state of the unmanned aviation body is controlled according to the selected evacuation action. Therefore, it is possible to make the unmanned aircraft perform an evacuation action considering at least two or more position information including the current position information of the aircraft indicating the current position of the unmanned aircraft, and autonomously and appropriately evacuate in an emergency. It is possible to realize an unmanned air vehicle that can perform actions.

The emergency warning information acquisition unit includes an emergency warning receiving unit that receives an emergency warning broadcast transmitted from a broadcasting station and detects a start signal of the emergency warning broadcast and an area code indicating a target area of the emergency warning broadcast. You may do so.

With such a configuration, the emergency warning broadcast transmitted from the broadcasting station is received, and the start signal of the emergency warning broadcast and the area code indicating the target area of the emergency warning broadcast are detected. Therefore, the unmanned aircraft is urgent. It is possible to take an autonomous evacuation action using the warning broadcast. At that time, the area code included in the emergency warning broadcast, that is, the area subject to the emergency warning is compared with the position information of two or more locations that may affect the navigation of the unmanned aircraft, and each position is included in the area subject to the emergency warning. Whether or not it is determined, and an appropriate evacuation action is selected based on the determination result. As a result, the unmanned aerial vehicle that moves within a certain range can select a flexible action according to the emergency situation. In particular, even when the current position of the unmanned aerial vehicle is not included in the target area of the emergency warning, the unmanned aerial vehicle can be appropriately evacuated by executing the evacuation action.

The unmanned air vehicle further includes a program storage unit that stores a plurality of flight control programs for executing an evacuation action by autonomous flight of the unmanned air vehicle, and the selection unit is such that the emergency warning information acquisition unit performs the emergency. When the alarm information is acquired, the target area indicated by the target area information included in the emergency alarm information and each position indicated by the two or more position information stored in the position information storage unit are displayed. One flight control program is selected from the plurality of flight control programs stored in the program storage unit based on the determination result of comparing and determining whether or not each position is included in the target area. Then, the flight control unit may cause the unmanned aviation vehicle to execute the evacuation action by executing the one flight control program selected by the selection unit.

With such a configuration, when the emergency warning information is acquired, the target area indicated by the target area information included in the emergency warning information is compared with each position indicated by two or more stored position information. One flight control program is selected from a plurality of flight control programs stored in the program storage unit based on the determination result of determining whether or not each position is included in the target area, and the selected one is selected. Since the unmanned aircraft is made to execute the evacuation action by executing the flight control program, the unmanned aircraft is made to autonomously perform an appropriate evacuation action in an emergency by a simple configuration of switching the flight control program. be able to.

The position information storage unit may store the current position information of the aircraft and the current position information of the controller indicating the current position of the controller for remote control of the unmanned aerial vehicle.

With such a configuration, the current position of the unmanned aircraft indicated by the current position information of the aircraft, the current position of the pilot indicated by the current position information of the pilot, and the target area indicated by the target area information included in the emergency warning information. Based on the judgment result of determining whether or not the current position of the unmanned aircraft or the current position of the pilot is included in the target area, one of the multiple evacuation actions by the autonomous flight of the unmanned aircraft is selected. Since the evacuation action of is selected and the flight state of the unmanned aircraft is controlled according to the selected evacuation action, it is appropriate to consider the positional relationship between the current position of the unmanned aircraft or the current position of the pilot and the target area. It is possible to make an unmanned aircraft autonomously perform various evacuation actions.

The selection unit includes the current position of the unmanned aircraft indicated by the current position information of the aircraft and the current position of the pilot indicated by the current position information of the pilot in the target area indicated by the target area information. If this is not the case, the first flight control program stored in the program storage unit is for limiting the flight instruction from the pilot so that the unmanned aircraft does not invade the target area. One flight control program may be selected.

With such a configuration, when the current position of the unmanned aerial vehicle and the current position of the pilot are not included in the target area, the maneuvering instruction from the pilot is restricted so that the unmanned aerial vehicle does not enter the target area. Since the first flight control program is selected, the unmanned aerial vehicle and the operator, that is, the operator is located outside the area covered by the emergency alert, by the operator's intentional or unintended operation of the operator. , Unmanned aerial vehicles can be prevented from entering the area subject to emergency warning.

In the selection unit, the current position of the pilot indicated by the current position information of the pilot is included in the target area indicated by the target area information, and the unmanned aircraft indicated by the current position information of the aircraft. When the current position of is not included in the target area indicated by the target area information, a flight control instruction from the pilot is given for a predetermined period from the plurality of flight control programs stored in the program storage unit. If not, a second flight control program for landing the unmanned aircraft in its current position may be selected.

With such a configuration, when the current position of the pilot is included in the target area and the current position of the unmanned aerial vehicle is not included in the target area, when the control instruction from the pilot is not given for a predetermined period. Since we have selected a second flight control program to land the unmanned aerial vehicle at its current position, the drone will fly unmanned when an emergency alert is issued in the area containing the pilot, or pilot's position. When the remote instruction to the body was not given for a certain period of time, it was judged that the unmanned aerial vehicle could not be remotely controlled due to factors such as the operator being damaged, and the unmanned aerial vehicle was landed on the spot. Can be avoided from falling.

When the current position of the unmanned aircraft indicated by the current position information of the flying object is included in the target area indicated by the target area information, the selection unit may perform the plurality of flights stored in the program storage unit. From the control program, the flight instruction from the pilot is invalidated, and the current position of the unmanned aircraft indicated by the current position information of the aircraft and the current position of the pilot indicated by the current position information of the pilot. To land the unmanned aircraft at the current position when the distance between them is equal to or greater than a predetermined distance, and to move the unmanned aircraft to the current position of the controller and land when the distance is not equal to or greater than the predetermined distance. A third flight control program may be selected.

