JP6905772B2 - Aircraft, inspection method and inspection system - Google Patents

Description

The present invention relates to a flying object and an inspection method and inspection system using the flying object.

GPS (Global Positioning System) is often used to control an air vehicle, but GPS radio waves may not reach it, especially when inspecting closed structures. Patent Document 1 discloses a system that controls a flight method of an air vehicle by detecting a position that minimizes the distance between the air vehicle and the left and right side surfaces by a sensor mounted on the air vehicle (Fig. Of the present application). 15)
..

Further, in Patent Document 2, in particular, when inspecting the inside of a tubular structure having a substantially circular cross section with an air vehicle,
In the method described in Patent Document 1 (that is, the method of flying while detecting the position that minimizes the distance to the left and right side surfaces), the flying object rises or falls in the tubular shape (the width of the left and right is smaller toward the upper side or the lower side). (See FIG. 16 of the present application).

JP-A-2017-087917 JP-A-2017-226259

However, in the systems described in Patent Document 1 and Patent Document 2, for example, as shown in FIG. 17, when there is a recess or the like on the side surface, there is a risk of collision with the inner wall because the left-right distance L suddenly changes. be.

The present invention has been made in view of such a background, and an object of the present invention is to provide a technique for inspecting an inner wall by flying it so as not to come into contact with the inspection structure (inner wall or the like).

According to the present invention, it is possible to obtain an air vehicle including an acquisition means for acquiring the orientation of the target surface and a control means for controlling the direction of the own aircraft based on the acquired orientation.

Other problems disclosed in the present application and solutions thereof will be clarified in the columns and drawings of the embodiments of the invention.

According to the present invention, the inner wall can be inspected by flying so as not to come into contact with the inspection structure (inner wall or the like).

It is a figure which shows the outline of the inspection system which concerns on this embodiment. It is a figure which shows the hardware composition of the flying object used for the inspection system of FIG. It is a figure which shows the functional block of the flying object used for the inspection system of FIG. It is a figure which shows the direction control of the flying object in the inspection system of FIG. It is another figure which shows the direction control of the flying object in the inspection system of FIG. It is still another figure which shows the direction control of the flying object in the inspection system of FIG. It is a figure which shows the direction control of the flying object using two opposite sides in the inspection system of FIG. In the inspection system of FIG. 1, it is another figure which shows the direction control of the flying object using two opposite sides. In the inspection system of FIG. 1, it is another figure which shows the direction control of the flying object using two opposite sides. It is a figure which shows the rotation range at the time of direction control of a flying body in the inspection system of FIG. FIG. 5 is an image diagram showing a side surface detection range of an air vehicle in the horizontal direction in the inspection system of FIG. FIG. 5 is an image diagram showing a side surface detection range of an air vehicle in the vertical direction in the inspection system of FIG. It is a figure which shows the flow of inspection using the inspection system of FIG. It is an image diagram which shows the state of inspection using the inspection system of FIG. It is a figure which shows the control of the flying object by the conventional inspection system. It is another figure which shows the control of a flying object by a conventional inspection system. It is a figure which shows one of the problems about the control of an air vehicle by a conventional inspection system.

The contents of the embodiments of the present invention will be described in a list. The flying object according to the embodiment of the present invention has the following configuration.