With such a configuration, when the current position of the unmanned aerial vehicle is included in the target area, the flight instruction from the pilot is invalidated, and the distance between the current position of the unmanned aerial vehicle and the current position of the pilot is a predetermined distance. If the above is the case, the unmanned aerial vehicle is landed at the current position, and if it is not more than a predetermined distance, the unmanned aerial vehicle is moved to the current position of the controller and landed. If the unmanned aerial vehicle is located in the area subject to the emergency alert, the remote control by the pilot is disabled, and the unmanned aerial vehicle is landed on the spot or returned to the position of the pilot in the target area. The flight of the unmanned aerial vehicle can be stopped promptly.

The unmanned aerial vehicle autonomously flies on a preset flight route, and the position information storage unit uses the current position information of the aircraft, departure point information indicating a departure point in the flight route, and a waypoint indicating a waypoint. The place information and the destination information indicating the destination may be stored.

With such a configuration, the current position of the unmanned aircraft indicated by the current position information of the aircraft, the departure point indicated by the departure point information, the waypoint indicated by the waypoint information, or the destination indicated by the destination information, Compared with the target area indicated by the target area information included in the emergency warning information, the judgment result of determining whether or not the current position, departure point, waypoint, or destination of the unmanned aircraft is included in the target area Based on this, one evacuation action can be selected from a plurality of evacuation actions due to the autonomous flight of the unmanned aerial vehicle, and the flight state of the unmanned aerial vehicle can be controlled according to the selected evacuation action. It is possible to autonomously make an unmanned aircraft perform an appropriate evacuation action in consideration of the positional relationship between the current position, departure point, waypoint, or destination and the target area.

In the selection unit, the waypoint indicated by the waypoint information is included in the target area indicated by the target area information, the unmanned vehicle has not passed through the waypoint, and the flight The current position of the unmanned aircraft indicated by the body current position information is not included in the target area indicated by the target area information, and the destination indicated by the destination information is indicated by the target area information. If it is not included in the target area, a new flight route to reach the destination so that the unmanned vehicle does not pass through the target area is newly added from the plurality of flight control programs stored in the program storage unit. A fourth flight control program for bringing the unmanned aircraft to the destination may be selected.

With such a configuration, when the transit point where the unmanned aerial vehicle has not passed is included in the target area, the current position of the unmanned aerial vehicle is not included in the target area, and the destination is not included in the target area. Since we have created a new flight route to reach the destination so that the unmanned aerial vehicle does not pass through the target area, and selected the fourth flight control program to make the unmanned aerial vehicle reach the destination, unmanned flight If only transit points where the body has not passed are included in the area subject to the emergency warning, the flight route should be reviewed so that the unmanned aerial vehicle does not pass through the area subject to the emergency warning, and the unmanned aerial vehicle is properly evacuated while being evacuated. Unmanned aerial vehicles can reach their destination.

In the selection unit, the destination indicated by the destination information is included in the target area indicated by the target area information, and the departure point indicated by the departure point information is indicated by the target area information. If it is not included in the target area, a fifth flight control program for returning the unmanned aircraft to the departure point is selected from the plurality of flight control programs stored in the program storage unit. You may do so.

With such a configuration, when the destination is included in the target area and the departure point is not included in the target area, a fifth flight control program for returning the unmanned aerial vehicle to the departure point is selected. Therefore, if only the destination is included in the target area of the emergency warning, create a new flight route that gives up reaching the destination and returns to the departure point, and evacuate the unmanned aerial vehicle appropriately. Can be done.

When the destination indicated by the destination information and the departure point indicated by the departure point information are included in the target area indicated by the target area information, the selection unit is stored in the program storage unit. A sixth flight control program for landing the unmanned vehicle at the current position may be selected from the plurality of flight control programs.

With such a configuration, when the destination and the departure point are included in the target area, the return to the departure point and the purpose are selected because the sixth flight control program for landing the unmanned aerial vehicle at the current position is selected. You can give up reaching the ground and land there to properly stop the unmanned aerial vehicle.

Further, the present disclosure can be realized not only as an unmanned aerial vehicle having the above-mentioned characteristic configuration, but also an unmanned aerial vehicle that executes characteristic processing corresponding to the characteristic configuration of the unmanned aerial vehicle. It can also be realized as a control method of. Further, it is also possible to realize a computer program for causing a computer having a processor, a memory, or the like to execute the characteristic processing included in the control method of such an unmanned aerial vehicle. Therefore, the same effect as the above-mentioned unmanned aerial vehicle can be obtained in the following other aspects as well.

The control method according to another aspect of the present disclosure is a control method for an unmanned vehicle capable of autonomous flight, and acquires emergency warning information including target area information indicating a target area subject to an emergency warning, and obtains the emergency warning information. When the warning information is acquired, the target area indicated by the target area information included in the emergency warning information and the current position information of the flying object stored in the position information storage unit and indicating the current position of the unmanned flying body are included. A plurality of evacuation by autonomous flight of the unmanned vehicle based on a determination result of comparing each position indicated by at least two or more position information and determining whether or not each position is included in the target area. One evacuation action is selected from the actions, and the flight state of the unmanned vehicle is controlled according to the selected evacuation action.

The control program according to another aspect of the present disclosure is a control program for operating a computer as a control device for an unmanned aircraft capable of autonomous flight, and indicates the target area to be an emergency warning to the computer. When the emergency warning information including the target area information is acquired and the emergency warning information is acquired, the target area indicated by the target area information included in the emergency warning information and the target area stored in the position information storage unit are stored in the unmanned person. The determination result of comparing each position indicated by at least two or more position information including the current position information of the flying object indicating the current position of the flying object and determining whether or not each position is included in the target area. Based on this, one evacuation action is selected from a plurality of evacuation actions by the autonomous flight of the unmanned aviation body, and a process of controlling the flight state of the unmanned aviation object according to the selected evacuation action is executed. ..

Needless to say, the computer program as described above can be distributed via a computer-readable non-temporary recording medium such as a CD-ROM or a communication network such as the Internet.