[Item 1]
An acquisition method for acquiring the orientation of the target surface,
An air vehicle including a control means for controlling the direction of the own aircraft based on the acquired orientation.
[Item 2]
The flying object according to item 1.
The acquisition means detects the line component of the target surface and acquires the orientation.
Aircraft.
[Item 3]
The flying object according to item 2.
The acquisition means detects the line component from the position information of at least two different points on the target surface.
Aircraft.
[Item 4]
The flying object according to either item 2 or item 3.
The acquisition means acquires a plurality of the line components of the target surface and detects the orientation.
Aircraft.
[Item 5]
The flying object according to item 4.
The acquisition means detects the orientation based on a composite line component obtained by synthesizing a plurality of the line components.
Aircraft.
[Item 6]
The flying object according to any one of items 1 to 5.
The acquisition means acquires the orientations of a plurality of different target surfaces.
Aircraft.
[Item 7]
The flying object according to any one of items 1 to 6.
The acquisition means acquires the orientation of the two target surfaces facing each other.
Aircraft.
[Item 8]
The flying object according to any one of items 1 to 7.
The acquisition means acquires an orientation along the horizontal direction of the target surface.
Aircraft.
[Item 9]
The flying object according to item 1.
The acquisition means can acquire distances to two different points on the target surface, and acquires the orientation based on the distances.
Aircraft [Item 10]
The flying object according to any one of items 1 to 9.
The acquisition means acquires the directions of the side surfaces facing each other in the left-right direction.
Aircraft.
[Item 11]
The flying object according to any one of items 1 to 10.
The acquisition means acquires the directions of the side surfaces facing each other in the vertical direction.
Aircraft.
[Item 12]
The flying object according to any one of items 1 to 11.
The control means is an air vehicle that controls rotation around the yaw axis.
[Item 13]
The flying object according to item 12.
The control means controls the rotation within a range of 90 degrees or less in the horizontal direction.
Aircraft.
[Item 14]
The flying object according to any one of items 1 to 13.
The control unit controls so that the orientation of the own machine is parallel to the orientation of the target surface.
Aircraft.
[Item 15]
The flying object according to any one of items 1 to 14.
The acquisition means acquires at least the distance to the target surface and obtains the distance.
The control means controls the own machine to be a predetermined distance from the target surface based on the acquired distance.
Aircraft.
[Item 16]
The flying object according to any one of items 1 to 15.
It is also equipped with inspection means to check for the presence or absence of a predetermined event.
The control means flies the flying object according to the characteristics of the inspection.
Aircraft.
[Item 17]
The flying object according to any one of items 1 to 16.
The acquisition means is LIDAR (Light Detection and Rangi).
ng) including,
Aircraft.
[Item 18]
The flying object according to any one of items 1 to 17.
It is configured to fly inside a nearly tubular structure and
The target surface includes the inner wall of the structure.
Aircraft.
[Item 19]
It is an inspection method that inspects the inner wall of a substantially tubular structure using an air vehicle.
At least in the acquisition step of acquiring the orientation of the inner wall at the inspection start position,
An inspection method including a control step for controlling the direction of the own machine based on the acquired orientation.
[Item 20]
The inspection method according to item 19.
The air vehicle is further equipped with inspection means for checking for the presence or absence of a predetermined event.
After controlling the direction of the own aircraft, the control means flies the flying object according to the characteristics of the inspection.
Inspection method.
[Item 21]
The inspection method according to item 19 or item 20.
Includes a manual control reception step that accepts manual control by the operator up to the inspection start position.
Inspection method.
[Item 22]
It is an inspection system that inspects the inner wall of a substantially tubular structure using an air vehicle.
The flying object includes an acquisition unit that acquires the orientation of the inner wall at least at the inspection start position.
It is equipped with a control unit that controls the direction of the own machine based on the acquired orientation and an inspection unit that inspects the presence or absence of a predetermined event.
The flying object acquires the direction of the inner wall at least at the inspection start position, controls the direction of the own aircraft based on the acquired orientation, and flies the flying object according to the characteristics of the inspection to perform the inspection. ,
Inspection system.

<Overview>
Hereinafter, the flying object, the inspection method, and the inspection system according to the embodiment of the present invention will be described with reference to the drawings. As shown in FIG. 1, the inspection system according to the present invention is for inspecting the inside of a tubular structure 5 surrounded at least vertically and horizontally, such as a tunnel, a duct, and an underdrain.

In the following description, the "inner wall" existing inside the structure is taken as an example, but the present invention is not limited to the inside of the structure, and even outdoors, the following "inner wall" is used. If there is a corresponding wall surface, side surface, or other surface to be detected, use GPS or GPS
It can be implemented without using.

As shown in the figure, during the inspection, the flying object 1 flies a predetermined 1 equidistant from the left and right inner walls LW and RW and the upper and lower inner walls TW and GND in the inspection direction d. Prior to the inspection, the flying object 1 performs initial orientation adjustment (calibration) so that the orientation of the aircraft itself is an appropriate direction at the inspection start position (details will be described later). Calibration is essential at the start of inspection, and if the calibration is not performed, it is not possible to determine the appropriate flight direction in the closed area.

The above-mentioned air vehicle, inspection method and inspection system have the same concept of invention as each other.
It's just a separation in terms of hardware, methods, and systems. Therefore, the present embodiment will be described below by taking an inspection system as an example.

FIG. 2 is a block diagram showing a hardware configuration of an air vehicle used in the present embodiment.
The block diagram shown is an example, and may have other functions.

The flight controller 11 can have one or more processors such as a programmable processor (eg, central processing unit (CPU)).

The flight controller 11 has a memory 12 and can access the memory 12. The memory 12 stores logic, code, and / or program instructions that the flight controller 11 can execute to perform one or more steps.

The memory 12 may include, for example, a separable medium such as an SD card or random access memory (RAM) or an external storage device. The data acquired from the cameras and sensors 13 may be directly transmitted and stored in the memory 12. For example, camera 1
The still image / moving image data taken in step 3 is recorded in the internal memory or the external memory. Camera 13
Is installed on the aircraft via the gimbal 14.

The flight controller 11 includes a control module configured to control the state of the flying object 1. For example, the control module adjusts the spatial arrangement, velocity, and / or acceleration of the flying object 1 having 6 degrees of freedom (translational motions x, y and z, and rotational motions θx, θy and θz). Propulsion mechanism of flying object 1 (motor 16 etc.)
To control. The motor 16 rotates the propeller 17 to generate lift of the flying object 1. The control module can control one or more of the states of the mounting unit and the sensors.

The flight controller 11 is a transmitter / receiver configured to transmit and / or receive data from one or more external devices (eg, transmitter / receiver (propo), terminal, display device, or other remote controller). It is possible to communicate with 18. The transceiver 18 can use any suitable communication means such as wired communication or wireless communication.

The transmission / reception unit 18 uses one or more of, for example, a local area network (LAN), a wide area network (WAN), infrared rays, wireless, WiFi, a point-to-point (P2P) network, a telecommunications network, and cloud communication. can do.

The transmission / reception unit 18 transmits and / or receives one or more of the data acquired by the sensors 19, the processing result generated by the flight controller 11, the predetermined control data, the user command from the terminal or the remote controller, and the like. be able to.

The sensors 19 according to the present embodiment include inertial sensors (accelerometers, gyro sensors),
It may include a GPS sensor, a proximity sensor (eg, sonar), or a vision / image sensor (eg, a camera).

The measuring unit 20 according to the present embodiment is a three-dimensional LIDAR (Light Detector).
It is composed of n and Ringing). The measuring unit 20 can adopt any mechanism such as a stereo camera that can recognize the depth and a mechanism that can detect a separated object (distance). ..

A functional block diagram will be described with reference to FIG. The aircraft body 1 has an acquisition means, a control means, and an inspection means. The acquisition means acquires the orientation of the inner wall at least at the inspection start position. The sensors described above may be responsible for some or all of the functions. The control means controls the direction of the flying object based on the acquired orientation. The flight controller described above may be responsible for some or all of its functions. In a broad sense, the inspection unit is a comprehensive concept including devices, equipment, and the like used for inspecting the presence or absence of a predetermined event in (the inner wall of) the inspection structure. For example, an imaging device (visible light, infrared camera, etc.), a keystroke device, etc., a detector (metal detector)
, Sound collector, odor measuring device, gas detector, air pollution measuring device, detection device (device for detecting cosmic rays, radiation, electromagnetic waves, etc.), etc. Necessary to know the condition of inspection structures with inner walls All devices can be adopted.

The basic principle of the direction control of the flying object according to the present embodiment will be described with reference to FIG. Figure 4 (
a) shows before the direction control, and FIG. 4B shows after the direction control.

In FIG. 4A, the direction F of the triangular flying object is deviated from the front (the direction of the flying object so that the inspection device or the like can effectively operate). At this point, the direction F is oriented away from the inner wall, so that the flight will fly away from the inner wall as it is.
Therefore, by using LIDAR, the air vehicle can use at least two points P1 and P2 on the inner wall.
Distances L1 and L2 can be obtained.

Actually, more distance measurement information can be acquired according to the resolution of LIDAR, but in order to simplify the explanation, only two points P1 and P2 (measurement points) will be taken as an example for explanation. The acquisition means acquires the line component (vector) V1 of the inner wall from the information of the distances L1 and L2.

In the examples of FIGS. 4A and 4B, the line component V1 is extracted using two points P1 and P2 as measurement points, but the number of measurement points used for extracting the line component is Not limited to this. For example, it may be adopted as a line component to be used according to the positions of two or more measurement points. In this case, adoption / non-adoption may be decided based on the positional relationship of the plurality of measurement points (variation in position, variation in distance between them, etc.). For example, if the arrangement of a plurality of measurement points is within the range of variation within a predetermined threshold value, it may be a line component (straight line component) to be adopted, or if it is outside the range of variation within a predetermined threshold value. (
That is, if a straight line cannot be formed), it may not be adopted as a measurement point constituting the line component.