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. Each of the embodiments described below is a specific example of the present disclosure. The shapes, components, steps, sequence of steps, etc. shown in the following embodiments are examples and are not intended to limit the present disclosure. Further, among the components in the following embodiments, the components not described in the independent claims indicating the highest level concept are described as arbitrary components. Moreover, in all the embodiments, each content can be combined. Further, as long as the gist of the present disclosure is not deviated, various modifications in which each embodiment of the present disclosure is modified within the range conceived by those skilled in the art are also included in the present disclosure.

(Embodiment 1)
FIG. 1 is a block diagram showing an example of the configuration of an unmanned aerial vehicle according to the first embodiment of the present disclosure. In FIG. 1, the unmanned aerial vehicle 101 is remotely controlled using the controller 102. The controller 102 has a function of acquiring the current position of the controller 102 by GPS (Global Positioning System). The control device 102 transmits the operation instruction of the unmanned aerial vehicle 101 and the current position information of the control device indicating the current position of the control device 102 to the unmanned aerial vehicle 101. Further, the unmanned aerial vehicle 101 is an unmanned aerial vehicle capable of autonomous flight, and can perform autonomous flight without receiving a remote instruction from the controller 102.

The unmanned aircraft 101 includes a pilot communication unit 103, a propeller control unit 104, a propeller 105, a program execution unit 106, a program storage unit 107, a program selection unit 108, a current position acquisition unit 109, a position information storage unit 110, and an emergency alarm. A receiving unit 111 is provided.

The pilot communication unit 103 is wirelessly connected to the pilot 102, and receives the pilot instruction and the pilot current position information from the pilot 102. The control unit communication unit 103 inputs a control instruction from the control unit 102 to the propeller control unit 104.

The propeller control unit 104 changes the rotation speed of the propeller 105 and the like according to the input maneuvering instruction, and realizes a flight according to the maneuvering instruction such as ascending, descending, and moving.

The program storage unit 107 is composed of a memory or the like, and stores a plurality of flight control programs (for example, a plurality of flight control programs for evacuation actions) for controlling the navigation of the unmanned vehicle 101. The program selection unit 108 is composed of a processor or the like, selects which program is to be executed from a plurality of flight control programs stored in the program storage unit 107, and transmits the selected flight control program to the program execution unit 106. Output.

The program execution unit 106 is composed of a processor and the like, and executes a flight control program selected by the program selection unit 108. The program execution unit 106 is connected to the propeller control unit 104, inputs a maneuvering instruction according to the execution result of the flight control program to the propeller control unit 104, and performs autonomous flight control of the unmanned aerial vehicle 101.

Further, the program execution unit 106 is connected to the controller communication unit 103, and can monitor the operation instruction from the propeller control unit 104. The program execution unit 106 limits the function of the propeller control unit 104 by monitoring the operation instruction from the propeller control unit 104 and not accepting a specific operation instruction input from the pilot communication unit 103. To do.

The current position acquisition unit 109 acquires the current position of the unmanned aerial vehicle 101 by GPS, and outputs the vehicle current position information indicating the current position of the unmanned aerial vehicle 101 to the position information storage unit 110.

The position information storage unit 110 is composed of a memory or the like, and stores the vehicle current position information indicating the current position of the unmanned aerial vehicle 101 input from the current position acquisition unit 109. The position information storage unit 110 is also connected to the controller communication unit 103, and stores the controller current position information indicating the current position of the controller 102 input from the controller 102. The position information of the stored unmanned aerial vehicle 101 and the pilot 102 is updated as appropriate.

The emergency warning receiving unit 111 receives and analyzes the broadcast wave transmitted from the broadcasting station, and detects the start signal of the emergency warning broadcasting and the area code indicating the target area of the emergency warning broadcasting. Here, the emergency warning broadcast (Emergency Warning System) uses the emergency warning signal stipulated in Article 2, Paragraph 1, Item 84-2 of the Ordinance for Enforcement of the Radio Law of the Ministry of Internal Affairs and Communications, and is a television and radio receiver in a standby state. It is a broadcast that is performed by automatically turning on the switch. It is carried out when a large-scale disaster such as an earthquake occurs or when a tsunami warning is announced, and is intended to help prevent or mitigate the damage caused by the occurrence of a disaster.

The emergency warning receiving unit 111 outputs the start signal and the area code of the emergency warning broadcast to the program selection unit 108 and the program execution unit 106 as the emergency warning information including the target area information indicating the target area to be the target of the emergency warning. As for the means for acquiring the start signal and the area code of the emergency warning broadcast from the broadcast wave, a known technique may be used, so the description thereof will be omitted.

The broadcast wave to be used may be analog broadcasting or digital broadcasting. Further, when the broadcast wave to be used is analog broadcasting, it may be configured to receive either television broadcasting or radio broadcasting.

Further, since the frequency of the broadcast wave differs depending on the region, it is necessary to change the reception frequency according to the current position of the unmanned aerial vehicle 101. To change the reception frequency, the reception frequency may be determined by a broadcasting station scan used in the television receiver. Further, the position information storage unit 110 and the emergency alarm reception unit 111 may be connected, and the reception frequency may be determined using the current position of the unmanned aerial vehicle 101.

The emergency warning information including the target area information indicating the target area subject to the emergency warning is not particularly limited to the above example, and other emergency warning information may be used. For example, an Earthquake Early Warning, which is disaster prevention information released by the Japan Meteorological Agency using television broadcasting, radio broadcasting, CATV, a mobile phone network, or the like, may be used. In addition to Japan, emergency alert information used in that country may be used, and for example, an emergency alert system (Emergency Alert System, EAS) for mobile phones operated in the United States may be used. ..

The program selection unit 108 is connected to the position information storage unit 110 and the emergency alarm reception unit 111. When the emergency warning broadcast start signal and the area code are input from the emergency warning receiving unit 111, the program selection unit 108 selects the flight control program for the evacuation action from the program storage unit 107.