As shown in FIG. 4B, the control means compares the direction F with the line component V1 and controls the rotation in the yaw direction so that the direction (direction F) of the flying object is parallel to the inner wall. .. As a result, since the flight direction of the flying object is parallel to the inner wall, it is possible to start the inspection along the correct direction. As will be described later, in the illustrated example, the rotation was controlled and calibrated in the yaw direction in the horizontal direction, but the direction of the rotation control could be any direction depending on the shape and orientation of the inspection structure. can do. In addition to being parallel to the inner wall, for example, calibration may be performed while maintaining a predetermined angle with the inner wall. In this case, the rotation of the flying object may be controlled so that the line component V1 and the direction F form a predetermined angle.

With reference to FIG. 5, a calibration method using a plurality of different line components of the same inner wall depending on the acquisition means will be described. As shown, a plurality of line components V1 to V4 are obtained from the same inner wall by the same principle as the method shown in FIG. Of the plurality of acquired line components V1 to V4, only the line component V2 has a direction different from that of the other line components V1, V3, and V4. At this time, the acquisition means performs a process in which the line component V2 is not included in the elements for rotation control as an irregular line component. That is, the flying object shown in FIG. 5 has line components V1 and V3.
, V4 calculates the direction F to fly and controls the rotation.

In this way, when there is a missing part in a part of the inner wall (V2 position), if only one line component is acquired, the line component of the missing part is acquired by chance. If you do, the wrong calibration will be performed. However, if a plurality of different line components of the same inner wall are used as shown in FIG. 5, the line components that cause noise can be eliminated by a majority decision method, regardless of the state of the inner wall of the inspection structure. It is possible to perform correct calibration without any problems. Further, the direction of the flying object may be acquired and the line components that do not match the direction of the flying object may be uniformly excluded. In this case, only those whose direction of the flying object and the direction of the line component exceed a predetermined threshold value may be excluded.

In addition to the majority voting method, the noise elimination method may be, for example, determining whether or not the line component is noise by comparing with the line components on both sides. .. In addition, the detection range is determined by a tournament method such as comparing the line components on both sides and adopting a larger (= longer) line component, and further comparing with the line component next to it and adopting a larger line component. The line component of the largest size may be adopted from the inner wall (hereinafter referred to as "tournament method").

With reference to FIG. 6, a calibration method will be described when fine irregularities are present on the inner wall, for example, a natural structure or an artificial structure that has deteriorated significantly over time. As shown, the acquisition means acquires a plurality of line components V1 to V5 from a predetermined range of the inner wall. After that, the acquired line components V1 to V5 are combined to form one synthetic line component (not shown), and the direction F is calculated according to the combined line component. By acquiring more line components,
It is possible to obtain a more accurate composite line component. Also in this case, it is possible to prevent an erroneous calibration from being performed by accidentally acquiring the line component of the missing portion as in the case where only one line component is acquired.

In the above-described embodiment, a method of performing calibration using a single or a plurality of line components of one inner wall has been described, but two opposite sides may be used. The method in this case will be described with reference to FIG.

FIG. 7 (a) shows before the direction control, and FIG. 7 (b) shows after the direction control. The acquisition means acquires the line components V1 and V2 of a plurality of different target surfaces. More specifically, in FIG. 7A, the direction F of the triangular flying object is deviated from the front to the left. At this point, the direction F is a direction away from the inner wall on the right side and a direction approaching the inner wall on the left side.
It collides with the inner wall on the left side. Therefore, by using LIDAR, the flying object has at least two points P1 and P2 on the inner wall on the right side, distances L1 and L2 to P2, and two points P3 on the inner wall on the left side.
, The distances L3 and L4 to P4 can be obtained.

In the same manner as above, more distance measurement information can be actually acquired according to the resolution of LIDAR, but for the sake of simplification of the explanation, only two points P1, P2 / P3, and P4 per inner wall are taken as an example. I will explain to you. The acquisition means acquires the line components V1 and V2 of the inner wall from the information of the distances L1 and L2 and the distances L3 and L4.

As shown in FIG. 7B, the control means compares the direction F with the line components V1 and V2.
Rotation control is performed in the yaw direction so that the direction of the flying object (direction F) is parallel to the inner wall. As a result, since the flight direction of the flying object is parallel to both the left and right inner walls, it is possible to start the inspection along the correct direction.