Specifically, when selecting a flight control program for evacuation action, the program selection unit 108 uses the respective position information stored in the position information storage unit 110 and the area code input from the emergency alarm receiving unit 111. It is determined whether or not each position information is included in the target area of the emergency warning indicated by the area code. The program selection unit 108 selects a flight control program for the evacuation action based on the determination result, and outputs the selected flight control program for the evacuation action to the program execution unit 106.

The program execution unit 106 is connected to the position information storage unit 110 and the emergency alarm receiving unit 111, and the position information and emergency stored in the position information storage unit 110 are stored when the flight control program for evacuation action is executed. The area code detected by the alarm receiving unit 111 can be referred to and used.

In the present embodiment, the program selection unit 108 is based on the position information of the position information storage unit 110, the area code of the emergency alarm receiving unit 111, and the like from among the plurality of flight control programs stored in the program storage unit 107. The flight control program for the evacuation action is selected, and the selected flight control program for the evacuation action is executed by the program execution unit 106. However, the present invention is not particularly limited to this example, and various changes can be made.

For example, a flight control circuit for a plurality of evacuation actions is provided, one flight control circuit for the evacuation action is selected based on the position information, the area code, etc., and the evacuation action is performed by the selected flight control circuit. Alternatively, without storing the flight control program for the evacuation action in advance, one flight control program for the evacuation action selected based on the position information, the area code, etc. is transmitted to the unmanned aircraft 101, and the transmitted evacuation action is transmitted. The flight control program for the above may be executed by the program execution unit 106.

FIG. 2 is a diagram showing an example of the appearance of the unmanned aerial vehicle 101 shown in FIG. As shown in FIG. 2, the unmanned aerial vehicle 101 includes a main body A1, four support portions A2, and four propellers 105 that generate propulsive force for the unmanned aerial vehicle 101. The propeller 105 is attached to the tip of the support portion A2 extending in all directions from the main body A1. Inside the main body A1, the pilot communication unit 103, the propeller control unit 104, the program execution unit 106, the program storage unit 107, the program selection unit 108, the current position acquisition unit 109, the position information storage unit 110, and the position information storage unit 110 shown in FIG. The emergency alarm receiving unit 111 is housed in the emergency alarm receiving unit 111.

FIG. 3 is a flowchart showing an example of the flight control program selection process of the unmanned aerial vehicle 101 shown in FIG. This process is started immediately after the power of the unmanned aerial vehicle 101 is turned on.

First, the program selection unit 108 selects a flight control program to be executed at normal times from the program storage unit 107 (step S201).

Next, the program execution unit 106 executes the selected flight control program (step S202).

If there is no flight control program that is normally executed, the processes of steps S201 and S202 may be skipped.

Next, the emergency warning receiving unit 111 receives and analyzes the broadcast wave transmitted from the broadcasting station, and detects the start signal and the area code of the emergency warning broadcasting (step S203). Next, the emergency alert receiving unit 111 determines whether or not the emergency alert broadcast has been received (step S204), and if the emergency alert broadcast has not been received (NO in step S204), returns to step S203 and performs processing. continue. That is, the processes of steps S203 and S204 are repeatedly executed until the start signal of the emergency warning broadcast is detected.

On the other hand, when the emergency warning broadcast is received (YES in step S204), that is, when the start signal of the emergency warning broadcast is detected, the program selection unit 108 receives the area code and the location information storage unit 110 from the emergency warning reception unit 111. By acquiring the current position information of the unmanned aircraft 101 and the pilot 102 from the above and comparing the acquired area code with each position information, each position information becomes the target area of the emergency warning indicated by the area code. It is determined whether or not it is included (step S205).

After that, the program selection unit 108 selects the flight control program for the evacuation action from the program storage unit 107 based on the determination result, as will be described later (step S206).

Then, the program execution unit 106 executes the selected flight control program for the evacuation action (step S207), and then returns to step S203 to repeat the subsequent processing in order to prepare for the next emergency warning broadcast.

Next, a specific example of the flight control program for the evacuation action selected and executed in steps S206 and S207 will be described in detail below.

(Example 1 of flight control program for evacuation action)
FIG. 4 is a flowchart showing an example of flight control program processing for the first evacuation action of the unmanned aerial vehicle shown in FIG. This process is a process by the flight control program for evacuation action selected by the program selection unit 108 when the current positions of both the unmanned aircraft 101 and the pilot 102 are not included in the target area of the emergency warning. The execution unit 106 executes the following processing.

First, in the flight control program for the first evacuation action, the program execution unit 106 acquires the position information and the area code from the position information storage unit 110 and the emergency alarm receiving unit 111, and obtains the position information and the area code of the unmanned aircraft 101. From the code, the distance between the current position of the unmanned aircraft 101 and the boundary of the area subject to the emergency warning is calculated (step S301).

Next, the program execution unit 106 determines whether or not the distance between the current position of the unmanned aerial vehicle 101 and the boundary of the area subject to the emergency warning is within the specified value (step S302), and the distance is not within the specified value. In the case (NO in step S302), the process returns to step S301 to continue the process. On the other hand, when the distance is within the specified value (YES in step S302), the program execution unit 106 monitors the control instruction from the controller 102 (step S303).

Next, the program execution unit 106 determines whether or not there is a control instruction from the controller 102 (step S304), and if there is no control instruction from the controller 102 (NO in step S304), returns to step S301. And continue processing. On the other hand, when the control instruction is input from the control device 102 (YES in step S304), the program execution unit 106 determines the direction in which the unmanned vehicle 101 moves according to the control instruction, the current position of the unmanned vehicle 101, and an emergency warning. A movement vector indicating the distance from the boundary of the target area is calculated (step S305).

Next, the program execution unit 106 determines whether or not the movement vector indicates the direction toward the target area of the emergency warning (step S306), and when the movement vector does not indicate the direction toward the target area of the emergency warning. (NO in step S306), the process returns to step S301 to continue the process. On the other hand, when the movement vector indicates the direction toward the target area of the emergency warning (YES in step S306), the program execution unit 106 invalidates the control instruction from the controller 102 (step S307), and then returns to step S301. And the subsequent processing is repeated.