Further, the method described with reference to FIG. 5 or 6 is adopted, and the orientation of the linear flying object is obtained from one inner wall and the other inner wall by a majority vote method, and the line component that does not match the orientation of the flying object is obtained. May be uniformly excluded. In this case as well, only those whose direction of the flying object and the direction of the line component exceed a predetermined threshold value may be excluded. The adopted (not excluded) line components may be added (combined) on each inner wall to control the direction.

Further, as shown in FIG. 8, the same applies to the case where the orientations of one inner wall and the other inner wall are different. The inspection structure shown has a structure that expands toward the front. At this time, if the line component of only the inner wall on the right side is acquired and calibrated, the distance from the inner wall on the left side will increase as the flight progresses, and inspection should be performed under the same conditions in the left and right directions. I can't. Therefore, as shown in the drawing, a composite line component (composite vector) V3 of the line components V1 and V2 acquired from the inner wall in the left-right direction may be generated, and the V3 may be set as the flight direction F.

Further, as shown in FIG. 9, when the right wall has irregularities and the left wall has no irregularities, the sum of the front-rear components of the left line components V6 to V9 and the right side. Comparing with the sum of the line components V1 to V5, the line component on the left side is larger. With this, if the direction F of the flying object is adjusted to the line component on the left side, it is possible to control in an appropriate direction.

As shown in FIG. 10, it is sufficient that the rotation control for calibration is performed in a range of at least 90 degrees or less. However, in the illustrated state,
Since the nose of the aircraft was facing the Out direction, it was possible to calibrate in the direction in which it should fly by controlling the rotation within 90 degrees. When calibrating, it is preferable that at least the nose is facing the direction to be inspected.

As described above, it is possible to perform calibration according to the internal state of the inspection structure by performing calibration by acquiring the directions (line components) of the two inner walls facing each other. The inner wall used for calibration may be not only an inner wall facing in the left-right direction but also an inner wall facing in the vertical direction.

That is, as shown in FIG. 11, if the acquisition means performs calibration by acquiring the line components D1 and D2 of the inner walls LW and RW facing each other in the left-right direction, the horizontal direction (XY plane). It is possible to calibrate the flight direction in. on the other hand,
As shown in FIG. 12, the acquisition means is a line component D of the inner walls TW and GND facing in the vertical direction.
If calibration is performed by acquiring 3 and D4 respectively, it is possible to calibrate the flight direction in the vertical direction (YZ plane).

<Inspection flow>
Subsequently, the flow of the inspection method using the above-mentioned flying object will be described. As shown in FIG. 13, the inspection is roughly composed of four states. That is, there are four states: manual control to the inspection start position, arrival at the inspection start point, direction adjustment (calibration), and flight inspection start. Also with reference to FIG. 14, the flying object manually flies to the entrance (inspection start point) of the inspection structure, for example, by accepting manual control. Upon arriving at the inspection start position, the above-mentioned calibration is performed and the flying object is controlled so as to be in an appropriate direction. After that, the inside of the structure is inspected by taking an image of the inner wall.

If the operator approaches the inspection start position, or if the flying object can be installed on the ground or the like at the inspection starting position, the flying object may be installed near the inspection start position and calibrated. In this case, the height for calibration may be automatically increased.

Further, although the above-described embodiment has mainly described calibration, for example, the above-mentioned line component may be acquired in order to adjust the flight direction during the inspection. As a result, it is possible to fly in an appropriate direction even during the inspection.

In the above-described embodiment, calibration at the start of inspection (detecting the orientation of the left and right inner walls and changing the orientation of the own aircraft) has been mainly described, but for example, the same method is used during the inspection flight. The orientation of the air vehicle may be corrected in real time. In this case, the frequency of detection of the inner wall, the range of detection, the direction of detection, and the like can be appropriately adjusted. Further, the horizontal detection (FIG. 11) and the vertical detection (FIG. 12) may be alternately performed (they may be alternately performed at a predetermined frequency). As a result, it is possible to fly while keeping the direction of the flying object and the distance from the inner wall constant even during the inspection flight.

As described above, the present invention can be applied to both calibration before the start of the inspection flight and flight direction control during the inspection flight. Further, the following combinations can be adopted based on the basic control of acquiring the line component of one side surface (inner wall) shown in FIG. 4 and controlling the direction.
(1) A method of acquiring a plurality of line components on only one side surface and performing direction control (1-1) A method of acquiring a composite line component obtained by synthesizing a plurality of acquired line components and performing direction control (1- 2) Method of acquiring an average line component obtained by averaging a plurality of acquired line components and performing direction control (1-3) Of the acquired multiple line components, the line component to be acquired according to the state of the inner wall. Method of setting the number (that is, set the number of basic acquisition line components, increase the number of line components to be acquired when the inner wall has many undulations, decrease the number of line components to be acquired when the undulations of the inner wall are small, etc. )
(1-4) A method of weighting and / or comparing a plurality of acquired line components under predetermined conditions and adopting an important line component (for example, a tournament method).
(2) Method of acquiring line components of two or more side surfaces to control the direction (2-1) Obtaining a composite line component obtained by synthesizing a plurality of acquired line components on each inner wall,
Method of controlling the direction by comparing the synthetic line component obtained from one inner wall with the synthetic component obtained from the other inner wall (2-2) An average of a plurality of obtained line components on each inner wall. Get the line component,
Method of performing direction control by comparing the average line component obtained from one inner wall with the average line component obtained from the other inner wall (2-3) Of the plurality of acquired line components on each inner wall , How to set the number of line components to be acquired according to the state of the inner wall (that is, set the number of basic acquisition line components, and if there are many undulations of the inner wall, increase the number of line components to be acquired and undulate the inner wall. If the number is small, the line component to be acquired is reduced, etc.)
(2-4) In each inner wall, the acquired plurality of line components are weighted and / or compared according to predetermined conditions, and the most important line component is adopted, and the line adopted in one inner wall. A method of weighting and / or comparing the component and the line component adopted on the other inner wall under a predetermined condition to control the direction (2-5) In addition to the above, a method of obtaining the line component of each inner wall, respectively. A method of combining the acquired line component of the inner wall in the flight direction with a more effective method according to the condition of the wall surface. (That is, the left wall is the composite line component, the right wall is the average line component, and the reflection in the flight method is by weighting, etc.)

As described above, according to the present invention, even in a closed place where GPS does not function (it is difficult to function), the flying object 1 is autonomously flown by using LIDAR and has a wall surface. It becomes possible to inspect (imaging) the body.

The air vehicle of the present invention can be used in airplane-related industries such as multicopters and drones (particularly, a space vehicle for detection equipped with a detector or the like), and further, the present invention is the sky equipped with a camera or the like. In addition to being suitable for use as an air vehicle for photography, it can also be used in various industries such as the security field and infrastructure monitoring.

The above-described embodiments are merely examples for facilitating the understanding of the present invention, and are not intended to limit the interpretation of the present invention. It goes without saying that the present invention can be modified and improved without departing from the spirit thereof, and the present invention includes an equivalent thereof.

1 Aircraft 5 Inspection structure

Claims (3)

A setting means for setting the number of line components to be acquired according to the state of the target surface, and
An acquisition means for acquiring the direction in which the target surface is stretched, and
A control means for setting the traveling direction of the own machine based on the acquired direction in which the target surface is stretched is provided.
The acquisition means detects a plurality of measurement points on the target surface, extracts line components obtained by connecting two points of the plurality of measurement points so as to have the set number, and sets the line components. Based on the linear component of the number, the direction in which the target surface extends is obtained .
It flies according to the set direction of travel of the aircraft regardless of GPS.
An air vehicle characterized by that. A setting step for setting the number of line components to be acquired according to the state of the target surface by the setting means, and
An acquisition step of acquiring the direction in which the target surface extends by the acquisition means, and
The control means includes a control step for setting the traveling direction of the own machine based on the acquired direction in which the target surface extends.
In the acquisition step, a plurality of measurement points on the target surface are detected, line components obtained by connecting the two points of the plurality of measurement points are extracted so as to have the set number, and the set number is set. Based on the linear component of the number, the direction in which the target surface extends is obtained .
The flying object is made to fly according to the set traveling direction of the own aircraft regardless of GPS.
A flying object control method characterized by that. A program that causes an air vehicle to execute an air vehicle control method.
The flying object control method is
A setting step for setting the number of line components to be acquired according to the state of the target surface by the setting means, and
An acquisition step of acquiring the direction in which the target surface extends by the acquisition means, and
The control means includes a control step for setting the traveling direction of the own machine based on the acquired direction in which the target surface extends.
In the acquisition step, a plurality of measurement points on the target surface are detected, line components obtained by connecting the two points of the plurality of measurement points are extracted so as to have the set number, and the set number is set. Based on the linear component of the number, the direction in which the target surface extends is obtained .
The flying object is made to fly according to the set traveling direction of the own aircraft regardless of GPS.
A program characterized by that.

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