FIG. 5 is a conceptual diagram showing an operation example of the unmanned aerial vehicle 101 realized by the flight control program processing for the first evacuation action shown in FIG. The circular hatch area shown in FIG. 5 represents the target area 401 of the emergency warning, and the annular hatch area outside the circular hatch area represents the monitoring area 402 at a predetermined distance (specified value) from the target area 401 of the emergency warning. ing.

In FIG. 5, the unmanned aerial vehicle 101 is located above the monitoring area 402, and the movement vectors 403 and 404 are shown as examples of the movement vectors of the unmanned aerial vehicle 101. Since the movement vector 403 is the direction in which the unmanned vehicle 101 moves away from the target area 401 of the emergency warning, the movement vector 403 corresponds to the case where the movement vector 403 does not indicate the direction toward the target area 401 of the emergency warning, and the program execution unit 106 corresponds to this. , The flight control program for the first evacuation action maintains the maneuvering instructions from the pilot 102 towards the movement vector 403 of the unmanned vehicle 101.

On the other hand, since the movement vector 404 is the direction in which the unmanned vehicle 101 approaches the target area 401 of the emergency warning, it corresponds to the case where the movement vector 404 indicates the direction toward the target area 401 of the emergency warning, and corresponds to the program execution unit. The flight control program for the first evacuation action invalidates the maneuvering instruction from the pilot 102 toward the movement vector 404 of the unmanned aircraft 101, and prevents the 106 from entering the target area 401 of the emergency warning.

As described above, when the unmanned vehicle 101 and the pilot 102 are located outside the target area of the emergency warning by the flight control program for the first evacuation action, the pilot 102 intentionally or unintentionally operated by the operator. It is possible to prevent the unmanned aircraft 101 from invading the target area of the emergency warning by the operation of. Therefore, it is possible to prevent the activities of the fire helicopter and the rescue aircraft from navigating the unmanned aerial vehicle 101 and to prevent the unmanned aerial vehicle 101 from colliding with the fire helicopter or the rescue aircraft.

The method of restricting the unmanned aerial vehicle 101 from entering the area subject to the emergency warning is not limited to the process shown in FIG. 4, and is, for example, mounted on an unmanned aerial vehicle currently on the market. The same method may be used to limit entry into the no-fly zone.

Further, in this example, a movement vector indicating the direction in which the unmanned vehicle 101 moves according to the control instruction from the controller 102 and the distance between the current position of the unmanned vehicle 101 and the boundary of the target area of the emergency warning is two-dimensional. Although the calculation is performed on a plane, the calculation is not particularly limited to this example, and the calculation may be performed in a three-dimensional space in consideration of the altitude of the unmanned flying object 101.

(Example 2 of flight control program for evacuation behavior)
FIG. 6 is a flowchart showing an example of flight control program processing for the second evacuation action of the unmanned aerial vehicle shown in FIG. In this process, when the current position of the unmanned aircraft 101 is not included in the area subject to the emergency warning and the current position of the pilot 102 is included in the area subject to the emergency warning, the evacuation action selected by the program selection unit 108 is performed. This is a process by the flight control program for the above, and the following process is executed by the program execution unit 106.

First, in the second flight control program for the evacuation action, the program execution unit 106 initializes the time variable for storing the time to the current time (step S501).

Next, the program execution unit 106 monitors the control instruction from the control device 102 (step S502).

Next, the program execution unit 106 determines whether or not there is a control instruction from the control device 102 (step S503), and when the control command is input from the control device 102 (YES in step S503), sets the time variable. The current time is updated (step S504), and then the process returns to step S502 to continue the process.

On the other hand, when no control instruction is given from the control device 102 (NO in step S503), the program execution unit 106 calculates the difference between the current time and the value of the time variable (step S505).

Next, the program execution unit 106 determines whether or not the time difference is equal to or greater than the specified value (step S506), and if the time difference is not equal to or greater than the specified value (NO in step S506), returns to step S502. Continue processing. On the other hand, when the time difference is equal to or greater than the specified value (YES in step S506), the program execution unit 106 inputs an instruction to the propeller control unit 104 to land the unmanned aerial vehicle 101 at the current position (step). S507).

As described above, the flight control program for the second evacuation action issues an emergency warning in the pilot 102, that is, the area including the position of the pilot, and the pilot 102 issues a remote instruction to the unmanned aerial vehicle 101 for a certain period of time. If this is not done, it is determined that remote control of the unmanned aerial vehicle 101 is impossible due to factors such as damage to the operator, and the unmanned aerial vehicle 101 is landed on the spot. As a result, it is possible to prevent the unmanned aerial vehicle 101 from falling.

(Example 3 of flight control program for evacuation action)
FIG. 7 is a flowchart showing an example of flight control program processing for the third evacuation action of the unmanned aerial vehicle shown in FIG. This process is a process by the flight control program for evacuation action selected by the program selection unit 108 when the current position of the unmanned aircraft 101 is included in the target area of the emergency warning, and is the following process by the program execution unit 106. Is executed.

First, in the flight control program for the third evacuation action, the program execution unit 106 imposes an operation restriction on the propeller control unit 104 so as not to receive any operation instruction from the pilot communication unit 103 (step S601). ).

Next, the program execution unit 106 refers to the position information storage unit 110, acquires the current position information of the unmanned aerial vehicle 101 and the current position information of the pilot 102, and calculates the distance between the two positions (step). S602).

Next, the program execution unit 106 determines whether or not the distance is equal to or greater than the specified value (step S603), and if the distance is equal to or greater than the specified value (YES in step S603), the unmanned aerial vehicle 101 is placed at the current position. An instruction is input to the propeller control unit 104 so as to land (step S604).

On the other hand, when the distance is less than the specified value (NO in step S603), the program execution unit 106 moves the unmanned aerial vehicle 101 to the current position of the pilot 102 and then lands the unmanned aerial vehicle 101. , An instruction is input to the propeller control unit 104 (step S605).

As described above, when the unmanned aerial vehicle 101 is located in the target area of the emergency warning by the flight control program for the third evacuation action, the remote control by the pilot 102 is invalidated, and the unmanned aerial vehicle 101 is placed on the spot. By controlling the aircraft to land at or return to the position of the pilot 102, the flight in the area subject to the emergency warning can be stopped promptly.

(effect)
By the above processing, the unmanned aerial vehicle 101 can autonomously take an evacuation action by using the emergency warning broadcast. At that time, the area code included in the emergency warning broadcast, that is, the target area of the emergency warning is compared with the current positions of the unmanned aerial vehicle 101 and the pilot 102, and it is determined whether or not each position is included in the target area. Based on the determination result, an appropriate flight control program for evacuation action can be selected. Therefore, the unmanned aerial vehicle 101 can take appropriate actions according to the emergency situation. In particular, even when the current position of the unmanned aerial vehicle 101 is not included in the target area of the emergency warning, the unmanned aerial vehicle 101 can be appropriately evacuated by executing the evacuation action.

The above-mentioned three flight control programs for evacuation action are examples, and the flight control program for evacuation action according to the present embodiment is not limited to these. For example, by combining the processes of FIGS. 4 and 6, evacuation such that the unmanned aerial vehicle 101 is landed when the operation is not performed for a certain period of time while restricting the unmanned aerial vehicle 101 from entering the target area of the emergency warning. A flight control program for action may be used.

(Embodiment 2)
FIG. 8 is a block diagram showing an example of the configuration of the unmanned aerial vehicle according to the second embodiment of the present disclosure. In FIG. 8, the same reference numerals are used for the components common to those in FIG. 1, and some description thereof will be omitted. In this embodiment, the unmanned aerial vehicle 201 automatically navigates according to a preset flight route. The unmanned vehicle 201 includes a flight route storage unit 202, a propeller control unit 104, a propeller 105, a program execution unit 106, a program storage unit 107, a program selection unit 108, a current position acquisition unit 109, a position information storage unit 110, and an emergency alarm. A receiving unit 111 is provided.

The flight route storage unit 202 stores a preset flight route, and stores in advance the departure point information indicating the departure point in the flight route, the waypoint information indicating the waypoint, and the destination information indicating the destination. There is.

The program execution unit 106 instructs the propeller control unit 104 to automatically navigate the unmanned aerial vehicle 201 while referring to the flight route of the flight route storage unit 202.

Further, the program execution unit 106 can create a new flight route and update the information stored in the flight route storage unit 202.

In addition to the current position information of the unmanned aerial vehicle 201 indicating the current position of the unmanned aerial vehicle 201, the position information storage unit 110 indicates the departure point information indicating the departure point in the flight route, the waypoint information indicating the waypoint, and the destination indicating the destination. Information is read from the flight route storage unit 202 and stored. The program execution unit 106 acquires information on the departure point, waypoint, and destination by referring to the flight route storage unit 202.

Since the flow of the flight control program selection process in the second embodiment is the same as that in FIG. 3, the description thereof will be omitted. However, the flight control program selected and executed in steps S201 and S202 is an autonomous navigation program that navigates the unmanned aerial vehicle 201 according to the flight route stored in the flight route storage unit 202.

Further, in step S205, the program selection unit 108 indicates the area code from the emergency warning receiving unit 111, the vehicle current position information indicating the current position of the unmanned aircraft 201 from the position information storage unit 110, and the departure point in the flight route. By acquiring the departure point information, the waypoint information indicating the waypoint, and the destination information indicating the destination, and comparing the acquired area code with each position information, each position information is indicated by the area code. Determine if it is included in the area covered by the emergency alert.

Further, in step S206, the program selection unit 108 selects a flight control program for the evacuation action from the program storage unit 107 based on the determination result described later, and in step S207, the program execution unit 106 selects the selected evacuation. Run a flight control program for action.

Next, a specific example of the flight control program for the evacuation action selected and executed in steps S206 and S207 will be described in detail below.

(Example 4 of flight control program for evacuation action)
FIG. 9 is a flowchart showing an example of flight control program processing for the fourth evacuation action of the unmanned aerial vehicle 201 shown in FIG. In this process, the current position of the unmanned aircraft 201 is not included in the target area of the emergency warning, the unpassed waypoints in the flight route are included in the target area of the emergency warning, and the destination in the flight route. Is a process by the flight control program for evacuation action selected by the program selection unit 108 when is not included in the target area of the emergency warning, and the following process is executed by the program execution unit 106.

First, in the fourth flight control program for evacuation action, the program execution unit 106 acquires the position information and the area code from the position information storage unit 110 and the emergency alarm receiving unit 111, and makes an emergency from the current position of the unmanned aircraft 201. A new flight route that can reach the destination of the flight route so as not to pass through the target area of the warning is newly created (step S701).

Next, the program execution unit 106 stores the new flight route in the flight route storage unit 202 and updates the flight route (step S702).

After that, the program execution unit 106 inputs an instruction to the propeller control unit 104 so that the unmanned aerial vehicle 201 navigates according to the updated flight route (step S703).

FIG. 10 is a conceptual diagram showing an operation example of the unmanned aerial vehicle 201 realized by the flight control program processing for the fourth evacuation action shown in FIG. The circular hatched area shown in FIG. 10 represents the target area 401 of the emergency warning, and the flight route before the update of the unmanned aerial vehicle 201 is a route from the departure point 901 to the destination 903 via the waypoint 902. It is a flight route connecting Route 904, Route 905, and Route 906.

According to the flight route before the update, when the unmanned aerial vehicle 201 has already navigated the route 904 and reached the point 908 in the flight route, the unpassed waypoint 902 is included in the area 401 subject to the emergency warning, so the unmanned flight Body 201 abandons the navigation of the flight route before the update, creates a new route 907, and updates the flight route. This route 907 is a flight route newly created by the process of step S701 so as not to pass through the target area 401 of the emergency warning from the routes 905 and 906.

In the above example, the case where there is only one non-passing transit point has been described, but if there are multiple non-passing transit points, is each non-passing transit point included in the target area of the emergency warning? Judge whether or not, and update the flight route by creating a new route so that all unpassed transit points are not included in the area covered by the emergency warning.

As described above, according to the flight control program for the fourth evacuation action, when only the waypoints are included in the target area of the emergency warning, the unmanned aerial vehicle 201 is prevented from passing through the target area of the emergency warning. Review. As a result, the unmanned aerial vehicle 201 can reach the destination while appropriately evacuating the unmanned aerial vehicle 201.

(Example 5 of flight control program for evacuation action)
FIG. 11 is a flowchart showing an example of flight control program processing for the fifth evacuation action of the unmanned aerial vehicle 201 shown in FIG. In this process, the current position of the unmanned aircraft 201 is not included in the area subject to the emergency warning, the destination is included in the area subject to the emergency warning, and the departure point is not included in the area subject to the emergency warning. In this case, it is a process by the flight control program for the evacuation action selected by the program selection unit 108, and the following process is executed by the program execution unit 106.

First, in the fifth flight control program for the evacuation action, the program execution unit 106 acquires the position information and the area code from the position information storage unit 110 and the emergency alarm receiving unit 111, and departs from the current position of the unmanned aircraft 201. A new flight route to return to the ground is created (step S801).

Next, the program execution unit 106 stores the new flight route in the flight route storage unit 202 and updates the flight route (step S802).

After that, the program execution unit 106 inputs an instruction to the propeller control unit 104 so that the unmanned aerial vehicle 201 navigates according to the updated flight route (step S803).

As described above, when only the destination is included in the target area of the emergency warning by the flight control program for the fifth evacuation action, the unmanned aerial vehicle 201 gives up reaching the destination and returns to the departure point. Create a new flight route that will allow you to do so. As a result, the unmanned aerial vehicle 201 can be evacuated appropriately.

(Example 6 of flight control program for evacuation action)
FIG. 12 is a flowchart showing an example of flight control program processing for the sixth evacuation action of the unmanned aerial vehicle 201 shown in FIG. This process is selected by the program selection unit 108 when the departure point and the destination are included in the target area of the emergency warning regardless of whether or not the current position of the unmanned aircraft 201 is included in the target area of the emergency warning. It is a process by the flight control program for the evacuation action to be performed, and the following process is executed by the program execution unit 106.

First, in the sixth flight control program for evacuation action, the program execution unit 106 inputs an instruction to the propeller control unit 104 to stop automatic navigation according to the flight route stored in the flight route storage unit 202. (Step S901).

Next, the program execution unit 106 inputs an instruction to the propeller control unit 104 to land the unmanned aerial vehicle 201 at the current position (step S902).

As described above, when the departure point and the destination are included in the target area of the emergency warning by the flight control program for the sixth evacuation action, the unmanned aerial vehicle 201 returns to the departure point and reaches the destination. Abandon and land the unmanned aerial vehicle 201 on the spot. As a result, it is possible to prevent the unmanned aerial vehicle 201 from falling.

(effect)
By the above processing, the unmanned aerial vehicle 201 can autonomously take an evacuation action by using the emergency warning broadcast. At that time, it is determined whether the area code included in the emergency warning broadcast, that is, the area subject to the emergency warning, and the positions of the departure point, waypoint, and destination included in the flight route are included in the target area of the emergency warning. Then, based on the determination result, an appropriate flight control program for evacuation action can be selected. Therefore, the unmanned aerial vehicle 201 can take appropriate actions according to the emergency situation. In particular, even when the current position of the unmanned aerial vehicle 201 is not included in the target area of the emergency warning, the unmanned aerial vehicle 201 can be appropriately evacuated by executing the evacuation action.

The above-mentioned three flight control programs for evacuation action are examples, and the flight control program for evacuation action according to the present embodiment is not limited to these. For example, if the newly created flight route exceeds the current cruising range of the unmanned aerial vehicle 201, an evacuation action such as landing on the spot may be taken. Further, when the current position of the unmanned aerial vehicle 201 is included in the target area of the emergency warning, a flight control program for evacuation action that promptly lands the unmanned aerial vehicle 201 may be used.

The unmanned aerial vehicle according to the present disclosure has a function of autonomously taking evacuation action in an emergency, and is a remote-controlled unmanned aerial vehicle from the operator or an unmanned aerial vehicle that autonomously flies based on pre-programmed contents. It is useful.

101, 201 Unmanned aerial vehicle 102 Manipulator 103 Manipulator communication unit 104 Propeller control unit 105 Propeller 106 Program execution unit
107 Program storage unit 108 Program selection unit 109 Current position acquisition unit 110 Position information storage unit 111 Emergency alarm reception unit 202 Flight route storage unit

Claims (13)

An unmanned aerial vehicle capable of autonomous flight
A position information storage unit for storing the aircraft current position information indicating the current position of the unmanned air vehicle,
The emergency warning information acquisition department that acquires emergency warning information including target area information indicating the target area subject to emergency warning,
When the emergency alarm information acquisition unit acquires the emergency alert information, the emergency alert and the target area indicated by the target area information included in the information, the aircraft current position that is stored in the position information storage unit Based on the determination result of comparing with the current position of the unmanned vehicle indicated by the information and determining whether or not the current position of the unmanned vehicle is included in the target area, the autonomous flight of the unmanned vehicle is performed. A selection unit that selects one evacuation action from multiple evacuation actions,
A flight control unit that controls the flight state of the unmanned aerial vehicle according to the evacuation action selected by the selection unit is provided.
Unmanned aerial vehicle. The emergency warning information acquisition unit includes an emergency warning receiving unit that receives an emergency warning broadcast transmitted from a broadcasting station and detects a start signal of the emergency warning broadcast and an area code indicating a target area of the emergency warning broadcast. ,
The unmanned aerial vehicle according to claim 1. A program storage unit that stores a plurality of flight control programs for executing the evacuation action of the unmanned vehicle by autonomous flight is further provided.
When the emergency warning information acquisition unit acquires the emergency warning information, the selection unit is stored in the target area indicated by the target area information included in the emergency warning information and the position information storage unit. comparing the current position of the unmanned air vehicle indicated by the previous SL flight vehicle current position information, based on the unmanned air vehicle for determining the current position is determined whether or not included in the target area that said program One flight control program is selected from the plurality of flight control programs stored in the storage unit, and the flight control program is selected.
The flight control unit causes the unmanned aerial vehicle to execute an evacuation action by executing the one flight control program selected by the selection unit.
The unmanned aerial vehicle according to claim 1 or 2. The position information storage unit stores the current position information of the aircraft and the current position information of the controller indicating the current position of the controller for remote control of the unmanned aerial vehicle .
When the emergency warning information acquisition unit acquires the emergency warning information, the selection unit compares the target area with the current position of the unmanned vehicle and the current position of the pilot, and compares the current position of the unmanned vehicle with the current position of the pilot. Based on the determination result of determining whether or not the current position is included in the target area and whether or not the current position of the pilot is included in the target area, a plurality of autonomous flight of the unmanned vehicle. The unmanned aircraft according to any one of claims 1 to 3, which selects one evacuation action from the evacuation actions. The selection unit includes the current position of the unmanned aerial vehicle indicated by the current position information of the aircraft and the current position of the pilot indicated by the current position information of the pilot in the target area indicated by the target area information. If non pre SL as unmanned air vehicle does not enter into the target area, selecting a first retraction action to limit the steering instruction from the steering unit,
The unmanned aerial vehicle according to claim 4. In the selection unit, the current position of the pilot indicated by the current position information of the pilot is included in the target area indicated by the target area information, and the unmanned aircraft indicated by the current position information of the aircraft. If the current position of is not included in the target area indicated by the target area information, when the maneuvering instructions from the previous SL steering unit is not given a predetermined time period, for to land the unmanned air vehicle to the current position Select a second evacuation action,
The unmanned aerial vehicle according to claim 4 or 5. The selection unit, when the current position of the unmanned air vehicle indicated by the flying vehicle current position information is included in the target area indicated by the object area information, to disable the steering instruction from the previous SL steering unit, wherein When the distance between the current position of the unmanned aircraft indicated by the current position information of the aircraft and the current position of the pilot indicated by the current position information of the pilot is greater than or equal to a predetermined distance, the unmanned aircraft is operated. A third retreat action for landing at the current position and moving the unmanned aircraft to the current position of the pilot and landing when the distance is not greater than or equal to the predetermined distance is selected.
The unmanned aerial vehicle according to any one of claims 4 to 6. The unmanned aerial vehicle autonomously flies on a preset flight route and
The starting point information indicating a departure before Symbol flight route, route point information indicating the waypoint, and further comprising a flight route storage unit that stores object Chijo report indicating a destination,
When the emergency warning information acquisition unit acquires the emergency warning information, the selection unit includes at least one of the target area, the current position of the unmanned vehicle, the departure point, the waypoint, and the destination. Whether or not the current position of the unmanned vehicle is included in the target area, and whether or not at least one of the starting point, the waypoint, and the destination is included in the target area. The unmanned vehicle according to any one of claims 1 to 3, wherein one evacuation action is selected from a plurality of evacuation actions by autonomous flight of the unmanned vehicle based on the determination result. In the selection unit, the waypoint indicated by the waypoint information is included in the target area indicated by the target area information, the unmanned aerial vehicle has not passed through the waypoint, and the flight. The current position of the unmanned aerial vehicle indicated by the body current position information is not included in the target area indicated by the target area information, and the destination indicated by the destination information is indicated by the target area information. If not included in the target area to create a flight route before Symbol unmanned air vehicle reaches the destination so as not to pass through the target area to a new, second to bring the said unmanned aircraft to the destination Select the evacuation action of 4,
The unmanned aerial vehicle according to claim 8. In the selection unit, the destination indicated by the destination information is included in the target area indicated by the target area information, and the departure point indicated by the departure point information is indicated by the target area information. If not included in the target area, selecting the fifth retracting action for feeding back a pre-Symbol unmanned aircraft to the departure point,
The unmanned aerial vehicle according to claim 8 or 9. The selection unit is currently located if the previous SL unmanned aircraft where the departure point represented by the destination and the departure point information indicated by the destination information included in the target area indicated by the object area information Select a sixth evacuation action to land on,
The unmanned aerial vehicle according to any one of claims 8 to 10. It is a control method for unmanned aerial vehicles capable of autonomous flight.
Acquire emergency warning information including target area information indicating the target area subject to emergency warning,
When obtaining the emergency alert information, the emergency and the target area indicated by the target area information included in the alarm information, the unmanned air vehicle of the current indicated by the flight vehicle current position information that will be stored in the position information storage unit One evacuation from a plurality of evacuation actions by autonomous flight of the unmanned air vehicle based on a determination result of comparing with the position and determining whether or not the current position of the unmanned air vehicle is included in the target area. Choose an action,
The flight state of the unmanned aerial vehicle is controlled according to the selected evacuation action.
Control method. A control program for operating a computer as a control device for an unmanned aerial vehicle capable of autonomous flight.
On the computer
Acquire emergency warning information including target area information indicating the target area subject to emergency warning,
When the emergency warning information is acquired, the target area indicated by the target area information included in the emergency warning information and the current position of the unmanned aircraft indicated by the current position information of the aircraft stored in the position information storage unit. position is compared with the location, the current location of the unmanned air vehicle is based on the determination result of determining whether or not included in the target region, one from a plurality of evacuation action by autonomous flight of the unmanned air vehicle Select the evacuation action and
The flight state of the unmanned aerial vehicle is controlled according to the selected evacuation action.
A control program that executes processing.

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